• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.95-99
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• 1992

본 논문은 삼차원 거리영상화 장비중 고속으로 거리영상을 잡을 수 있는 거리영상화 소자를 IC로 시험 제작하여 그 결과를 보였다. 제작된 IC에 대한 실험은 각 부분의 성능과 센서 자체의 정밀도 측정에 중점을 두었다. 각 부분의 성능에 대해서는 빛 감지부분의 신호의 크기, 소자들의 동작성, 정보 저장부분의 입력 전압에 대한 출력 전압의 변형등을 다룬다. 센서 자체의 정밀도는 각 부분에서 발생하는 오차를 측정하였다. 제작된 센서는 아나로그방식으로 정밀도에 제한을 받는 단점이 있어 구조를 달리하여 디지탈 방식으로 접근한 센서를 제안한다. 아나로그 방식에 비해 셀 면적을 줄일 수 있을 뿐 아니라, 정밀도도 높고, 속도도 떨어지지 않아 아나로그 방식 IC 센서의 단점을 극복한다.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.689-694
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• 1998

본 논문에서는 상태와 제어입력에 시간지연을 가지는 이산 불확실성 시스템의 견실 H/sub ∞/ 상태궤환 제어기 설계문제를 다룬다. 동일한 제어기에 대해서, 파라미터 불확실성을 가지는 시간지연 시스템이 자승적 안정성(quadratic stability)과 폐루프 시스템의 H/sub ∞/ 노옴의 한계를 유지하면서 파라미터 불확실성이 없는 등가의 시스템으로 변형된다. 그리고 주어진 이산 불확실성 시간지연 시스템의 견실 H/sub ∞/ 상태궤환 제어기가 존재할 충분조건과 제어기 설계 알고리듬을 제시한다. 또한 변수치환과 Schur 여수(complement) 정리를 이용하면 구한 충분조건은 LMI(linear matrix inequality) 형태로 쓸 수 있다. 예제를 통하여 제시한 결과의 타당성을 보인다.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.881-885
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• 2008

To calculate the attitude in ARS(Attitude Reference System) using 3 gyros and 3 accelerometers, gyro drift must be compensated with accelerometer to avoid divergence of attitude error. Kalman filter is most popular method to integrate those two sensor outputs. In this paper, new Kalman filtering method is proposed for roll and pitch attitude estimation. New states are defined to make linear equation and algorithm for changing Kalman filter parameters is proposed to ignore disturbances of acceleration. This algorithm can be easily applied to low cost ARS.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.405-405
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• 2000

We designed the artificial olfactory sensing system (Electronic Nose) using MOS type sensor array fur recognizing and analyzing odour. The response of individual sensors of sensor array, each processing a slightly different response towards the sample volatiles, can provide enough information to discriminate between sample odours. In this paper, we applied clustering algorithm for dimension reduction, such as linear projection mapping (PCA method), nonlinear mapping (Sammon mapping method) and the combination of PCA and Sammon mapping having a better discriminating ability. The odours used are VOC (Volatile chemical compound) and Toxic gases.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.210-210
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• 2000

In this paper, we have investigated the properties of multi-layer perceptron (MLP) for odour patterns classification and concentration estimation simultaneously. When the MLP may be has a fast convergence speed with small error and excellent mapping ability for classification, it can be possible to use for classification and concentration prediction of volatile chemicals simultaneously. However, the conventional MLP, which is back-Propagation of error based on the steepest descent method, was difficult to use for odour classification and concentration estimation simultaneously, because it is slow to converge and may fall into the local minimum. We adapted the Levenberg-Marquardt(LM) algorithm [4,5] having advantages both the steepest descent method and Gauss-Newton method instead of the conventional steepest descent method for the simultaneous classification and concentration estimation of odours. And, We designed the artificial odour sensing system(Electronic Nose) and applied LM-BP algorithm for classification and concentration prediction of VOC gases.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.1-7
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• 2018

The image-to-image translation is one of the deep learning applications using image data. In this paper, we aim at improving the performance of object transfiguration which transforms a specific object in an image into another specific object. For object transfiguration, it is required to transform only the target object and maintain background images. In the existing results, however, it is observed that other parts in the image are also transformed. In this paper, we have focused on the structure of artificial neural networks that are frequently used in the existing methods and have improved the performance by adding constraints to the exiting structure. We also propose the advanced structure that combines the existing structures to maintain their advantages and complement their drawbacks. The effectiveness of the proposed methods are shown in experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.610-614
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• 2016

This paper proposes an inextensible wire-shaped deformation model to simulate catheter behavior. The wire-shaped model consists of serially-connected mass points and massless rigid links. Torsional springs and dampers are employed to accommodate bending. Deformation is computed by updating the rotation angles from the global coordinates while maintaining the fixed length condition. Equations of motion is derived from double pendulum motion. Spring constant is computed using strain energy and potential energy stored in a torsional spring to reflect material property. Simulation is conducted to show deformation of wire model while maintaining inextensibility condition and including material properties. The proposed method guarantees inextensible constraint in the catheter simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.334-341
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• 1998

This paper proposes an algorithm to obtain the time-to-contact between an observer and a target and surface orientation of the target. These two physical elements are computed from the image deformation of a known shape, which is extracted by supervised classification of detected line segments based on MAP and Mahalanobis distance. The proposed algorithm was applied to the natural outdoor traffic scene and would contribute to the development for a collision avoidance system.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.6
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• pp.1265-1272
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• 1988

Kinematic and dynamic equations of open-loop mechanical systems are derived using the velocity transformation. The velocities of a link are defined by the velocities of the previous link and relative velocities between the links. The velocities and angular velocities are expressed with joint velocities and 6*1 velocity transformation vector. Using the velocity relations, recursive formula are derived and compared to the previous results. The derived recursive formula are modified and applied to the dynamic simulation of a vehicle. The computational efficiency of the vehicle simulation with the derived recursive formula is much enhanced.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.68-75
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• 2022

In this paper, we considered the deformation shape of the soft rotation actuator as a double curvature shell and proceeded with the analytical development. Since the response of the hyperelastic material has a large nonlinear deformation, the analytical approach is very complicated and the solution cannot be easily obtained. it is assumed that the behavior of the flexible body, which is a superelastic material, takes the form of a double curvature shell, and the formulas for calculating the deformation are simplified. In this process, equilibrium equations in the related coordinate system representing a double curvature shell were derived. In addition, assuming a thin shell, the stress component in the thickness direction was ignored, and the equation was developed by adding the assumption of free rotation without load. In order to verify the analytically calculated value in this way, an experiment was conducted and the results were compared.