• 한국지능시스템학회논문지
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• 제14권4호
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• pp.481-486
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• 2004

이족 로봇은 기존의 바퀴로 움직이는 로봇에 비해 더 큰 이동성을 가지고 있다. 하지만 현실적으로는 쉽게 넘어지는 경향이 있어서, 보행 시 동적인 안정성을 확보해야 할 필요성이 있다. 이를 위해서는 다양한 지면 조건에 대해 로봇 발의 움직임과 몸체의 움직임을 일치시키고, 기구학적 해석이나 동역학적 해석을 통하여 안정성을 확보해야 한다. 하지만 그 수학적 모델이 너무 난해하다는 단점이 있다. 본 논문에서는, 이족 로봇의 동적 보행에 있어서 안정성을 확보하기 위해 퍼지 모델을 설계하고, 시뮬레이션을 실현함으로써 본 논문에서 제안된 보행 알고리즘이 실현 가능한 것임을 확인한다.

• 한국지능시스템학회논문지
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• 제14권7호
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• pp.865-870
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• 2004

정보기술의 발달과 교통기술의 발달로 인해 현재 많은 정보화 시스템들이 등장하고 있다. 최근 GPS(Global Positioning System)의 보급과 위치정보의 중요성 이 대두되면서 위치 정보기반 서비스(LBS, Location Based Service)의 개발이 눈에 띄게 두드러지고 있다. 그러나 사용자 위치 정보 획득 기술이 발달함에 따라 한편으로는 사용자의 위치정보가 악용되어 사생활 침해와 같은 문제점도 나타나고 있다［1］. 본 논문은 사용자의 위치정보를 기반으로 이동경로 혹은 궤적을 패턴으로 분류하고 일반적인 사용자의 생활권역의 경로에 대해 학습을 실시하여 사용자의 위치정보를 개인의 처한 상황에 따라 전송하는 방식의 LBS 플랫폼을 제안하여 사생활 침해 문제에 대한 해결방법을 제시한다.

• 전자공학회논문지SC
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• 제48권5호
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• pp.25-30
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• 2011

본 논문은 교통 감시를 수행하는 고정 카메라에서, 움직이는 물체들의 궤적을 사용자가 입력한 사용자 지정 경로를 바탕으로 그 정상/비정상성을 판별하는 방법을 제안한다. 제안된 방법은 입력된 경로 정보를 미리 정해진 규칙에 따라 각각의 이동 물체에 대한 비정상성(abnormality)을 계산하고 이를 임계값(Threshold)과 비교하여 비정상 행위를 판별해낸다. 사용자의 경로 정보 입력 기능을 이용하기 때문에 기존의 방법들에서 사용한, 계산량과 시간 소모가 크며 학습 데이터에 의해 그 성능이 크게 영향을 받는 정상 행위 (normal behavior) 모델링 단계를 배제하여 보다 빠르고 정확한 판별 결과를 제공한다. 뿐만 아니라 단순히 지정된 규칙만을 이용하지 않고 주어진 환경에 따라 규칙을 변형 적용하여 보다 강인한 판별 결과를 제공한다. 실험 결과는 본 논문에서 제안한 방법이 각종 교통 상황에서 발생하는 불법 및 비정상 교통 행위를 강인하게 판별해 냄을 보여준다.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.711-719
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• 2009

This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

• 한국정밀공학회지
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• 제13권2호
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• pp.84-93
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• 1996

Non-destructive inspection techniques using laser have been broading their application areas as well as growing their measurement skills together with the rapid development of circumferential technology like fiber optics, computer and image processing. The ESPI technique is already on the stage of on-line testing with commercial products in developed country nations. Especially, this technique is expected to be applied to the nuclear industry, automobile and aerospace because it is proper for the vibration measurement and it can be applied to objects of a high temperature. This paper describes the use of the ESPI system for measuring vibration patterns on the reflecting objects. Using this system, high-quality Jo fringes for identifying mode shapes are displayed. A bias vibration is introduced into the reference beam to shift the Jo fringes so that fringe shift algorithms can be used to determine vibration amplitude. Using this method, amplitude fields for vibrating objects were obtained directly from the time-average interferograms recorded by the ESPI system.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

• 한국도로학회논문집
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• 제14권6호
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• pp.159-165
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• 2012

PURPOSES : The lack of details of guidelines on how to install the Chicane for traffic calming leads the practical difference across the calming areas, so the benefits expected from these facilities are not hardly observed. In this context, this study analysed the relationship between the geometric design alternatives of Chicane with the dynamic behaviour of vehicles in terms of speed and trajectory. METHODS : The study analysed vehicle dynamic behaviour using dynamic analysis program Auto-Turn under various geometric conditions of Chicane. RESULTS : This study suggested the design alternatives of Chicane using terms such as "longitudinal displacement value", "lateral displacement value", etc. which are defined in the study. The suggested combination set is fulfilling the desired or target speed of vehicles and clearance between vehicle and roadside at the same time. CONCLUSIONS : The results from this study can be applied to install Chicane corresponding to the local condition where target speed is 30km/h. The study showed the design alternatives of chicane corresponding to the given road cross-sectional design and clearance to roadside for passenger cars and light truck respectively.

• 한국CDE학회논문집
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• 제9권1호
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• pp.35-43
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• 2004

It is well known that the five-axis machining has advantages of tool accessibility and machined surface quality when compared with conventional three-axis machining. Traditional researches on the five-axis tool-path generation have addressed interferences such as cutter gouging, collision, machine kinematics and optimization of a CL(cutter location) or a cutter position. In the paper it is presented that optimal CL data for a face-milling cutter moving on a tool-path are obtained by incorporating TSS(tool swept surface) model. The TSS model from current CL position to the next CL position is constructed based on machine kinematics as well as cutter geometry, with which the deviation from the design surface can be computed. Then the next CC(cutter-contact) point should be adjusted such that the deviation conforms to given machining tolerance value. The proposed algorithm was implemented and applied to a marine propeller machining, which proved effective from a quantitative point of view. In addition, the algorithm using the TSS can also be applied to avoid cutter convex interferences in general three-axis NC machining.

• 한국소음진동공학회논문집
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• 제17권12호
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• pp.1238-1245
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• 2007

A very abnormal vibration was occurred at the LP(low pressure) turbine continuously during the pre-operation for a 550MW class USC(ultra super critical) steam turbine. This vibration was initiated at the rotating speed of about 3,450 rpm and then the vibration amplitude was highly increased the number by $2{\sim}3$ times with the increase of the rotating speed to the rated speed (3,600 rpm). In this paper, this abnormal vibration named spike vibration. This spike vibration was caused by the rubbing between the rotating bucket tip seal and the lower half of spill strip. Also, this paper presents the mechanism of the spike vibration and the proper method to eliminate this abnormal vibration problem. This result would be good practice to find the solution of similar high vibration in the USC steam turbines for power plant as well as industrial rotating machineries.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.