• 한국산업융합학회 논문집
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• 제21권2호
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• pp.87-93
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• 2018

This Study Propose A New Approach To Impliment A Intelligent Robot Control Based on Voice Recognition For Smart Factory Automation Since human usually communicate each other by voices, it is very convenient if voice is used to command humanoid robots or the other type robot system. A lot of researches has been performed about voice recognition systems for this purpose. Hidden Markov Model is a robust statistical methodology for efficient voice recognition in noise environments. It has being tested in a wide range of applications. A prediction approach traditionally applied for the text compression and coding, Prediction by Partial Matching which is a finite-context statistical modeling technique and can predict the next characters based on the context, has shown a great potential in developing novel solutions to several language modeling problems in speech recognition. It was illustrated the reliability of voice recognition by experiments for humanoid robot with 26 joints as the purpose of application to the manufacturing process.

• 인터넷정보학회논문지
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• 제22권1호
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• pp.41-50
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• 2021

사이버 킬체인 (Cyber Kill Chain)은 기존의 군사적 용어인 킬체인 (Kill Chain)에서 유래한다. 킬체인은 "파괴를 요구하는 군사 표적을 탐지하는 것에서 파괴하는 것까지의 연속적이고 순환적인 처리 과정 또는 그것을 몇 개의 구분된 행위로 나눈 것"을 의미한다. 킬체인은 핵무기나 미사일과 같이 위치가 변화하고 위험성이 커서 즉각적인 대응을 요구하는 시한성 긴급 표적을 효과적으로 다루기 위해 기존의 작전절차를 발전시켰으며, 방어자가 파괴를 필요로 하는 핵무기나 미사일이 타격점에 도달하기까지의 여러 과정 중 한 단계라도 제 기능을 발휘하지 못하게 하여 공격자가 의도한 목적을 달성하지 못하도록 무력화하는 군사적 개념에서 시작되었다고 볼 수 있다. 이러한 사이버 킬체인의 기본 개념은 사이버 공격자가 수행하는 공격은 각 단계로 구성되어 있으며, 사이버 공격자는 각 단계가 성공적으로 수행되어야 공격 목표를 달성할 수 있으며, 이를 방어 관점에서 보았을 때 각 단계에서 세부적으로 대응 절차를 마련하여 대응하면 공격의 체인 (chain)이 끊어지므로 공격자의 공격을 무력화하거나 지연시킬 수 있다고 본다. 또한 공격 관점에서 보았을 때 각 단계에서 구체적인 대응 절차를 마련하면 공격의 체인이 성공하여 공격대상을 무력화시킬수 있다. 사이버 지휘통제체계는 방어와 공격에 모두 적용되는 체계로 방어시 적의 킬체인을 무력화하기 위한 방어 대응 방안을 제시하여야 하며 공격시에는 적을 무력화하기 위한 각 단계별 구체적인 절차를 제시하여야 한다. 따라서 본 논문은 사이버 지휘통제체계의 방어 및 공격 관점의 사이버 킬체인 모델을 제안하였으며, 또한 방어 측면의 사이버 지휘통제제계의 위협 분류/분석/예측 프레임워크를 제시하였다.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.445-452
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• 2016

This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• 전자공학회논문지SC
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• 제48권4호
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• pp.108-113
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• 2011

본 논문에서는 손목 부근에 장착한 근전도 및 가속도 센서를 통하여 기존 로봇의 차대 제어와 다른 새로운 방식의 제어 방법을 제안한다. 제안 하는 방법은 자동차를 운전하는 듯이 직관적인 팔의 움직임만으로 로봇을 원격 제어한다. 근전도 센서로부터 얻은 신호를 통하여 로봇 제어 여부를 결정하고 가속도 센서로부터 얻은 신호로부터 동작을 추론하여 추론된 동작에 해당되는 명령에 따라 전진, 후진, 좌회전, 우회전으로 제어한다. 4가지 동작에 대한 정확성은 99% 이상이며 실시간 지연 없이 자연스러운 제어가 가능하였다. 전체 시스템을 직접 구현하고 시현을 통하여 성능 및 유용성을 확인하였다

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.121-124
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• 2004

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force fer suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system. the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used fer solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage table's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

• 대한전기학회논문지
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• 제40권12호
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• pp.1218-1229
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• 1991

The time optimal position control design can be repeatedly taken from the initial state of a dynamic system to a desired one as fast as possible in the industrial drives. In this case, an induction machine parameters will vary due to temperature, frequency, and saturation effects. In particular, the rotor resistance changes critically with temperature and frequency. These changes affect the command values of the stator current components and slip speed. There is a mismatch between the commanded variables and actual ones of the induction motor drive, and this situation leads to coupling of the vector controller from the plant, i.e. the induction motor . Consequences of such a coupling include the initiation of oscillations of the rotor flux and unsuitable switching of electromagnetic torque for the induction motor servo drive. Therefore, this paper describes a rotor resistance parameter compensating method for the induction motor, And the validity of the proposed design method is confirmed by simulation studies and experiment results.

• 대한임베디드공학회논문지
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• 제16권3호
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• pp.89-97
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• 2021

Voice interface can not only make daily life more convenient through artificial intelligence speakers but also improve the working environment of the factory. This paper presents a voice-assisted work management system that supports both speech and speaker recognition. This system is able to provide machine control and authorized worker authentication by voice at the same time. We applied two speech recognition methods, Google's Speech application programming interface (API) service, and DeepSpeech speech-to-text engine. For worker identification, the SincNet architecture for speaker recognition was adopted. We implemented a prototype of the work management system that provides voice control with 26 commands and identifies 100 workers by voice. Worker identification using our model was almost perfect, and the command recognition accuracy was 97.0% in Google API after post- processing and 92.0% in our DeepSpeech model.

• 전기학회논문지
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• 제68권1호
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• pp.145-152
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• 2019

A composite guidance scheme is proposed for air-to-ground anti-tank missiles launched from an airborne platform. Long-range anti-tank missiles usually use a fiber optic line (FOL) for the datalink between an operator and the missile to obtain real-time target information and to command the missile. Also, impact angle control is used to maximize the warhead effectiveness, but it should be carefully implemented due to interference between the launch platform and the FOL. Thus, the proposed guidance scheme takes into account both impact angle and FOL constraints. Under system lag and acceleration limits, a selection method of guidance gains and calculation logic of the maximum achievable impact angle are proposed for a guideline of practical implementation. The performance of the proposed guidance scheme is investigated by nonlinear simulations with various engagement conditions.

• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.