• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.8
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• pp.1-8
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• 2020

Air ducts installed for ventilation inside buildings accumulate contaminants during their service life. Robots are installed to clean the air duct at low cost, but they are still not fully automated and depend on manpower. In this study, an intersection detection algorithm for autonomous driving was applied to an air duct cleaning robot. Autonomous driving of the robot was achieved by calculating the distance and angle between the extracted point and the center point through the intersection detection algorithm from the camera image mounted on the robot. The training data consisted of CAD images of the duct interior as well as the cross-point coordinates and angles between the two boundary lines. The deep learning-based CNN model was applied as a detection algorithm. For training, the cross-point coordinates were obtained from CAD images. The accuracy was determined based on the differences in the actual and predicted areas and distances. A cleaning robot prototype was designed, consisting of a frame, a Raspberry Pi computer, a control unit and a drive unit. The algorithm was validated by video imagery of the robot in operation. The algorithm can be applied to vehicles operating in similar environments.

• Proceedings of the KIPE Conference
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• 2000.07a
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• pp.286-289
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• 2000

from the viewpoint of model-based current control it is indispensable to use the accurate system parameters for the high control performance. This paper adopts the Least-Squares algorithm as a parameter estimation scheme because it has the fast convergence rate and the low sensitivity to noises. in case of the PI current controller with high gains the simulation results show that the adopted estimation scheme can be successfully applied to PWM converters and also show that the control performance can be improved by using the estimated parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.239-243
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• 1993

In this paper, a fault-tolerant controller using duplex processors has been designed and implemented. The PI controller is adopted as the control algorithm and the fault-tolerant control system is implemented by two single chip processors(MCS-96). Performances of the control system designed here have been shown via a simulation with application to a pitch channel autopilot.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.333-337
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• 1999

This paper presents the DQ transfomation space space vector modulation method to devel control algorithm of distribu STATCON(STATic CONdenser) for line volt regulation, dc link voltage regulation harmonics compensation. The Performance an of a PI with ramp comparision and synchro reference frame current controller is carried Based on these analysis, the control perform are desirable to compensate the harmonics a regulate dc link and line voltage of Distrib line.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.44-46
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• 1993

This paper presented the four section sliding mode control algorithm based on indirect field oriented control method and PI current controller design in a synchronous frame and applied it to the position control of LIM.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.49-50
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• 2005

This paper presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.286-289
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• 2002

In this paper, we use the PI dual control using do transformation(dq stationary frame and dq synchronous rotating frame) for series voltage sag and swell compensation algorithm. Analysis, simulation results are presented for voltage sags and swells on a three-phase unbalanced voltage source.

• Journal of the Chungcheong Mathematical Society
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• v.21 no.4
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• pp.533-541
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• 2008

Let X be a finite polyhedron that is of the homotopy type of the wedge of the torus and the surface with boundary. Let $f:X{\rightarrow}X$ be a self-map of X. In this paper, we prove that if the induced endomorphism of ${\pi}_1(X)$ is K-reduced, then there is an algorithm for computing the Nielsen number N(f).

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.7
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• pp.1112-1120
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• 1994

This paper presents a servo control scheme for the surface-mounted permanent-magnet synchronous motor(SPMSM) which essentially uses vector control algorithm. The control system is composed of the PI controller for speed control and the current controller using space voltage vector PWM technique. The high-speed calculation and processing for vector control is carried out by TMS320C31 digital signal processor and IGBT module. The proposed scheme is verified through digital simulations and experiments for 2.2kW SPMSM and shows good dynamic performance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.