• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.550-555
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• 1987

In this study, the construction process of a two-panel space station and its control problem are discussed. The appliability of direct model reference adaptive control technique with plant augmentation is investigated. Regulator control problem with high initial transient has been simulated Result show that high rate of convergence has been observed for all the simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.456-456
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• 2000

The back projection histogram method has been proposed as the method to construct an image from waves reflected from a buried object for subsurface radar. This method is compose of two phases, i.e., a back projection image construction process and a back projection image superposition process. A simulation analysis of this method has been studied. In this paper, an experimental study is demonstrated in air as the homogeneous Held using three cylinders as buried objects.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.297-297
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• 2000

This paper proposed character recognition method by using DB Matching and Artificial Neural Network at the Gerber files. Gerber files are file for make PCB. But we also use the file to a program of extraction PCB position data. If the Gerber file recognized a character, the extraction PCB position data will be faster and also when the recognition rate is high, it can be possible to automatic extraction. We apply to the construction PCB Gerber file program and Simulation results are presented to verify the usefulness of the method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.87.5-87
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• 2001

In the past, we presented the tracking system with one sampling delay. In this paper, first we propose a tracking system with N-th sampling delay, in the case where an input-output pulse transfer function of a plant Z$\_$-N/. Secondly we propose a system configuration converting an input-output pulse transfer function of a plant into Z$\_$-N/ with the inverse system of the plant. Moreover, the proposed tracking system configuration is applied to an actual Ball and Beam system and good results are obtained.

• Proceedings of the KWS Conference
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• 1992.10a
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• pp.7-18
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• 1992

The welding technology must fit to the purpose of each construction. The includes a careful understanding of demands, the adapted materials and their behaviour subjected to welding. The manufacturing is very essential too. The education of welding and control personnel will change. The integration of robotics, sensing and automation in the production makes the role of personnel and their responsibility very different. The paper tries to give the state of the art and an estimation for this and possibly the next decade(Fig. 1)

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1225-1228
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• 2004

Principles and mechanism of energy transduction of dielectric polymer materials are well known from the various smart material related publications. However their introduction to industrial actuator applications is limited mainly due to difficulties guarantee controllability and reliability. Most of the previous publications have elaborates energy transduction physics of chunk of polymer while development of construction methods for feasible actuators made of the material is rarely proposed. In the present article, a conceptual design of multi-DOF linear polymer actuator construction that is to be controllable with moderate level of control work os introduced. In addition, numerical models that are developed with a unified energy based approach are presented not only for basic working mechanism analysis of the polymetric soft actuator but for providing analytical foundation to expend the concept toward design of multi-DOF actuator controls.

• ETRI Journal
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• v.40 no.4
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• pp.458-470
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• 2018

This paper proposes a hierarchical roadmap (HRM) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path-planning problems of mobile robots in indoor environments. HRM has a multi-layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM, information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM-based planner efficiently searches for paths to answer queries by reducing the search space size using the multi-layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.576-581
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• 1993

Grinding in the cement industry is a very energy-exacting process, therefore it is essential that these systems should operate with the highest possible efficiency. But, Cement grinding process is a complicated nonlinear system with large dead time, very noisy signal and many stochastic disturbances. So, it is difficult to develope mathematic process model. This paper presents correlation analysis of process variables and construction of experimental model for a ball mill grinding process.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.106-112
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• 1993

A new model for the construction of a sonar map in a specular environment has been developed ad implemented. In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of an objects's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.