• Journal of the Korean Institute of Telematics and Electronics
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• 제25권12호
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• pp.1601-1609
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• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.37.3-37
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• 2002

$\textbullet$ Mobile robots $\textbullet$ Sensor-based motion planning $\textbullet$ Potential field $\textbullet$ Local minimum-free motion $\textbullet$ Virtual target point $\textbullet$ Set of linked line segments $\textbullet$ We build a sensor-based motion planning using virtual target point for free of local minimum

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.248-250
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• 1986

This paper explain application of expert system techniques from the latest theories of artificial intelligence to industrial process control. This controller continuously monitors a loop's response to disturbances and adapts the tuning parameters (P.I.D) to provide the best response to load upset or set-point change.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.415-418
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• 1996

Etching Process, one of the most important process in semiconductor fabrication, has input control part of which components are pressure, gas flow, RF power and etc., and plasma gas which is complex and not exactly understood is used to etch wafer in etching chamber. So this process has not real-time feedback controller based on input-output relation, then it uses EPD(End Point Detection) signal to determine when to start or when to stop etching. Various type EPD controller control etching process using EPD signal obtained from optical intensity of etching chamber. In development EPD controller we concentrate on compensation of this signal intensity and setting the relative signal magnitude at first of etching. We compensate signal intensity using neural network learning method and set the relative signal magnitude using fuzzy inference method. Potential of this method which improves EPD system capability is proved by experiences.

• Journal of the Korean Mathematical Society
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• 제35권3호
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• pp.727-740
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• 1998

Controlling traffic lights at a bottleneck, in [5] a time of open passage is called optimal, if it minimizes the first moment of the asymptotic distribution of the queue length. The discussion of the first moment as function of the time of open passage is based on an analysis of the behavior of a fixed point when varying control parameters and delivers theoretical and computational aspects of the traffic problem.

• Journal of Institute of Control, Robotics and Systems
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• 제10권11호
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• pp.1052-1057
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• 2004

Bluetooth technology is essentially a method for wireless connectivity of a diverse set of devices ranging from PDAs, mobile phone, notebook computers, to another equipments, The bluetooth system both point-to point connection and point-to multipoint connection. In point-to multipoint connection, the channel is shared among several bluetooth devices. Two or more devices sharing the same channel form a piconet. There one master device and up to seven active slave devices in a piconet. The radio operates in the unlicensed 2.45GHz ISM band. This allows users who travel world-wide to use bluetooth equipments anywhere. Since the link is based on frequency-hop spread spectrum, multiple channels can exist at the same time. The bluetooth standard ha s been suggested that bluetooth equipments can be used in the short-range, maximum 100 meters. It has been defined that the time takes to setup and establish a bluetooth connection among devices is 10 seconds. It is a long time and may be a cause to lose a chance of finding other non-fixed devices. We propose a routing protocols for scatternets which can be used to control a mobile units(MUs) in this network. The proposed routing protocol is composed of two kinds of bluetooth information, access point(AP) and MU.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.922-925
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• 2004

Bluetooth technology is essentially a method for wireless connection of a diverse set of devices ranging from PDAs, mobile phone, notebook computers, to another equipments. The bluetooth system supports both point-to-point connection and point-to-multipoint connections. In point-to-multipoint connection, the channel is shared among several bluetooth devices. Two or more devices sharing the same channel form a piconet. There is one master device and up to seven active slave devices in a piconet. The radio operates in the unlicensed 2.45GHz ISM band. This allows users who travel world-wide to use bluetooth equipments anywhere. Since the link is based on frequency-hop spread spectrum, multiple channels can exist at the same time. The Bluetooth standard has been suggested that Bluetooth equipments can be used in the short-range, maximum 100 meters . It has been defined that the time takes to setup and establish a bluetooth connection among devices is 10 seconds. It is a long time and may be a cause to lose a chance of finding other non-fixed devices. We propose a routing protocols for scatternets which can be used to control a mobile units(MUs) in this network. The proposed routing protocol is composed of two kinds of bluetooth information, access point(AP) and MU.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• 제18권4호
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• pp.287-296
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• 2006

In this paper, optimal control strategy of the air-conditioning system with slab thermal storage was investigated based on the optimal control theory. An optimal heat output to the plenum chamber and the air-conditioned room was determined based on two kinds of criterion functions. The first one requires small deviation in room air temperature from a set-point value and low energy consumption. It is shown that the optimized control is to store heat through the whole storage time and to increase storage rate gradually with time. As the second case, a criterion that both a deviation of operative temperature from a set-point temperature and the energy consumption should be minimized was adopted. The room air temperature was a little high and the cooling load during storage time was reduced, compared with the results when a criterion function considering only the room air temperature is used.

• Proceedings of the KIPE Conference
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.654-658
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• 2003

In this study a control system with variable gain schedule using real speed and moving direction is proposed to control a Permanent Magnet Linear Synchronous Motor (PMLSM) with Z-axis operation structure. The implementation of the controller is designed on the DSP TMS320C32 board. PMLSM is operated by using 4-point absolute positions profile with each velocity, acceleration and deceleration. The direction of the initial angle action for starting is set from the lower limit point to the upper limit point on PMLSM operation stroke. The effectiveness of a control system with variable gain schedule is demonstrated by some experimental results.