• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.374-376
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• 1992

This paper proposes a stable locomotion control rule for non-holonomic mobile robot. Stability of the rule is proved through the use of a Liapunov function. We have two controller for locomotion control. One is velocity controller, the other is position controller. The proposed controller is position controller whose input to robot are a reference posture and reference velocities. The major objective of this paper is to propose a control rule to find a reasonable velocity command under a assumption which is velocity controller is ideal controller.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.637-641
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• 1991

One of the most difficult problems in depth control for underwater vehicle is the effect of seaway disturbance. When a underwater vehicle operates in a near surface environment, the seaway generates essentially two types of stochastic disturbances that influence the boat notion. One component of the seaway forces is of large magnitude with a relatively narrow-band, first order component. The other component is generally of somewhat smaller magnitude, second order component. Since the magnitude of the first order component is generally such greater than the compensating force that can be generating by the planes, it is undesirable for the controller to generate a control command. In this paper, we used LPC(Linear Predictive Coding) processing to uncontrollable seaway disturbance. This method can be used extensively in sensor signal processing of underwater vehicles.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.346-352
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• 2010

This paper presents an intuitive interface scheme for controlling a hydraulic backhoe, which is a piece of excavating equipment consisting of a digging bucket on the end of a two-part articulated arm, and typically mounted and rotated on the back of a tractor or front loader. The passive levers/joysticks for actuator operations of a hydraulic backhoe are replaced into electric joysticks with a robotic controller, which will generate the end-effecter command trajectories of the backhoe through joystick rate control in cylindrical coordinate. The developed backhoe with the hydraulic control system showed the maxim position error of 3 cm with intuitive coordinate operations, which would be helpful for conveniently performing various excavating tasks with natural and effective ways.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.8
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• pp.92-98
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• 1995

The position control of flexible joint manipulator is investigated by applying the self-organizing fuzzy logic controller (SOC) proposed by Procyk and Mamdani. The SOC is a heuristic rule-based controller and a further extension of an ordinary fuzzy controller, which has a hierachy structrue which consists of an algorithm being identical to a fuzzy controller at the lower ollp and a learning algorithm accomodating the performance evalution and rule modification function at the upper ollp. This form of control can be used in those complex systems which have been too difficult to control or which in the past have had to rely on the experience of a human operator. Even though the significant dynamic coupling of the motors and links on the flexible joint manipulator, the performance of command-following is good by applying the proposed SOC.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.1
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• pp.33-39
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• 2012

In this paper, we propose robot control interface using gaze recognition which is not limited by head motion. Most of the existing gaze recognition methods are working well only if the head is fixed. Furthermore the methods require a correction process per each person. The interface in this paper uses a camera with built-in infrared filter and 2 LED light sources to see what direction the pupils turn to and can send command codes to control the system, thus it doesn't need any correction process per each person. The experimental results showed that the proposed interface can control the system exactly by recognizing user's gaze direction.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.478-478
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• 2000

In this paper, presents the design of mobile field robot controlled by microcomputer. The computer works as the supervisory system for decision making and sending command to control the field robot. An information from encoder, infrared sensors using for control task of the robot that can be interconnected with the computer through the serial communication RS422 standard. In this case, the user can design the program algorithm base on microcomputer in order to control and define the routing of the mobile robot. Moreover, the robot can be installed other equipment fer collect data such as picture, sound, temperature etc., in order to working in the dangerous area.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.629-630
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• 2006

This paper present a design experience of supervisory control system platform for agile and intelligent manufacturing(AIM). Embodied integrated environment that can do in place that do work direction, analysis command file generation, achievement using Petrinet-type Graphical Language(PGL) in proposed Supervisory Control System. Also, embodying whole system software in Modular done form, did to have extensity to fit in developer's requirement.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Proceedings of the KAIS Fall Conference
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• 2006.05a
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• pp.327-329
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• 2006

In this paper, PLC program for flowing type steam boiler control is presented. The function of the implementation are flowing type steam boiler, PLC control, interpretation of PLC command, and temperature scheme. The flowing type steam boiler approach is based on master-slave control concept. To show validity of the developed PLC program, severial experiments are illustrated.

• Nuclear Engineering and Technology
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• v.31 no.1
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• pp.1-8
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• 1999

In this paper, we propose a new type of power control system for the rod drive coil of the CEDM of the PWR NPP in order to supply more reliable DC power The electrical modelling of the controlled rod drive coil was done by referring related documentations. The design of the proposed system is based on this electric81 model satisfying the existing specification. A high power DC-DC converter scheme is adopted utilizing the SMPS technique in the design of the proposed system. In order to show the effectiveness of the proposed system, an experimental system with the capability of 3.2 K Watt was set up for a rod with four cores and some computer simulations and experimentations were carried out. The result shows a very similar tracking performance with that of the existing system to the driving command. As a result of this, the proposed method can be applied to the power control system for the rod drive coil of the CEDM of the PWR NPP.