• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1332-1335
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• 1996

It is very important to predict the future position for the heavy vehicle with evasive maneuvering. In this paper, we considered for the manual image tracking system. The vehicle images are received from gyro stabilized mirror system, pass through the optical lens, processed, and displayed on the TV monitor. The operator try to lay the reticle to the center of vehicle image. When the vehicle is moving, the mirror platform (actually the line of sight) should follow the vehicle and the angular rate information is picked up from the mirror stabilized system. This rate signal should be used to predict the future vehicle position. The problem is that the visual system of the human operator is in the closed loop system. The rate signals are disturbed by the operator. In addition, there are some non linearities concerned with the control handle bar and the servo control system. The proposed Kalman filter, combined with some modifications for operator disturbance rejection, improved the predication of the future vehicle position when compared with the conventional passive filter used.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.67-74
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• 2013

This paper presents interaction force control between a balancing robot and a human operator. The balancing robot has two wheels to generate movements on the plane. Since the balancing robot is based on position control, the robot tries to maintain a desired angle to be zero when an external force is applied. This leads to the instability of the system. Thus a hybrid force control method is employed to react the external force from the operator to guide the balancing robot to the desired position by a human operator. Therefore, when an operator applies a force to the robot, desired balancing angles should be modified to maintain stable balance. To maintain stable balance under an external force, suitable desired balancing angles are determined along with force magnitudes applied by the operator through experimental studies. Experimental studies confirm the functionality of the proposed method.

• Bulletin of the Korean Chemical Society
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• v.20 no.6
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• pp.720-726
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• 1999

It has been proved by the semi-classical gauge invariant formulation (GIF) that the correct interaction operator for coupling the field-free material states with the radiation field must be the position form regardless of the gauge chosen for expressing the electromagnetic potentials, in accordance with the well-established principle of gauge invariance. The semi-classical GIF is now extended to the quantized radiation field interacting with matter by defining the energy operator for the quantized radiation field in the presence of matter. It will be shown in this paper that the use of the energy operator guarantees the position form of the interaction operator even in the Coulomb gauge, contrary to the conventional approach in which the dark material Hamiltonian is used to get the interaction operator of the momentum form. The multipolar Hamiltonian is examined in the context of the quantum mechanical gauge transformation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1096-1101
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• 2009

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

• Journal of the korean academy of Pediatric Dentistry
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• v.25 no.3
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• pp.549-554
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• 1998

The prevalence of the supernumerary tooth is $1{\sim}4%$. It usually occurs in the permanent dentition. It frequently occurs in the maxillary mid palatal area. The presence of the supernumerary tooth causes the following problems ; (1) interfering the eruption of successional tooth, (2) displacing the neighboring teeth, (3) resulting large diastema, (4) forming cystic change. So the supernumerary tooth should be removed as soon as possible. To extract the supernumerary tooth, the exact position must be noticed first. Radiographic techniques that were used in the past are tube shift technique, right angle technique, sterioradiography, using radiopaque contrast media and conventional tomography. But these methods include the subjective opinion of the operator. So, a technique eliminating the operator's opinion and showing the position 3-dimentionally can be used. 3-dimentional computed tomography equipped with dental softwares can show the position of the impacted supernumerally tooth in 3-dimentional position. It has an advantage to eliminate the subjective opinion of the operator. With a fast computer this techenique is done in a relatively short period of time. The rationale of this methods is relatively simple. After tacking X-ray and reconstructing the data 3-dimentionally, sequential removal of the soft tissue and hard tissue(bone) CT number leaves the teeth alone in 3-dimentional position. The image can be seen from anywhere, so the operator can see the image in front, rear, upper, and lower positions. In both cases 1 and 2, the position of the impacted supernumerary tooth is viewed by the 3-dimensional computed tomography. And it made the operator easy to figureout the exact position.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.119.1-119
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• 2001

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the feeling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/for co commands, impedance parameters are varying always. When the impedance parameters between an operator and ...

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.127-130
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• 1990

The fuzzy logic controller which can be applied to various industrial processes is quite often dependent on the heuristics of the experienced operator. The operator's knowledge is often uncertain. Therefore an incorrect control rule on the basis of the operator's information is a cause of bad performance of the system. This paper proposes a new self-learning fuzzy control method by the fuzzy system identification using the data pairs of input and output and arbitrary initial relation matrix. The position control of a DC servo motor model is simulated to verify the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.940-943
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• 1996

In teleoperating, as seeing the monitor screen obtained from a camera instituted in the working environment, human operator generally controls the slave arm. Because we can see only 2-D image in a monitor, human operator does not know the depth information and can not work with high accuracy. In this paper, we proposed a traded control method using an visual sensor for the purpose of solving this problem. We can control a teleoperation system with precision when we use the proposed algorithm. Not only a human operator command but also an autonomous visual sensor feedback command is given to a slave arm for the purpose of coincidence current image features and target image features. When the slave arm place in a distant place from the target position, human operator can know very well the difference between the desired image features and the current image features, but calculated visual sensor command have big errors. And when the slave arm is near the target position, the state of affairs is changed conversely. With this visual sensor feedback, human does not need coincide the detail difference between the desired image features and the current image features and proposed method can work with higher accuracy than other method without, sensor feedback. The effectiveness of the proposed control method is verified through series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.461-465
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• 1996

Position and rate control modes arc the two common modes for controlling remote manipulators with joysticks or hand controllers. Generally, position mode is easier for teleoperation than rate modes, when the manipulation work space is small or comparable to the human operator's control space. When the telemanipulator's work space is very large, human operator's control motion range must be large to allow telemanipulator's full range of motion resulting poor control resolution. One way to solve the poor resolution problem is to use indexing. However, rate mode can provide any higher degree of resolution without use of indexing. If two modes are mixed, master controller will be more convenient. The mixed mode algorithm, changes operating mode from position mode to rate mode or vise versa using fuzzy logic. The fuzzy logic algorithm, which has been designed to recognize the teleoperator's intended motion properly, provides an intelligence to a master controller.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.7
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• pp.223-229
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• 1996

a simpel coordinate transformaton method is suggested that converts Schr$\"{o}$dinger's equation involving a position-dependent effective mass in a heterostructure to an equation involving a positon-independent effective mass. This method enables the conceptual study of the effect of the positon-dependent effective mass inserted between the divergence operator and the gradient operator in Schr$\"{o}$dinger's equation. It is also shown that the characteristics such as a transmission coefficient in various heterostructures involving a position-dependent effective masses can be obtained iwth ease by the suggested method.