• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.10-17
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• 2016

In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.11a
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• pp.339-342
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• 2007

The power control system of Smart UAV is similar to the propeller pitch governing concept of turboprop aircraft. The pilot inputs the engine power directly and the pitch governor controls the propeller pitch to maintain the propeller RPM. The manual back-up system of PW206C engine is used for the engine power control of Smart UAV. Engine performance estimation program is used to predict the control range of power lever arm(PLA) angle according to the variation of flight altitude and speed. These data provide a guide for the engine control in manual mode operation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.424-429
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• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.72-78
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• 2018

This paper proposes a Dual Controller System for Precision Control (DCSPC) for control of the gripper. The DCSPC consists of two subsystems, CDSP (Controller based DSP) and CARM (Controller based ARM processor). The CDSP is developed on a DSP processor and controls the gripping motor and LVDT. In particular, the CARM is implemented using Linux and ARM processor according to recent research related to open-source. The robot for high-precision assembly is divided into the robot control and the gripper control section and controls CARM and CDSP systems respectively. In this paper, we also proposed and measured the performance of communication API. As a result, it is expected to recognize improvements in communication between CARM and the robot controller, and will continue to conduct relevant research among other commercial robot controllers.

• Korean Journal of Occupational Health Nursing
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• v.13 no.1
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• pp.19-29
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• 2004

Purpose: This study was conducted at small-to-medium-sized manufacture enterprises less than 300 employees. Method: For 167 workers in 12 small-to-medium-sized manufacture, we examined the self-recording questionnaires about general characteristics, health characteristics, occupational characteristics and subjective musculoskeletal symptoms designed by NIOSH. Result: Related factors of upper limb musculoskeletal symptoms were found in using of the PC except work, the speed control at working and inappropriate positions for neck, and that using of the PC except work, the degree of intensity at working and the speed control at working for shoulder, and that the degree of intensity at working, the speed control at working, inappropriate positions and excessive workforce for arm/elbow, and that the degree of intensity at working, the speed control at working, inappropriate positions, excessive strong and vibration for hand/wrist/fingers. Conclusion: As a result of multiple logistic regression analysis, musculoskeletal symptoms of neck were influenced by use of the PC except work, household work, and the speed control at working, symptoms of shoulder by using of the PC of except work and the degree of intensity at working, symptoms of arm/elbow by the speed control at working, and symptoms of hand/wrist/fingers by the degree of intensity at work and excessive workforce.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.11 s.353
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• pp.185-191
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• 2006

DSRC((Dedicated Short Range Communication) is dedicated short range communication for wireless communications between RSE(Road Side Equipment) and OBE(On-Board Unit) within vehicle moving high speed. In this paper, we implemented 5.8GHz DSRC modem according to Korea TTA(Telecommunication Technology Association) standard and investigated implementation results and design process for SoC(System on a Chip) embedding ARM CPU which control overall signal and process arithmetic work. The SoC is implemented by 0.11um design technology and 480pins EPBGA package. In the implemented SoC ($Jaguar^{TM}$), 5.8GHz DSRC PHY(Physical Layer) modem and MAC are designed and included. For CPU core ARM926EJ-S is embedded, and LCD controller, smart card controller, ethernet MAC, and memory controller are designed as main function.

• Biomolecules & Therapeutics
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• v.13 no.3
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• pp.156-164
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• 2005

This study was performed to investigate the anxiolytic-like effects Panax ginseng in mice using the elevated plus-maze model. Furthermore, the anxiolytic-like effects of Panax ginseng were compared to a known active anxiolytic drug, diazepam. Ginseng total saponin (GTS, 100 mg/kg) from red ginseng (RG), sun ginseng (SG) total extract (50 mg/kg), butanol fraction of SG(25 and 50 mg/kg) and ginsenosides ($Rb_1,\;Rg_1,\;and\;Rg_5$ and Rk mixture) significantly increased the number of open arm entries and the time spent on the open arm, compared with that of control. However, Red ginseng (RG) total extract (l00 mg/kg), GTS (25, 50 mg/kg), SG total extract (25 mg/kg) and ginsenosides ($Rg_{3}-R\;and\;Rg_{3}-S$) did not increase the number of open arm entries and the time spent on the open arm. On the other hand, butanol fraction of RG (l00 mg/kg), total extract of SG (50 mg/kg), butanol fraction of SG (50 mg/kg), ginsenosides ($Rb_{1},\;and\;Rg_{5}$ and Rk mixture) decreased the locomotor activity, in a similar fashion to diazepam. These data support that ginseng has the anxiolytic-like effects and the anxiolytic potential of SG was stronger than that of RG. Ginsenosides $Rb_{1},\;Rg_{1},\;and\;Rg_{5}$ and Rk mixture play important role on the anxiolytic-like effects of Panax ginseng. We provide evidence that ginseng and some ginsenosides may be useful for the treatment of anxiety.

• Journal of Digital Convergence
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• v.12 no.10
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• pp.299-308
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• 2014

Today, a number of users using smartphone is very rapidly increasing by development of smartphone performance and providing various services. Also, they are using it for enjoying various services(cloud service, game, banking service, mobile office, etc.). today's mobile security solution is simply to detect malicious code or stay on the level of mobile device management. In particular, the services which use sensitive information, such as certificate, corporation document, personal credit card number, need the technology which are prevented from hacking and leaking it. Recently, interest of these mobile security problems are increasing, as the damage cases been occurred. To solve the problem, there is various security research such as mobile virtualization, ARM trustzone, GlobalPlatform for mobile device. Therefore, in this paper, I suggested efficient method that uses the mobile virtualization techniques of certification, security policy and access control, password/key management, safe storage, etc. and Trustzone of ARM for preventing information leakage and hacking.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.