• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.359-360
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1675-1678
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A brief review about the principle of multi-axis force sensors and a method that can reduce the effect of noise signal to sensor performance is presented. A web based monitoring system is implemented by porting Linux at embedded systems which include Xscale processors. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for web browser is also developed. The experiments are performed to investigate the effectiveness of proposed methods. The experimental results show that the values of force sensors can be monitored by remote PCs.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.3
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• pp.538-543
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• 2011

In this paper, design and control of an interleaved boost converter for multi-string PV Inverter are discussed. Interleaved Boost converter can reduce current ripples at input and output side by cancelling an each phase of inductor currents. Therefore, it contributes to increase efficiency and downsize the whole system volume, cost. One of the advantages of the multi-string system is easy to expand power capacity by connecting the converter modules in parallel. In order to reduce current ripples, the inductor currents on each phase are controlled independently in the converter module, and communication between the converter modules is required for further ripple current reduction. Current control algorithm for the balance of the each phase ripple currents and synchronization of the converter modules based on communication are proposed and implemented in the DSP programming. 10kW prototype of the multi-string converter module is assembled and experimental results are presented to verify the proposed ripple current reduction methods.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1045-1052
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• 2000

In this paper, we propose a method to apply the Input Shaping Technique (IST) to multi-input multi-output (MIMO) systems. In MIMO systems, there is a high possibility of multi-mode residual vibration. The IST filter designed for this multi mode may need a longer time to suppress the residual vibration. Previous works prove that we can shorten the time lag by using negative sequence. This negative sequence, however, causes another problem - it requires excessive control input. In this paper, we provide a remedy to reduce the size of control input by limiting the reference input by limiting the reference input and its derivative. The result of simulations and experiments on a 2 link flexible arm confirmed the effectiveness of the proposed method.

• International Journal of Internet, Broadcasting and Communication
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• v.7 no.2
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• pp.168-172
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• 2015

In this paper, a balanced bitrate control in transcoding process based on video complexity measure for multi-view system which simultaneously shows multiple channels or video contents in single screen, is proposed. In order to consider the total quality of multiple video streams, the proposed algorithm reduces the complexity of multiple video stream and video quality differences at the same time by controlling bitrates of each stream by weighting when they are stitched for single screen. For the measure of complexity and quality differences between video streams, two different data: histogram of macroblock type and bitrate for each stream are used. The experimental result indicates that proposed algorithm decreases fluctuation of quality difference between videos in the multi-view system.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.5
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• pp.102-111
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• 2010

This paper presents a design of seat mechanism for multi-postures controllable wheelchair. The possible seat postures are reclining, tilting, standing, which are controlled by four seat mechanisms using four linear actuators. The seat mechanisms designed in this study are reclining, tilting, forward-tilting, and elevation mechanism. Three postures except standing are controlled by corresponding mechanisms, but the standing posture is performed by combination of the reclining and the forward-tilting mechanism. Posture control system is composed of PID controllers and a planner to determine a feasible posture based on a posture transition diagram. Simulation results show that the seat mechanism and its control system are applicable to a multi-postures controllable wheelchair.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1206-1212
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• 1993

In this paper, an variable structure system with an integral-augmented sliding surface is designed for the improved robust control of a uncertain multi-input multi-output(MIMO) system subject to the persistent disturbances. To effectively remove the reaching phase problems, the integral augmented sliding surface is defined, then for its design, the eigenstructure assignment technique is introduced. To guarantee the designed performance againts the persistent disturbance, the stabilizing control for multi-input system is also designed. The stability of the global system and performance robustness are investigated. The example will be given for showing the usefulness of algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.52.1-52
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• 2001

System establishment using a network may be a decisive factor both for creating a flexible production system and increasing reliability and serve as a basis for setting up of a management system that will make the designing, maintenance, and repair easier. It is therefore imperative to develop a protocol which is simple to use for communications and connections among different devices. The objectives of this study is to establish communications protocol stack that will enable to conduct an effective monitoring of production facilities and to secure flexibility of reduction control system, and to improve the working ratio of the production facilities by centralization of communications system through effective collecting and storing of the diversified data of multi-type and multi-device production facilities.