• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.22-28
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• 1992

The need for intelligent systems that can operate in an unstructured, dynamic environment has created a growing demand for the use of multiple, distributed sensors. While most research in multisensor fusion has revolved around applications in object recognition-including military applications for automatic target recognition-developments in microsensor technology are encouraging more research in affordable, highly-redundant sensor networks. Three trends that are described at length are the increasing use of microsensors, the techniques that are used in the handling of partial or uncertain data, and the application of neural network techniques for sensor fusion.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.118-123
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• 2022

We implemented a real-time cloud robotics application by offloading robot navigation engine over to 5G Mobile Edge Computing (MEC) sever. We also ran a fleet management system (FMS) in the server and controlled the movements of multiple robots at the same time. The mobile robots under the test were connected to the server through 5G SA network. Public 5G network, which is already commercialized, has been temporarily modified to support this validation by the network operator. Robot engines are containerized based on micro-service architecture and have been deployed using Kubernetes - a container orchestration tool. We successfully demonstrated that mobile robots are able to avoid obstacles in real-time when the engines are remotely running in 5G MEC server. Test results are compared with 5G Public Cloud and 4G (LTE) Public Cloud as well.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.16-24
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• 2022

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.682-688
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• 2006

This paper deals with the delay-dependent and rate-independent stabilization of systems with multiple unknown time-varying delays and time-varying structured uncertainties. All the linear matrix inequalities based conditions are derived by employing free-weighting matrices to express the relationships between the terms in the Leibniz-Newton formula. The criteria do not require any tuning parameters. Numerical examples demonstrate the validity of the method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2340-2344
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• 2003

This paper considers a tracking filter algorithm which can track a maneuvering target. Multiresolutional Interacting Multiple Model (MRIMM) algorithm is proposed to reduce computational burden. In this paper multiresolutional state space model equation and multiresolutional measurement equation are derived by using wavelet transform. This paper shows the outline of MRIMM algorithm. Simulation results show that MRIMM algorithm maintains a good tracking performance and reduces computational burden.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.241-244
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• 1996

This paper discusses the general properties and the design procedures of Internal Model Control(IMC) scheme for nonlinear plants. Also we propose new nonlinear IMC(NIMC) design method using linear IMC. Although all IMC controllers can be thought simple 'inverse controller', its nonlinear realization is not easy. Propose NIMC is composed multiple linear models, IMC controllers, and switching scheme. The advantages of this method are we can use simple linear IMC design method and need not nonlinear modelings.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.67.4-67
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• 2001

In order to push or pull a heavy weight structure, the positions of multiple hydraulic cylinders participated on must be tuned sumultaneously. To do this, it is necessary to control the position of each hydraulic cylinder through mutual tuning controller. In this paper, a tuning control of multiple hydraulic cylinders is introduced under the assumption that each position controller for each cylinder is used.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.219-222
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• 1995

This paper presents a control law of multiple actuation servo systems. Multiple actuation systems have an ability to solve some difficult engineering problems; Coulomb friction, backlash, and disturbance. This fact is shown by basic experiments as well as theoretical analysis. The proposed control strategy remarkably improves the performance comparing with conventional single actuation systems.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.291-294
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• 1995

In this paper, two algorithms for computing multiple or clustered eigenvalues are proposed. The algorithm can be applied to all kinds of Hermitian matrix unlike the existing algorithm. Characteristics of the proposed algorithms is examined by MATLAB simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1112-1115
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• 1990

Described is a new control signal transmission system which utilizes an optical fiber to transmit 2-bit control signals from the transmitter to receiver. In the transmitter the DC series control voltages are converted into the multiple frequency signals by voltage controlled oscillator (VCO). The multiple frequency signals can easily be transmitted by optical fiber. In the receiver the multiple frequency signals can be detected by analog or digital circuits and then be converted into 2-state control signals which can be used for a variety of applications.