• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.70.1-70
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• 2001

Recently, research of visual control is getting more essential in robotic application, and acquiring 3D informations from the 2D images is becoming more important with development of vision system. For this application, we propose the effective way of controlling stereo vision tracking system for target tracking and calculating distance between target and camera. In this paper we address improved controller using dual-loop visual servo which is more effective compared with using single-loop visual servo for stereo vision tracking system. The speed and the accuracy for realizing a real time tracking are important. However, the vision processing speed is too slow to track object in real time by using only vision feedback data. So we use another feedback data from controller parts which offer state feedback ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.40.1-40
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• 2001

In this paper, control theoretic approaches are proposed to guarantee QoS (Quality of Series) such as packet delay and packet loss of real-time traffic in high-speed communication network. Characteristics of variable rate real-time traÆc in communication networks are described. The mathematical model describing networks including source and destination nodes are suggested. By a traffic control mechanism, it is shown that worst-case end-to-end transfer delay of traffic can be controlled and packet loss can be prevented. The simulation shows results of delay control and buer level control to raise QoS in realtime traffic.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.2
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• pp.53-62
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• 2022

PURPOSE: This study was conducted to investigate the effect of a real-time pressure feedback provided during gait training on the weight weight distribution of the inner part of mid-foot in paralyzed side and gait function in stroke patients. METHODS: A total of 24 patients with hemiplegic stroke in a rehabilitation hospital were randomly assigned to the experimental and control group. All participants (n = 24) performed 15 min of comprehensive rehabilitation therapy 5 times a week for a period of 4 weeks. Additionally, the experimental group and control group underwent gait training with a real time feedback and general gait training, respectively, for 15 min five times a week for 4 weeks. Weight distribution and gait function were measured before and after the 4-week training. RESULTS: Significant increases in the weight distribution (WD), stance time (ST) and step length (SL) of the paralyzed side, and a significant decrease in the 10 m walking test (10 MWT) observed after training in the two groups (p < .05). The experimental group showed larger changes in the all variables than the control group (WD, +10.5 kg vs. +8.8 kg, p < .05; ST, 12.8 s vs. 4.9 s, p < .05; SL, 4.9 cm vs. 1.7 cm, p < .05; 10 MWT, -3.5 s vs. -1.0 s, p < .05, respectively). CONCLUSION: Gait training with a real-time feedback might be effective in improving the normalization of weight bearing of the paralyzed lower extremity and gait function of stroke patients, and be considered to be a more effective gait training for improving the abilities than the general gait training.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.100.2-100
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• 2001

In this paper, we presented a switching-based control algorithm for improving the speed of response on temperature control of an extruder. We proposed a switching actuating value method in a temperature control of extruder and showed the effect of H$\infty$ control and PID control. Recently, the memoryless feedback control had proposed, which was not only the real time integration element, but also the memory elements. We examined the application of a switching actuating value method to a memoryless feedback, in a unit barrel temperature control of an extruder.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.27-29
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• 2009

Real-time control of on-site construction, based on high quality data, is essential to identify discrepancies between actual and planned performances. Additionally, real-time control enables timely corrective measures to be taken when needed to reduce the damages caused by the discrepancies. The focus of the presentation will be on our work, which uses automated data technologies to collect data needed for real time control.

• Earthquakes and Structures
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• v.12 no.4
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• pp.425-436
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• 2017

Vibration control using a tuned mass damper (TMD) is an effective technique that has been verified using analytical methods and experiments. It has been applied in mechanical, automotive, and structural applications. However, the damping of a TMD cannot be adjusted in real time. An excessive mass damper stroke may be introduced when the mass damper is subjected to a seismic excitation whose frequency content is within its operation range. The semi-active tuned mass damper (SATMD) has been proposed to solve this problem. The parameters of an SATMD can be adjusted in real time based on the measured structural responses and an appropriate control law. In this study, a stiffness-controllable TMD, called a leverage-type stiffness-controllable mass damper (LSCMD), is proposed and fabricated to verify its feasibility. The LSCMD contains a simple leverage mechanism and its stiffness can be altered by adjusting the pivot position. To determine the pivot position of the LSCMD in real time, a discrete-time direct output-feedback active control law that considers delay time is implemented. Moreover, an identification test for the transfer function of the pivot driving and control systems is proposed. The identification results demonstrate the target displacement can be achieved by the pivot displacement in 0-2 Hz range and the control delay time is about 0.1 s. A shaking-table test has been conducted to verify the theory and feasibility of the LSCMD. The comparisons of experimental and theoretical results of the LSCMD system show good consistency. It is shown that dynamic behavior of the LSCMD can be simulated correctly by the theoretical model and that the stiffness can be properly adjusted by the pivot position. Comparisons of experimental results of the LSCMD and passive TMD show the LSCMD with less demand on the mass damper stroke than that for the passive TMD.

• Smart Structures and Systems
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• v.31 no.5
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• pp.437-454
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• 2023

Real-time hybrid simulation (RTHS), which has the advantages of a substructure pseudo-dynamic test, is widely used to investigate the rate-dependent mechanical response of structures under earthquake excitation. However, time delay in RTHS can cause inaccurate results and experimental instabilities. Thus, this study proposes a model-based adaptive control strategy using a Kalman filter (KF) to minimize the time delay and improve RTHS stability and accuracy. In this method, the adaptive control strategy consists of three parts-a feedforward controller based on the discrete inverse model of a servohydraulic actuator and physical specimen, a parameter estimator using the KF, and a feedback controller. The KF with the feedforward controller can significantly reduce the variable time delay due to its fast convergence and high sensitivity to the error between the desired displacement and the measured one. The feedback control can remedy the residual time delay and minimize the method's dependence on the inverse model, thereby improving the robustness of the proposed control method. The tracking performance and parametric studies are conducted using the benchmark problem in RTHS. The results reveal that better tracking performance can be obtained, and the KF's initial settings have limited influence on the proposed strategy. Virtual RTHSs are conducted with linear and nonlinear physical substructures, respectively, and the results indicate brilliant tracking performance and superb robustness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2540-2545
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• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.918-923
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• 1989

This paper presents a stability condition for Astrom's minimal variance control(MVC) with mismatch of time delay for a SISO ARMAX model containing time delay. The proof of the condition presented here is based on the characteristic equation in the feedback system and its magnitude. This condition, from easy numerical calculation, is able to find the stability of the feedback system without knowing the real time delay.