• 로봇학회논문지
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• 제15권3호
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.237-241
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• 1987

In this paper, the BTR (Behind the Tape Reader) type communication unit which interfaces the IEBM PC/XT to the FANUC 5M NC controller is developed, making it possible to send NC part program from the memory of IBM PC/XT to the NC controller. As an example of integration of CAD and CAM technologies, the machining of a two dimensional hand-written free line which incorporates the processes of geometric data acquisition using a digitizing tablet, automatic part programming and control of NC milling machine operation is demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1169-1172
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• 2005

For elderly people, an advanced training machine that uses actuator and can adjust load according to muscle activity is proposed. The proposed machine allows users to have a safe and effective training through exercise close to ordinal motion appears in daily life such as stretching or stooping motion. A muscle activity sensor real-timely monitors the activation level of user's muscle during the exercise and the training load is adjusted based on the measured data. The training load is exerted and continuously controlled by electric/pneumatic actuator.

• 한국정보처리학회논문지
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• 제2권2호
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• pp.254-263
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• 1995

본 논문은 파이프라인 방식의 ASIC 데이타 경로를 제어하기 위한 무어 및 밀리식 의 시간 정지형 콘트롤러에 관한 연구이다. 조건분기(conditional branches)를 가진 데이타흐름도로 부터 무어 및 밀리식의 유한상태기(finite state machine) 콘트롤러 를 합성하는 방법을 소개한다. 콘트롤 합성은 콘트롤 명세서의 작성과 유한상태기의 합성으로 구성된다. 콘트롤 명세서를 작성하기 위한 과정들을 통해 상태표(state table)의 형태로 표현되는 유한상태기의 내역이 작성된다. 이 유한상태기를 여러 가지 다른 방식의 분할 과정과 축소화 과정을 거쳐 최소 면적을 가진 콘트롤러가 합성된다. 실험을 통해 두가지 콜트롤 방식의 특성을 비교하며 또한 두 모델의 비용과 성능의 영향 관계를 보여준다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1413-1415
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• 2004

This paper proposes a SVM(Support Vector Machine) training algorithm to control a service robot with voice command. The service robot with a stereo vision system and dual manipulators of four degrees of freedom implements a User-Dependent Voice Control System. The training of SVM algorithm that is one of the statistical learning theories leads to a QP(quadratic programming) problem. In this paper, we present an efficient SVM speech recognition scheme especially based on less learning data comparing with conventional approaches. SVM discriminator decides rejection or acceptance of user's extracted voice features by the MFCC(Mel Frequency Cepstrum Coefficient). Among several SVM kernels, the exponential RBF function gives the best classification and the accurate user recognition. The numerical simulation and the experiment verified the usefulness of the proposed algorithm.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
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• pp.325-326
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• 2012

Because steel frame has own characteristics as easy to work and structural safety, it is being increased application by the trend of construction industry has been more higher and larger in today. However, steel frame works have potential problem, so fundamental solution is needed for preventing serious accidents. Recently, self-supported steel joint for enhancing safety is developed in Korea, but this system has some limitations as convenience of work, retainment of consistent productivity. For complementing this limitations, we developed the new system named Automated wire control machine. This study is performed productivity of steel frame work by new system. The basis data for analysing productivity is collected from field test.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 C
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• pp.1701-1703
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• 2002

This paper introduces a on-line monitoring system for insulation diagnosis of high-voltage motor stator windings. This system monitors the insulation condition of the stator winding with sensor, coupling capacitor. Partial discharge (PD) signals are able to be continuously measured and digitalized with a Peak-hold A/D converter to build the database of the high-voltage motor's insulation condition. This system can communicate with the central monitoring system via RS-485 This paper introduces an economic solution for data acquisition of partial discharges.

• International Journal of Internet, Broadcasting and Communication
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• 제11권2호
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• pp.11-18
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• 2019

One of the key objectives of control systems is to maintain a system in a specific stable state. To achieve this goal, a variety of control techniques can be used and it is often uses a feedback control method. As known this kind of control methods requires mathematical model of the system. This article presents seesaw unstable system with two propellers which are controlled without use of a mathematical model instead. The goal was to control it using training data. For system control we use a logistic regression technique which is one of machine learning method. We tested our controller on the real model created in our laboratory and the experimental results show that instability of the seesaw system can be fixed at a given angle using the decision boundary estimated from the classification method. The results show that this control method for structural equilibrium can be used with relatively more accuracy of the decision boundary.

• 한국경영과학회지
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• 제24권2호
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• pp.1-15
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• 1999

This research involves the development and evaluation of a work flow control model for a type of flexible manufacturing system(FMS) called a flexible flow line(FFL). The control model can be considered as a kind of hybrid intelligent model in that it utilizes both computer simulation and neural network technique. Training data sets were obtained using computer simulation of typical FFL states. And these data sets were used to train the neural network model. The model can easily incorporate particular aspects of a specific FFL such as limited buffer capacity and dispatching rules used. It also dynamically adapts to system uncertainty caused by such factors as machine breakdowns. Performance of the control model is shown to be superior to the random releasing method and the Minimal Part Set(MPS) heuristic in terms of machine utilization and work-in-process inventory level.

• 디지털콘텐츠학회 논문지
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• 제19권9호
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• pp.1819-1824
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• 2018

본 논문에서는 사용자의 스트레스 해소와 주의력 향상에 도움이 될 수 있는 ASMR(autonomous sensory meridian response) 콘텐츠 제어 기법을 제안한다. 제안된 기법은 뇌파 측정 디바이스로부터 EEG(electroencephalography), 집중도, 명상도, 눈 깜빡임 데이터를 측정하고 안드로이드 IoT(internet of things) 앱을 통해 oneM2M 표준을 준용한 IoT 서버 플랫폼으로 전송한다. 서버 플랫폼에 수집된 EEG, 집중도 및 명상도 데이터를 사용하여 사용자의 정신건강상태를 분류하기 위한 SVM(support vector machine) 모델을 생성하고, 이 모델을 통해 분류된 사용자의 정신건강상태와 눈 깜빡임 데이터에 따라 ASMR 콘텐츠를 제어한다. 데이터 사용형태에 따라 SVM 모델을 비교한 결과, 집중도와 명상도 데이터를 사용하는 SVM 모델이 85.7%의 정확도를 나타내었고 이 SVM 모델이 분류한 정신건강상태와 눈 깜빡임 데이터의 변화에 따라 ASMR 콘텐츠 제어 알고리즘이 정상적으로 동작하는 것을 확인하였다.