• 대한임베디드공학회논문지
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• 제15권2호
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• pp.95-101
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• 2020

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권2호
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• pp.344-346
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• 2004

KOMPSAT-2 (Korea Multi Purpose Satellite 2) which is scheduled to launch in 2005 year will communicate with KARI TTC (Tracking, Telemetry, and Command) station flying along sun synchronous orbits (685 km). The command from KARI TTC passes S-band omni-antenna, RF assembly, and transponder and finally reachs OBC (On Board Computer). The telemetry from KOMPSAT-2 arrives at KARI TTC through inverse procedure. In this paper, RF compatibility test between KOMPSAT-2 and KARI TTC station is demonstrated. RF interface for this test was established through real space and uplink signal test and downlink signal test and uplink & downlink signal test were performed.

• 대한안전경영과학회지
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• 제8권4호
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• pp.25-37
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• 2006

Critical incident can be happened at any time, any places without any pre-notification. For minimizing the loss of the life safety, financial and so on caused by the risk, most of company needs a system what can activate the critical incident management plan to prevent, plan for and respond to events that become critical incident. But a lot of company still don't have such a detailed system in our country and almost company has no effective training way for to boot. This paper shows the way to activate the risk management system to work efficiently the plan. The training way, proposed by this paper, is a incident command simulator based on virtual reality and scenario generation software.

• 한국통신학회논문지
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• 제28권1B호
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• pp.55-63
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• 2003

기존의 PC 통신 서비스가 최근 인터넷에 기반을 둔 멀티미디어 웹 서비스로 빠르게 대체됨으로 인해 과거 많은 인력과 자금을 투자하여 개발한 유용한 데이터베이스와 PC 통신 환경 상의 많은 서비스가 시장되는 사용자로부터 도외시되어 사장되는 문제가 발생하고 있다 이에 본 연구에서는 과거 PC 통신 환경 상에서 제공되었던 텍스트 위주의 명령에 기초한 데이터베이스 서비스를 사용자의 정보 접근이 용이한 멀티미디어 웹에 기초한 데이터베이스 서비스로 전환하기 위한 시스템의 설계 및 구현방법에 관해 연구하였다

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.255-257
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• 1995

In this paper, a new speed estimation method of induction motors based on the very quick torque control is proposed to realize speed sensorless control. The proposed method can be realized very simply by detecting primary motor current and voltage command at every sampling time. As the method need not the differential value of primary current in a arithmetic of voltage command, it can be expected to promote the precision of speed estimation in low speed area, especially. Through the numerical simulation, the validity of the proposed method was successfully confirmed.

• 한국정밀공학회지
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• 제17권1호
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• pp.110-119
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• 2000

This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.65-70
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• 1989

Lately, at an epock of a full-scale satellite launching plan of Korea, T.T.C(Tracking, Telemetery & Command) is a indispensable part. In this paper, particular attention is given to orbit determination problem of the role of T.T.C. A near-earth satellite is modeled, batch and extended sequential estimation algorithm (ESEA) are compared using range data. As a result, ESEA show effectiveness.

• 대한기계학회논문집
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• 제18권10호
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• 디지털콘텐츠학회 논문지
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• 제18권5호
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• pp.905-910
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• 2017

본 논문에서는 재난안전통신망의 전체 구조가 아닌 재난현장에서 소방대원과 현장 지휘통제실간의 정보교환이 효과적으로 이루어질 수 있도록 재난현장 지역 내의 독립적 네트워크 인프라(무선통신, 영상전송 및 현장상황파악 등) 확보를 위한 현장형 스마트 통합관제시스템을 제안하였다. 제안한 재난환경 스마트 통합 관제시스템은 재난현장에서 현장대원간의 무선통신을 지원하고, 재난현장 영상정보 수집을 위한 드론과의 통신을 지원함으로써 현장 관제시스템에서 재난상황에 대한 전체 주변 영상확보 및 현장대원의 효율적 지휘가 가능하게 된다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1078-1081
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot's performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.