• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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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.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.3
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• pp.290-296
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• 2014

This paper presents a design strategy for the control of the Z-source inverter (ZSI). For the Z-network capacitor voltage control, the average current model is derived to describe the dynamics of the voltage control and the controller outputs the average current command for the capacitor. Z-network inductor current reference is derived from the average current model of the Z-network capacitor. The inner current control loop outputs the average voltage command for the Z-network inductor and the shoot-through duty ratio of the ZSI is calculated from the output using the average voltage model of the Z-network inductor. The gain values of the current and voltage controllers are directly obtained by the Z-network parameters and desired bandwidth of each controller without a gain tuning process.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_1
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• pp.225-230
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• 2023

This research addresses sound command based human tracking problems for autonomous cleaning mobile robot in a networked AI space. To solve the problem, the difference among the traveling times of the sound command to each of three microphones has been used to calculate the distance and orientation of the sound from the cleaning mobile robot, which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference compared to the conventional methods. To generate the tracking direction to the sound command, fuzzy rules are applied and the results are used to control the cleaning mobile robot in a real-time. Finally the experiment results show that the proposed algorithm works well, even though the mobile robot knows little about the environment.

• Journal of the Korean Society of Propulsion Engineers
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• v.19 no.2
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• pp.17-28
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• 2015

In this paper, it is accomplished to design a control method for such an actuation system of simplified ON/OFF mechanism with actuation command limit. First of all, based on experimental data, the modeling works for nonlinear/linear actuation dynamics are performed, which are govern by PWM command as a control input. Using the linearized model, a classical PI control method is designed to satisfy the aimed control performance requirements, and a control algorithm is proposed to realize the required control performance in the effective control region through resolving the issue for the PWM command limit which reduces the control performance. Finally, through control simulations, the design method is verified and the corresponding control performance improvement is evaluated.

• Journal of Environmental Science International
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• v.13 no.4
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• pp.339-347
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• 2004

This paper asks the question: what choice of environmental policy instruments is efficient to reduce sulfur dioxide from stationary sources\ulcorner: In Korea, command and control has been a common way of controlling $SO_2-emissions.$ When compared to the non-incentive environmental policy instrument such as command and control, economic incentive environmental policy instrument has been the advantage of making polluter himself flexibly deals with in marginal abatement cost to develop environmental technology in the long view. Therefore, the application possibility of the incentive environmental policy instrument was studied in this research to realize the countermeasure for controlling of $SO_2-emissions.$ As a result, enforcement of the countermeasure such as flue gas desulfurizer by command and control would be suitable because power generation is performed by the public or for the public in source of air pollution and thus, economic principle is not applied to the polluter. In the source of industrial pollution, enforcement of fuel tax is found to be suitable for the countermeasure for the use of low sulfur oil in terms of the flexibility of demand for the price in the long tenn. For the permissible air pollution standards applicable to all air pollutant emitting facilities, enforcement of incentive environmental policy such as bubble, off-set, banking policy or tradeable emission penn its would be ideal in long terms according to the regional characteristics and the number and scale of air pollutant emitting facilities.

• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.91-101
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• 2010

Battle Management Language (BML) is defined as an unambiguous language intended to provide for command and control of simulated and live forces in U.S. It has been developed to connect between command and control system and Modeling & Simulation in the U.S., including NATO M&S Working Group. Its goal is to provide situational awareness and offer a path forward for interoperation of C2 systems and simulations. This study deals with BML development in U.S. that begins from army and is being expanded in multinational environment. It also proposes the BML application for C4I and M&S interoperation in the Korean forces. Recent developments of BML in U.S. have shown the potential for interoperation between C2 systems and simulations in a coalition environment. Finally, this study proposes a general BML application method and shows the example of its application to the Korea Joint Command Control System (KJCCS). It provides an architecture and a milestone for BML application in the Korean forces.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.43-48
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• 2002

We show that humans execute the postural control ingeniously by regulating the impedance properties of the musculo-skeletal system as the motor command against the alteration of the environment. Adjusting muscle activity can control the impedance properties of the musculo-skeletal system. To quantify the changes in human arm viscoelasticity on the vertical plane during interaction with the environment, we asked our subject to hold an object. By utilizing surface electromyographic(EMG) studies, we determined a relationship between the perturbation and a time-varying muscle co-activation. Our study showed when the subject lifts the object by himself the muscle stiffness increases while the torque remains the same just before the lift-off. These results suggest that the central nervous system(CNS) simultaneously controls not only the equilibrium point(EP) and the torque, but also the muscle stiffness as themotor command in posture control during the contact task.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.200-202
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• 2004

This paper deals with the real-time monitoring and control system using PC, PDA(Win CE embedded device) and PCS(based BREW platform). The camera attached to the server captures the moving target, and the captured frame of color image is encoded in JPEG for image compression at the server. The client(PC, PDA, PCS) receives the image data from the remote server and the received image is decoded from decompression. We use the TCP/IP protocol to send the image frames. The client can control the position of the camera by sending the control command to the server. Two DC servo motors for the camera are controlled in any directions, up-down and left-right, by the controller which is communicating with the server via the serial communication to get the control command. In this way, on the client we can monitor the moving images at the server and also control the position of the camera.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.561-566
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• 1998

This paper presents an algebraic approach to optimal control for time invariant continuous system using STWS(single term Walsh series). In optimal control, it is well known that the design problem with quadratic performance criteria often involves the determination of time-varying feedback gain matrix by solving the matrix nonlinear Riccati equation and of command signal by solving the integral equation, which makes design procedure quite difficult. Therefore, in order to resolve this problem, this paper is introduced to STWS. In this paper, the time-varying feedback gains and command signals are determined by piecewise constant gains which can be easily obtained from algebraic equation using STWS.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.1095-1098
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• 1999

We have developed a speaker dependent voice command system(VCS) to control the sunroof in the car using RSC-164 VRP(Voice Recognition Processor). VCS consists of control circuits, microphone, speaker and user switch box. The control circuits include RSC-164, input audio preamplifier, memory devices, and relay circuit for sunroof control. It is designed robustly in various car noisy situations like audio volume, air conditioner, and incoming noise when window or sunroof opened. Each two users can control the car sunroof using seven voice commands on the Super TVS model and five voice commands on the Onyx model. It works well when we drive the car at over 100 km/h with the sunroof opened.