• Journal of the Korean Society of Industry Convergence
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• v.25 no.1
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• pp.87-99
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• 2022

We propoes a study on the dynamic characteristics analysis and position control of 5-degree multi-joint manipulators for untact remote working at construction sites and manufacturing plants. The main frame of freedom multi-joint manipulator consists of five elements, boom cylinder, boom cylinder, arm cylinder, bucket cylinder, and rotation joint and link. In addition, the main purpose of the proposed system is to realize the work of the manufacturing process or construction site by remote control. Motion control of the entire system is a servo valve control method by hydraulic servo cylinders for one to four joints, and a servo motor control method is applied for five joints. The reliability of the proposed method was verified through performance experiments by computer simulation.

• Journal of Korean Society of Transportation
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• v.23 no.4 s.82
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• pp.71-79
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• 2005

Existing arterial link travel time estimation methods relying on either aggregate point-based or individual section-based traffic data have their inherent limitations. This paper demonstrates the utility of data fusion for improving arterial link travel time estimation. If the data describe traffic conditions, an operator wants to know whether the situations are going better or worse. In addition, some traffic information providing strategies require predictions of what would be the values of traffic variables during the next time period. In such situations, it is necessary to use a prediction algorithm in order to extract the average trends in traffic data or make short-term predictions of the control variables. In this research. a multi-step ahead prediction algorithm using Data fusion was developed to predict a link travel time. The algorithm performance were tested in terms of performance measures such as MAE (Mean Absolute Error), MARE(mean absolute relative error), RMSE (Root Mean Square Error), EC(equality coefficient). The performance of the proposed algorithm was superior to the current one-step ahead prediction algorithm.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1998.11a
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• pp.370-373
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• 1998

현재 인터넷상의 QoS(Quality of Service) 향상을 위해서 여러 가지 방법과 기술들이 소개되고 있다. 이러한 QoS 향상을 위해 트래픽 제어기법과 IS(Integrated Services), DS(Differentiated Services), Tag Switching, MPLS(Multi protocol Label Switching) 등과 같은 방법으로 인터넷에서 보다 나은 서비스를 지원하려는 노력이 시도되고 있다. 본 논문에서는 특히 TCP connection에서의 initial window size의 변경이 네트워크의 QoS, 즉 link의 utilization과 packet의 drop, performance에 어떠한 영향을 주는지를 살펴본다. 그리고, 이에 대한 특성을 분석하고 개선점을 현재의 인터넷에서 가장 많이 사용되어지고 있는 FTP와 web에 대한 모델을 사용하여 가상적으로 시뮬레이션을 해본다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.691-694
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• 2000

In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.

• Proceedings of the KIEE Conference
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• 2005.10a
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• pp.173-175
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• 2005

Two-dimensional orthogonal variable spreading codes are presented for multiplexing of forward link in direct sequence code division multiple access (DS-CDMA) multiple antennas system And the results of code generation and simulation of 2 dimensional orthogonal variable spreading factors on Jacket matrices are also be investigated. The bit error rate(BER) performance under a multi-user environment for the additive white Gaussian noise (AWGN) channel demonstrated that the proposed scheme could provide flexible rates and lower correlation values

• Proceedings of the IEEK Conference
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• 2002.06a
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• pp.77-80
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• 2002

In this paper, we analyze a physical layer of W-CDMA .system and design a transmitter and receiver by using ADS (Advanced Design System). Also, we simulated a link level performance with different channel estimation algorithm in Jakes fading channel environment. For the channel estimator, we used the WMSA(Weighted Multi-Slot Averaging) algorithm, EGE(Equal Gain Estimation) algorithm and SSE(Symbol-to-Symbol Estimation) algorithm. This study will be useful in the analysis and design of W-CDMA system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1998.05a
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• pp.300-307
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• 1998

인간의 몸에서 발생하는 여러 생체반응을 이해하고 계측한다는 것은 매우 힘든 일이다. 그러나 분명히 존재하고 있는 물리화학적 변수들간의 상호관계를 정성적으로 묘사함으로써 생체반응을 설명한다. 본 논문에서는 인체의 기능을 추론 및 공학적 이론을 토대로 생체변수간의 관계를 수학적으로 표현하고 컴퓨터 시뮬레이션을 수행해 수리적으로 해석함으로써 인체의 각종현상을 정량적으로 예측한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.1-83
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• 2001

This paper presents a three-fingered robot hand, called the KIST hand, Which have one active joint and one passive joint. The thumb is fixed on the palm, and the index and the middle take lateral motions symmetrically. A mechanical clutch and an embedded force sensor, attached on the distal link of the fingers, enable the KIST hand to perform human-like functions. A result of experiment shows reliable grasping performance of the hand which maintain stable grasp under disturbances.