• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.252-254
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• 2004

This paper proposes a common platform for an internet-based mobile robot and its operator terminal. The common platform can reduce the cost and time to develop an internet-based robot and its operator terminal. The robot performs the role of a server and its terminal a client. One operator can use this terminal to make a command and this command can be sent to the robot through a wireless network. According to given commands, the robot moves a point and sends an image by using a camera or desired information by using other sensors. The information sent from the robot can help an operator to control the robot. The mobile robot consists of two modules, main module and motion module. Main module can exchange information with the operator terminal, process information, and send a command to motion module. Each application program for one internet-based mobile robot and its operator terminal will be developed to show that the same platform can be used for them. Also, it will be shown that the robot can be controlled easily by using its operator terminal.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.589-594
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• 2007

In this paper, the optimal command input is considered in order to minimize the residual vibrations of a flexible cantilever beam when the beam simply changes its position by translation or rotation. Although a cantilever beam has many modes of vibration, it is shown that the consideration of the first mode is sufficient in this case. Thus, the problem becomes a singledegree-of-freedom system subjected to a ground excitation. Two simple methods are proposed to find the optimal command input based on the Shock Response Spectrum (SRS). The first method is the simplest and can be applied to lightly damped cases, and the second method is applicable to more general problems. The second method gives almost the same results as the input shaping method. However the proposed method gives a easier and clearer control strategy.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.250-258
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• 2015

In this research, we proposed a new approach to implement the real-time motion control of biped robot based on voice command for unmanned FA. Voice is one of convenient methods to communicate between human and robots. To command a lot of robot task by voice, voice of the same number have to be able to be recognition voice is, the higher the time of recognition is. In this paper, a practical voice recognition system which can recognition a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. Given biped robots, each robot task is, classified and organized such that the number of robot tasks under each directory is net more than the maximum recognition number of the voice recognition processor so that robot tasks under each directory can be distinguished by the voice recognition command. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.

• Journal of Power Electronics
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• v.18 no.3
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• pp.714-722
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• 2018

This paper presents a wide-range speed control scheme of brushless DC (BLDC) motors based on a hall sensor with separated low- and normal-speed controllers. However, the use of the hall sensor signal is insufficient to detect motor speed in the low-speed region because of low sensor resolution and time delay. In the proposed method, a micro-stepping current control method according to the torque angle variation is presented. In this mode, the motor current frequency and rotating angle are determined by the reference speed without the actual speed fed by the hall sensor. The detected torque angle is used to adjust the current value in a limited band to control the current value in accordance with the load. The torque angle is detected exactly at the changing point of the hall sensor signal. The rotor can follow the rotating flux with the variable torque angle. In a normal speed range, the conventional vector control scheme is used to control the motor current with a PI speed controller using the hall sensor. The torque characteristics are analyzed on the basis of the back EMF and current shape. To adopt the vector control scheme, the continuous rotor position is estimated by the measured speed and hall sensor position. At the mode changing point between low and normal speed range, the proper initial current command and reference rotor position are calculated. The calculated current command can reduce the torque ripple during transient mode. The proposed method is simple but effective in extending the speed control range of a conventional BLDC motor with hall sensor without the need for a high-resolution encoder. The effectiveness of the proposed method is verified by various experiments on a practical BLDC motor.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.10a
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• pp.661-664
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• 2000

A winless communication module for multiple PLC was developed. The function of the developed system are dual communication, concurrent multiple communication PLC control ,d interpretation of RC command, and A/D D/A converting. The multiple communication approach is based on master-slave control concept To show validity of the developed module, severial experiments are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.673-677
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• 1986

This paper deals with the state observer-controller which observes unmeasurable state variables of the system and then uses the estimated values as feedback signals. The linearized model is deduced from the nonlinear electrohydraulic servo system. The 4th order analog linear observer-controller and the 2nd order digital one are modelled and implemented using OP amplifiers and IBM PC/XT, respectively. The two observer are experimentally used in the control of an electrohydraulic system. The results are satisfactory in estimation performance and in tracking performance to command signal.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.833-834
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• 2006

In this paper, It is proposed collecting, processing, and learning of data with PIC16F877 and Acode 300[3], constructing database in PC. The PIC16F877 microcontroller nodes are the radio sensor and the DC motor controller. The PC of flexible factory level construct the data-table for object-oriented optimal environment control. The DC Motor control command is decision with back-propagation.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.892-897
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• 1987

The ability of a robotic manipulator to recognize the shape of an object by feeling its band around the object is useful in many applications. Two-dimensional object contour tracking by force feedback is described. The system consists of IBM PC/AT, PUMA 560 manipulator, PUMA controller and a tip sensor. Position control is accomplished by using VAL command and the unmodified PUMA controller. A contour tracking algorithm is developed and tested on three different types of objects. The experimental results show that the objects' shapes can be successfully identified.

• Journal of the Earthquake Engineering Society of Korea
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• v.9 no.4 s.44
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• pp.55-66
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• 2005

The effectiveness of fuzzy supervisory control technique for the control of seismic responses of smart base isolation system is investigated in this study. To this end, first generation base isolated building benchmark problem is employed for the numerical simulation. The benchmark structure under consideration is an eight-story base isolated building having irregular plan and is equipped with low-damping elastometric bearings and magnetorheological (MR) dampers for seismic protection. Lower level fuzzy logic controllers (FLC) for far-fault or near-fault earthquakes are developed in order to effectively control base isolated building using multi-objective genetic algorithm. Four objectives, i.e. reduction of peak structural acceleration, peak base drift, RMS structural acceleration and RMS base drift, are used in multi-objective optimization process. When earthquakes are applied to benchmark building, each of low level FLCs provides different command voltage and supervisory fuzzy controller combines two command voltages io one based on fuzzy inference system in real time. Results from the numerical simulations demonstrate that base drift as well as superstructure responses can be effectively reduced using the proposed supervisory fuzzy control technique.

• Journal of IKEEE
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• v.24 no.1
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• pp.154-160
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• 2020

This paper presents a grid current control algorithm for a grid connected inverter (GCI) system in a stationary reference frame. When a Proportional Integral (PI) controller at a stationary reference frame is used in a GCI system, steady state error and phase lags are presented because AC signals are controlled at a stationary reference frame. In this paper, a feedforward controller is applied to the PI controller to compensate the steady state error and phase lags by improving command tracking performance. In addition, disturbance rejection control is applied to the PI controller to protect the GCI system by eliminating disturbance, grid voltage in a GCI system, when a grid fault such as line-to-line fault, happens. The proposed GCI current control algorithm is analyzed in a frequency domain and a simulation model of the proposed GCI current control system is developed for verification of the performance.