• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1975-1976
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• 2006

이족 보행 로봇의 연구는 평지에서의 보행에 관한 연구가 주를 이루고 있다. 현재는 평지뿐만 아니라 비평지, 경사면, 계단 등과 같은 특수한 상황에서의 보행이 연구되고 있지만 대부분 여러 가지 제약조건이 뒤따르고 있다. 그래서 본 논문에서는 퍼지 시스템과 신경망을 이용하여 이러한 제약 조건을 극복하였다. 신경망을 이용하여 이족 보행 로봇의 보행궤적을 생성하였으며, 퍼지 시스템은 로봇의 자세제어를 하는데 이용되었다. 또한 이족 보행 로봇이 로봇 내부 및 외부의 상황을 스스로 인지하기 위해서 자이로, 압력센서, 적외선, 초음파 센서를 이용하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1018-1023
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• 1993

In mechanical structure design area, many FEM (Finite Element Method) packages are used. But the design using FEM packages depends on an iterative trial and error manner and general CAD systems cannot cope with the change of parameters. This paper presents a methodology for building a designing system of a mechanical structure. This system can generate the drawing for a designed structure automatically. It consists of three steps: generation of a structure by selection of the parameters, stress analysis, and generation of a drawing using CAD system. FEM module and parametric CAD module are developed for this system. Inference engine module generates the parameters with a rule base and a model base, and also evaluates the current structure. The parametric design module generates geometric shapes automatically with given dimension. Parametric design is implemented with the artificial intelligent technique. In older to the demonstrate the effectiveness of the developed system, a frame set of bicycle was designed. The system was implemented on an SUN workstation using C language under OpenWindows environment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.343-346
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• 1996

A new method for on-line induction motor fault detection is presented in this paper. This system utilizes unsupervised-learning clustering algorithm, the Dignet, proposed by Thomopoulos etc., to learn the spectral characteristics of a good motor operating on-line. After a sufficient training period, the Dignet signals one-phase ground fault, or a potential failure condition when a new cluster is formed and persists for some time. Since a fault condition is found by comparison to a prior condition of the machine, on-line failure prediction is possible with this system without requiring information on the motor of load characteristics.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.123-126
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• 2001

종합적인 공정 제어 자동화 시스템 구현을 위해 계층적이고 개방형 방식에 의한 시스템 구축이 이루어지고 있다. 상위 계층 시스템은 하위 계층 제어 시스템의 제어기 설정치를 결정하는 방법으로 다양한 의사결정(Decision Making)방법을 도입하여 하위 계층 시스템과 연계하여 계층적인 종합 공정 제어 자동화 시스템 구축을 시도하고 있다. 본 연구에서는 상위 계층 시스템 구현을 위해 신경회로망 방식을 채택한 상위 지능형 제어 시스템을 제안하여 연속형 프로세스의 최적 의사 결정을 효과적으로 할 수 있도록 하였고 이를 실현화 하는데 있어 UML방식의 객체지향 설계방식을 도입함으로써 시스템의 재 사용성 및 확장성을 가지는 개방형 상위 의사 결정 시스템을 개발하였다. 개발된 시스템을 수처리 연속 공정인 약품주입 공정에 적용하였다.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.127-129
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• 2001

CAN 통신은 네트워크 시스템 제어를 통한 각종 산업설비에서 제어 및 자동화 관련 장비들간에 데이터 교환을 위한 통신망으로 널리 사용되고 있다. 이러한 CAN통신을 응용하여 실시간 메시지 송수신이 가능한 시스템을 구성하려면 메시지의 특성분류 및 메시지의 증가에 따른 트레픽 발생을 고려해야 한다. CAN의 제한된 속도에 따른 실시간 메시지 전송의 여부는 데드라인을 통한 메시지 설계로 성능을 보장받고 있다. 하지만 이러한 메시지의 송수신에 있어 단순 CAN네트워크 망에 의존한 설계만으로 메시지의 신뢰성을 보장받을 수 없다. 네트워크 상황에 따른 버퍼를 통한 능동적인 메시지 스케줄링 방법을 통하여 성능효과를 보장받을 수 있는 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.139.3-139
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• 2001

The free-model concept is introduced as an alternative intelligent system technique to design a controller with input and output data only. The idea of free model comes from the Taylor series approximation, where an output can be estimated when such data as position, velocity, and acceleration are known. The parameters in the free model can be estimated using the input-output data and a controller can be designed based on the free model. The free model thus developed is shown to be controllable, observable, and robust. The accuracy of the free-model approximation can be improved by increasing the observation window and the order of the free model. The LQR method is applied to the free model to design power system stabilizers ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.28-32
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• 1997

This study aims at developing the high speed/intelligent machining system suing the plug/play method of an open architecture controller. The plug/play technology by the Application Specific Function (ASF), can readily implement the open architecture controller into various machining system or other automatic equipments. For the open architecture controller, this study developed the open HMI, screen editor, ASF, visual builder, and controller OS technology as software components. On the other hand, we developed the I/O module and main board as control hardware system. This study, as an example, presents integration of individual component technologies for the plug/play type open architecture CNC system.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.2
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• pp.68-74
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• 1998

In this work, we have been concerned with developing an intelligent mold design system for plastic injection molding on the AutoCAD. We have concentrated on building a viable environment, including a mold parts database and a menu-driven user interface. This provides a more interactive and interface for selection of optimal mold-base and mold parts in mold design system. This work presents a method which allows the designer to select the mold parts and mold-base directly within an AutoCAD environment. It can also automatically generate detailed 3D drawings of the mold parts and mold-base. The system shows its potential capability for future enhancement. Since the system is independent of the data, it could easily be extended to other mold-bases and mold parts. In addition, it can be linked to the molding analysis system by creating subtracted 3-D models.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.312-314
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• 2006

Researches on biped robot walking have been mostly focusing on walking on even surfaces. Therefore, robot walking has been only realized on pre-specified spaces with pre-specified movements according to the previous researches. In this paper a walking system for a biped robot using fuzzy system and neural networks to overcome those constraints. The system enables biped walking to be possible in various environments and with more complicated obstacels. For the purpose, a walking robot should recognize its surrounding environment and determine its movement. In the proposed system, a robot dynamically generates its walking trajectories of each joint by using neural networks when facing new obstacle such as stairs, and it maintains its walking stability by using closed loop fuzzy control system which manipulates the waist joints.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.5
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• pp.111-117
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• 2003

The Taylor model concept is introduced to design a controller with input and output data only. The parameters in Taylor model can be estimated using the input and output data and a controller can be designed based on Taylor model. The accuracy of Taylor model approximation can be improved by increasing the observation window and the order of Taylor model. The LQR method is applied to Taylor model to design power system stabilizers (PSS), and compared with the conventional PSS.