• 대한기계학회논문집B
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• 제28권5호
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• pp.518-525
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• 2004

The thermoelectric device was applied to a car seat to control the hot temperature in the summer and cold temperature in the winter. The characteristics of the device used to a car seat were analyzed. The air conditioning structure was designed to regulate the hot side of the thermoelectric device. To control the temperature of the car seat, a robust control algorithm based on the sliding mode control was applied, and a controller using one-chip microprocessor was developed. The performance of the proposed controller through experiments was shown.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권10호
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• pp.439-445
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• 2002

In this paper force feedback control system is investigated for improving the quality of the haptic feedback in virtual reality applications. We suggested the method of controlling the haptic device and modelling the virtual environment. Haptic device is composed of five bar link structure, voice coil motor, control board, and virtual environment modeling program. We applied voice coil motor in the actuating system for simple structure and easy control. Virtual environment modelling is constructed in PC, and the control signals of the actuators and the encoder data are transferred to the control system through USB. Experiment is performed to evaluate the characteristics of the haptic device.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.917-922
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• 2004

As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

• 한국기계가공학회지
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• 제21권4호
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• pp.31-38
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• 2022

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.717-719
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• 2004

Currently mobile devices change rapidly our life and they have considerable influences over many parts of our society. If the mobile device is applied to a control system, the usability of the control system is increased with its convenient accessibility and mobility. This paper realizes a motor control system by using a mobile device. The device uses Intel Xscale PXA-250 in which Widows CE is ported. The device is very popular at the applications of mobile devices. Also we consider its application to a mobile robot such as home service robot.

• International Journal of Internet, Broadcasting and Communication
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• 제10권3호
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• pp.35-41
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• 2018

Smart device has become an affordable main computing resource for robotic ap-plications in accordance with a fast growth of mobile internet environment. Since the computing power of smart device has been increased, smart device based ro-bot system attempts to replace traditional robot applications with laptop-based system. Methodologies for acquisition of remote sensory information and control of various types of robots using smart device have been proposed recently. In this paper, we propose a robot control system using a monitoring program and a communication protocol. The proposed system is a combination of an educa-tional programming oriented robot named EPOR-S. as small service robot plat-form and a smart device. Through a simulation study using image processing, the feasibility of combination of the proposed robot monitoring program and control system was verified.

• 전자공학회논문지SC
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• 제44권4호통권316호
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• pp.79-88
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• 2007

산업계에서 디바이스 제어 네트워크에 접속을 위한 기술과 인터넷을 통한 빌딩 자동화 시스템에 접속을 위한 기술의 수요가 커지고 있다. 이러한 기술에서는 디바이스 제어 네트워크와 인터넷 같은 데이터 네트워크의 통합과 광역 분산제어 시스템으로 조직화하느 것이 필요하며, 이는 VDN(virtual device network)라는 구조 하에서 실현될 수 있다 [1,2]. 디바이스 제어 네트워크와 데이터 네트워크의 내역은 그 응용의 차이 때문에 아주 다르다. 따라서 VDN의 구현을 위하여는 디바이스 제어 네트워크와 데이터 네트워크 간에 통신 프로토콜을 번역하고, 목적지로 정보를 효과적으로 송신할 수 있는 라우터가 필요하다. 이 논문은 VDN에 기반한 NCS(networked control system)의 개념을 제안하고 임베디드 시스템[3]을 이용하는 라우팅 알고리듬을 제안한다.

• 한국융합학회논문지
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• 제8권12호
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• pp.291-298
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• 2017

최근 차량내부에서는 운전과 직접적인 관련이 적은 다양한 편의장치들이 도입되고 있으며, 이러한 장치들의 조작환경을 하나로 통합하려는 노력이 시도되고 있다. 본 논문은 자동차 내의 다양한 편의장치에 대한 통합 조작환경을 구축하기 위해 자기유변유체(magnetorheological fluid; MR 유체)를 이용한 햅틱장치를 제안하고자 한다. 이를 위해 먼저 차량 편의 조작장치들이 갖는 회전과 상하 수직 운동을 동시에 구현할 수 있는 메커니즘을 고안하고 햅틱 기능을 부여하기 위해 MR 유체를 도입함으로써 하나의 장치로 다기능 조작이 가능한 햅틱 장치를 고안한다. 장치에서 발생하는 반향력에 대한 모델링에 근거하여 MR 햅틱 장치의 자료를 설계하고 시작품을 제작한다. 그리고 완성된 장치의 회전 및 수직 운동에 대한 응답 성능시험을 수행하여 제안된 모델을 검정한다. 또한 힘 반향 성능을 구현하기 위해 장치의 반향력 모델을 이용한 역모델 보상기(inverse model compensator)를 설계한다. 마지막으로 실제 자동차의 여러 편의 기능의 작동과정을 고려하여 햅틱 반향력 맵을 구축하고 제어기와 연동하여 제작된 햅틱 장치의 힘반향(force-feedback) 제어 성능을 평가한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1356-1363
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• 1999

In this paper, a new method for controlling the pointing device using EOG(electrooculogram) signal generated from eye movement was suggested. The basic idea of the method is to control the direction of pointer, as using the results of measuring each component of the horizontal EOG and the vertical EOG by angle of eye-gaze. As a practical example, pointing device controlling the personal computer's pointer is manufactured. The designed pointing device consists of pre-amplifier, A/D converter, serial transmission device and PC program. That is, first, the EOG is amplified by pre-amplifier. Secondly, the amplified EOG is digitized and transmitted to personal computer by PIC16C74A. Finally, the software for controlling the pointer on personal computer is programed. As the result, the measured horizontal EOG and vertical EOG by eye-gaze angle had high linearity; the correlation coefficients of the regression line were 0.998 and 0.996 respectively. And the developed pointing device is able to control the personal computer's pointer, and the average of the errors between the objective value and the observed value had 3.77% for horizontal axis and 5.85% for vertical axis. The pointing device developed in this study is able to control personal computer's pointer by subject's eye movement, that is, the user's intention. Furthermore, the algorithm of this study is applicable for many field, such as a new method remote control, a new wheelchair control and so forth.