• Proceedings of the IEEK Conference
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• 1999.11a
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• pp.703-706
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• 1999

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagragian assumed modes method based on Bernoulli-Euler beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoptation of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• Proceedings of the Korean Information Science Society Conference
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• 1998.10c
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• pp.285-287
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• 1998

본 논문에서는 다양한 멀티미디어 스트림(multimedia stream)을 재생할 수 있는DirectShow SDK를 이용하여, 비디오의 특수효과를 구현하기 위한 변환 필터(Transform filter) 제작 방법에 대해 소개한다. DirectShow는 여러 가지 포맷(MPEG, AVI, MOV, WAV)으로 부호화된 digital movie나 sound를 재생할 수 있는 run-time(.ock)과 dynamic-link library (DLLs)를 제공하여 필터의 제작을 용이하게 한다. 본 논문에서는 디지털 영상 특수효과 중에서 Clip이라는 특수효과를 예로하여 변환 필터를 제작하는 방법을 소개한다. 또한 DirectShow Documentation에서 제공된 변환방법을 수정하여 변환필터의 입력 pin에서 출력 pin으로의 불필요한 복사를 줄임으로써 수행 속도를 개선하는 특수효과 구현 방법을 제시한다.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.443-448
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• 2004

In this study, we have performed investigation of safety for turnover in the tilting train. In the tilting train, the safety for turnover is one of the most important studies because the train incline the carbody inward curve during curve negotiation. Therefore, we have carried out dynamic analysis considering wind force and unbalanced lateral acceleration effects. From this study, we have evaluate the safety for turnover according to the design parameters of the tilting link mechanism.

• ETRI Journal
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• v.28 no.5
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• pp.676-679
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• 2006

In this letter, we propose an adaptive hard handoff algorithm with a dynamic hysteresis value based on the received signal strength from the serving base station, for mobile cellular communication systems. A discrete-time method is presented to evaluate handoff algorithms analytically. Performance is evaluated in terms of the average number of handoffs, the probability of link degradation, and the average handoff delay. Numerical results and simulations demonstrate that the proposed algorithm outperforms the handoff algorithm with fixed hysteresis values and the handoff algorithm using both threshold and hysteresis.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.9
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• pp.655-662
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• 1988

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a deired trajectory in spite of the presence of nonlinearies and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which controls the extended linearized perturbaton model via the pole placement, and this control. The feasibility of the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• Proceedings of the Korea Society for Simulation Conference
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• 2003.11a
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• pp.119-125
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• 2003

Trusted operating systems (OS) provide the basic security mechanisms and services that allow a computer system to protect, distinguish, and separate classified data. This paper proposes a new concept of operating system security enhancement system which uses loadabel security kernel module (LSKM) or dynamic link library(DLL) and specific conditions for operational environment should be assumed.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.7
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• pp.24-28
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• 1996

In this paper, a new measurement system has been developed for measuring servo errors of CNC machine tools. Unlike the ball link bar method using circular path, the developed system uses two orthogonal straight paths for measurement of errors, giving relatively short test length. For position measurment, linear displacement sensor and steel cube have been designed, and the software for relevant data sampling and error evaluation has been implemented.

• Journal of Electrical Engineering and information Science
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• v.1 no.2
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• pp.109-118
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• 1996

This paper deals with a new multi-level high voltage source inverter with GTO Thyristors. Recently, a multi-level approach seems to be the best suited for implementing high voltage conversion systems because it leads to harmonic reduction and deals with safe high power conversion systems independent of the dynamic switching characteristics of each power semiconductor device. A conventional multi-level inverter has some problems; voltage unbalance between DC-link capacitors and larger blocking voltage across the inner switching devices. To solve these problems, the novel multi-level inverter structure is proposed.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.1
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• pp.202-208
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• 2014

Friction force on robot systems is highly nonlinear and especially disturbs precise control of the robots at low speed. This paper deals with the dynamic friction compensation problem of a well-known one-link benchmark robot system. We consider the LuGre model because the model can successfully represent dynamic characteristics and various effects of friction phenomenon. The proposed controller is constructed as two parts. An adaptive controller based on dual observers is used to estimate and compensate the dynamic friction. In order to attenuate the friction estimation error and other disturbances, PI observer is additionally designed. Through the computer simulations with the benchmark system, this paper first examines the effects of nonlinear dynamic friction on the control performance of the benchmark robot system. Next, it is shown that the control performance against the dynamic friction is improved by using the proposed controller.