• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.3-134
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• 2001

The dynamic behavior of heat recovery steam generators for combined cycle power plant is simulated in cases of startup and shutdown conditions. To ensure performance and design data, dynamic model of the HRSG was developed and dynamic simulation was performed. The dynamic analysis will undoubtedly reduce costs which is associated with plant startup and contribute to a smooth commercial plant operation.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.90.6-90
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• 2002

An active stick which has the variable force-feel characteristics is developed. A combined position and force control strategy is mechanized using a 2-axis built-in force sensor and LVDT. The 2-axis force sensor which measures the stick force felt by the operator is developed by using strain gages and appropriate instrumental amplifiers. A mathematical model of the active stick dynamics is derived, and compared with the experimental results. The frictional torque of the stick due to the mechanical contacts of several parts makes the experimental frequency responses to be dependent on the magnitude of excitation signal, and the precision closed loop control to be difficult. A friction observe...

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.178-182
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• 1988

In this study, the motion compensating interpolation algorithm is presented. The presented algorithm allows the unblutted reconstruction of omitted frames. It is shown that the Walker & Rao's estimation algorithm using modified displaced frame difference combined with rectangulat adaptive measurement window increases the reliability of the estimation results. The remark ably improved image quality is achieved by change detection and segmentation.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.268-272
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• 1988

In this paper, we introduce the supermicro computer- based nonreal-time BTR type DNC system, which can provide valuable datas for production and management by monitoring the operation of NC equipments. (upto 48 NC machine) In accordance with manual job schedulinq, part program is combined with tool presetting datas and enables rapid downloading and uploading. An application to the production system of die & Mold plant is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.601-605
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• 1991

In this paper an approximate solution method for the large-scale Traveling Salesman Problem(TSP) is presented. The method start with the subdivision of the problem domain into a number of clusters by considering their geometries. The clusters have limited number of nodes so as to get local solutions. They are linked to give the least path which covers the whole domain and become TSPs with start- and end-node. The approximate local solutions in each cluster are obtained by using geometrical property of the cluster, and combined to give an overall-approximate solution for the large-scale TSP.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1018-1021
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• 1988

This study is concerned with modeling an elastomer constitutive relation by utilizing the truncated Volterra series. Actual experimental data from the Instron Tester are obtained for combined input, i.e. constant strain rate followed by a constant strain input. These data are then estimated for step inputs and utilized for the truncated Volterra series models. One second order and one third order truncated Volterra series models have been employed to estimated the force-displacement relation which is one of the prominent properities to characterize the viscoelastic material. The third order Volterra series model has better results, compared with those of the second order Volterra series model.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.489-493
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• 1989

In this paper a new approach to adaptive control using a combination of both direct and indirect methods has been proposed. Based on the estimates of the plant parameters and the current values of the control parameters, closed-loop estimation errors .epsilon.$_{\theta}$(t) and .epsilon.$_{k}$(t) are defined. These in turn are used in the adaptive laws for updating both identification as well as control parameters. The global uniform stability of the overall system is shown by constructing a Lyapunov function.n.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.530-534
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• 1989

In this paper we addressed the basic concept of microstepping, analyzed the combined effect of the motor detent torque and the current profile, and implemented a microstepping drive system using an one-chip microprocessor, power MOSFET's, and a 1.8 degree bifilar-wound hybrid-type step motor excited by a bipolar drive. Experimental results show that microstepping produces greater resolution, eliminates resonant step loss, and reduces motor vibrations.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.5-8
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• 1986

The simulation algorithm for all kinds of robots with arbitrary degrees of freedom which are combined with revolute joints or prismatic joints, or combinations was studied and implemented. This simulation package is composed of trajectory planning routine, control routine, kinematics routine using Newton-Raphson method, dynamics based on Newton-Euler method with four-bar linkage analysis, input routine and output routine.