• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2397-2401
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• 2005

It is well understood that force reflecting coupled with visual display can be an important two-way communication channel in human-computer interaction. In this work, important components for a high-fidelity system bandwidth are force reflecting device and that all the computations including contact determination and response computation have to be performed in less than a millisecond. This paper describes a force-reflecting device and an embedded controller. The realized force-reflecting device is based on a novel serial type mechanical structure, and features compactness, high sustained output force capability, low friction, zero backlash, and enough workspace. The embedded controller reduces software computational load via main processor and simplifies hardware strictures by the time-division control. The device is integrated with existing dynamic simulation algorithms running separate workstation, so that objects can be manipulated in real time and the corresponding forces felt back by the operator.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.68-77
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• 2013

This paper presents AUTOSAR-ready light software architecture (AUTOSAR-Lite), which is a light weighted version of the AUTOSAR, for automotive embedded control systems. The proposed AUTOSAR-Lite reduces overhead problems caused by the excessive standard specifications of AUTOSAR. Concurrently, AUTOSAR-Lite keeps advantages of AUTOSAR such as a scalability, re-usability, reliability, and transferability. The fundamental design of AUTOSAR-Lite is originated from the AUTOSAR standard. AUTOSAR-Lite is composed of three layers such as an application software, runtime environment, and basic software layer. The application software layer adopts component-based design methodology as AUTOSAR. The runtime environment layer integrates interfaces between application and basic software layers. In case of the basic software layer, restrictions of the module configurations and interfaces of basic software are minimized. In order to validate the feasibility of AUTOSAR-Lite, a software design result based on AUTOSAR-Lite software architecture for electronic throttle control (ETC) system is suggested.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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• pp.124-130
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• 2005

Obstacle avoidance of underwater robots based on a modified virtual force field algorithm is proposed in this paper. The VFF(Virtual Force Field) algorithm, which is widely used in the field of mobile robots, is modified for application to the obstacle avoidance of underwater robots. This Modified Virtual Force Field(MVFF) algorithm using the fuzzy lgoc can be used in moving obstacles avoidance. A fuzzy algorithm is devised to handle various situations which can be faced during autonomous navigation of underwater robots. The proposed obstacle avoidance algorithm has ability to handle multiple moving obstacles. Results of simulation show that the proposed algorithm can be efficiently applied to obstacle avoidance of the underwater robots.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.325-329
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• 1987

In this paper, attempts have been made to extract elemental knowledges from contours of industrial mechanical elemental parts for efficient boundary representation ( chain coding) of their contours. These elemental knowledges could be used to know-ledge representation for representing boundaries of various industrial mechanical parts. Analysis is focused on elemental knowledges of line and circle boundaries, which compose basic elements of the contours of industrial mechanical parts.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.570-577
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• 2014

This paper describes the design of a force applying system for a smart phone curved glass molding system and its characteristic test. The force applying system is composed of a motor and gear, a rectilinear movement structure, a force sensor, an LVDT (Linear Variable Differential Transformer) sensor, an up and down moving block, and so on. The system precisely controls the applying force and time to the plane glass because the glass can be easily destroyed under applied force, and can be bent imperfectly. As a result of the characteristic test, the curved glass can be manufactured using this system, and the holding time under 0N force, the applying force to the plane glass, the time for applying from 0N to maximum force, and the holding time under maximum force at the manufacture feasible temperature $620^{\circ}C$ were found.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.891-895
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• 1988

We discuss what kind of scale is suitable for analog signal recording paper from the viewpoint of human engineering. We show a method for automatically generating a suitable scale from the higher and lower limits of the recording range.

• Journal of Electrical Engineering and Technology
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• v.11 no.5
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• pp.1449-1456
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• 2016

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.243-246
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• 1994

In this paper, a self-learning fuzzy controller is designed with a fuzzy approximation of an inverse model. The aim of an identification is to find an input command which is control of a system output. It is intuitional and easy to use a classical adaptive inverse modeling method for the identification, but it is difficult and complex to implement it. This problem can be solved with a fuzzy approximation of an inverse modeling. The fuzzy logic effectively represents the complex phenomena of the real world. Also fuzzy system could be represented by the neural network that is useful for a learning structure. The rule of a fuzzy inverse model is modified by the gradient descent method. The goal is to be obtained that makes the design of fuzzy controller less complex, and then this self-learning fuzz controller can be used for nonlinear dynamic system. We have applied this scheme to a nonlinear Ball and Beam system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.508-508
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• 2000

In this paper, a discrete-time variable structure controller for linear time-varying systems with time-varying disturbances is proposed. The proposed method guarantees that the system state is globally uniformly ultimately bounded (G,U.U.B.) under the existence of external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2278-2282
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• 2003

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, a general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, the immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.