• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.2
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• pp.123-130
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• 2013

The responses of a bridge due to a moving vehicle are obtained analytically by modeling a vehicle as a constant point force. From the results it is found that the responses after a vehicle leaves the bridge become very small for some speeds of a vehicle. When a vehicle is modeled as a two dof system for a more accurate analysis, the same phenomenon is observed while the roughness of the surface of the bridge is small. Determining the fundamental frequency of a bridge so that one of the above speeds coincides with a frequent speed of vehicles, the responses of a bridge can be minimized.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.457-461
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• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.927-932
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• 2007

This paper proposes a robust back-stepping control with polynomial-type PD input for flexible joint robot manipulators to overcome parameter uncertainty. In the first step, a fictitious control is designed with polynomial-type PD input for the rigid link dynamic by the H-infinity control method. In second and third steps, the other fictitious control and real control are designed using saturation control and polynomial-type PD input based on the Lyapunov's second method. In each step, the designed robust inputs satisfy the L2-gain, which is equal to or less than gamma in the closed loop system. In contrast with the previous researches, the proposed method proves performance relations with PD gain from the robust gain. The performance robustness of the proposed control is verified through a 2-DOF robot manipulator with joint flexibility.

• Proceedings of the Optical Society of Korea Conference
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• 2000.02a
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• pp.32-33
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• 2000

최근 디지털 정보 처리 기술의 획기적인 발전과 함께 저가의 반도체 레이저의 개발로 말미암아 광기록 장치(optical pickup device) 및 고속 광통신(optical fiber communication)분야에 응용을 위한 레이저 광학 시스템에 대한 연구가 활발하다. 광신호의 커플링(coupling) 및 스위칭(switching)을 기반으로 하는 이러한 광학 시스템은 일반적으로 광신호의 변조를 위한 광학 요소와 광학 요소의 공간적 제어를 위한 정밀 구동기로 구성되는데, 기존의 상용 시스템의 경우에는 독립적으로 기 제작된 광학 요소와 정밀 구동기를 사후에 조립하는 방법으로 소기의 목적을 달성하였다. 이와 같은 경우 제작에 많은 노력과 비용이 요구되며, 성능의 획기적인 향상을 기대하기 어려우므로 최근에는 Optical MEMS 혹은 MOEMS(Micro-Opto-Electro-Mechanical System)로 대변되는 마이크로머시닝기술(micromachining technology)을 이용한 초정밀 광학계의 제작 기술을 통하여 기존 시스템의 한계를 극복하고자 하는 노력이 다각도로 모색되고 있다. (중략)

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.2
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• pp.192-197
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.11
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• pp.1075-1080
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• 2010

For the aeroelastic analysis of a wing with friction damping, coupled time integration method was used to obtain time responses in the subsonic and transonic regions. To take into account aerodynamic nonlinearity induced by shock wave on the lifting surface, transonic small disturbance equation with in-phase periodic boundary condition was used for unsteady aerodynamic calculation. For 2-DOF airfoil system with displace-dependent friction dampers, the effects of normal load slope and Mach number on flutter boundary were investigated.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.69-74
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• 2016

This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.2
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• pp.87-93
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• 2012

In this paper, a formation guidance method for UAVs (Unmanned Aerial Vehicles) to simulate the formation flight of birds proposed. The proposed method solves all issues of approaching for formation, formation keeping, and scarce chance to be collided with each UAV during formation process. Also, we design the feedforward controller to compensate the change of speed and heading for maneuvering of the leader UAV and the feedback controller to consider the response lag of the system. The stability and performance of the proposed controller is verified via numerical simulations of the full 6-Dof model of UAV.

• Journal of Industrial Technology
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• v.18
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.89-96
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• 2003

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.