• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.446-452
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• 2002

This paper Presents a 3-D design and a Vibration control of a new walking R.G.O.(Robotic Gait Orthosis) and would like to develop a simulation by this walking system. The vibration control and evaluation of the new knee joint mechanism on the biped walking R.G.O.(Robotic Gait Orthosis) was a very unique system and was to obtain by the 3-axis accelerometer with a low frequency vibration for the paraplegia It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking R.G.O.. The new knee joint system of both legs were adopted with a good kinematic characteristics. It was designed attached a DC-srevo motor and controller, with a human wear type. It was able to accomodate itself to a environments of S.C.I. Patients. It will be expect that the spinal cord injury patients are able to recover effectively by a new walking R.G.O. system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.675-682
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• 2009

Instead of direct driving like BLDC, the induction principle is adopted as a driving one for planar stage. The stage composed of four linear induction motors put in square type is activated by two-axial forces; low-frequency attractive force and thrust force of the linear induction motors. Here, the modified vector control whose new inputs are q-axis current and dc current biased to three phase current instead of d-axis current or flux current is applied extensively to overall motion of the stage. For the developed system, the precision step test and the constant velocity test are tried to guarantee its feasibility for TFT-LCD pattern inspection. However, to exclude a discontinuity due to phase shift and minimize a force ripple synchronized with the command frequency, the initial system is revised to the antagonistic structure over the full degree of freedom. Concretely describing, the porous air bearings guide an air-gapping of the stage up and down and a pair of liner induction motors instead of single motor are activated in the opposite direction each other. The performances of the above systems are compared from trapezoid tracking test and sinusoidal test.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.848-855
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• 2008

In this paper, we describe correspondence among multiple images taken by multiple cameras. The correspondence among multiple views is an interesting problem which often appears in the application like visual surveillance or gesture recognition system. We use the principal axis and the ground plane homography to estimate foot of human. The principal axis belongs to the subtracted silhouette-based region of human using subtraction of the predetermined multiple background models with current image which includes moving person. For the calculation of the ground plane homography, we use landmarks on the ground plane in 3D space. Thus the ground plane homography means the relation of two common points in different views. In the normal human being, the foot of human has an exactly same position in the 3D space and we represent it to the intersection in this paper. The intersection occurs when the principal axis in an image crosses to the transformed ground plane from other image. However the positions of the intersection are different depend on camera views. Therefore we construct the correspondence that means the relationship between the intersection in current image and the transformed intersection from other image by homography. Those correspondences should confirm within a short distance measuring in the top viewed plane. Thus, we track a person by these corresponding points on the ground plane. Experimental result shows the accuracy of the proposed algorithm has almost 90% of detecting person for tracking based on correspondence of intersections.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.5
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• pp.933-940
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• 2022

In this paper, the algorithm was developed to recognize hand 3D position through 2D image sensor and implemented a system to remotely control the 6 d.o.f. robot arm by using it. The system consists of a camera that acquires hand position in 2D, a computer that controls robot arm that performs movement by hand position recognition. The image sensor recognizes the specific color of the glove putting on operator's hand and outputs the recognized range and position by including the color area of the glove as a shape of rectangle. We recognize the velocity vector of end effector and control the robot arm by the output data of the position and size of the detected rectangle. Through the several experiments using developed 6 axis robot, it was confirmed that the 6 d.o.f. robot arm remote control was successfully performed.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.57-58
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• 2010

This paper proposes maximum torque control of IPMSM drive using optimal current. This control method is applicable over the entire speed range which considered the limits of the inverter's current and voltage rated value. For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. This paper considers the design and implementation of novel technique of high performance speed control for IPMSM using multi-MFC and ANN controller. Also, this paper proposes maximum control of IPMSM drive using approximation method. This method is decreased the burden of digital signal process(DSP) in calculation of optimal current. This paper proposes the analysis results to verify the effectiveness of the MFC and ANN controller. Also it verifies the validity of maximum torque control of IPMSM drive with optimal current.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.729-730
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• 2006

The paper is proposed maximum torque control of SynRM drive using adaptive fuzzy neural network(A-FNN) controller and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to SynRM drive system controlled A-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the A-FNN and ANN controller.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.731-732
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• 2006

The paper is proposed maximum torque control of IPMSM drive using adaptive learning mechanism-fuzzy neural network (ALM-FNN) and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to IPMSM drive system controlled ALM-FNN and ANN, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the ALM-FNN and ANN.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.260-260
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• 2000

In this work, we have developed a 2 degree of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two ac servo motors that drive the roll and pitch motion.