• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.101-102
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• 2011

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.315-321
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• 2013

This paper presents the position-based force control application of a mobile manipulator. The mobile manipulator consists of two six DOF manipulators and a mobile robot. Kinematics of the robot is analyzed and simulated to validate the analysis. A position-based force control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of force control applications of robot arm and interaction with a human operator are conducted. Experimental results show that the robot arm is well regulated to follow the desired force.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.901-904
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• 1998

In this paper, we describes PID-neural network controller for the rotary inverted pendulum. PID control is applied to many fields but has some problems in nonlinear system due to a variation of parameter. So, we should desing the controller which is adjusted PI parameters by the neural network which is learned by backpropagation algorithm. And we show that on-line control is possible through the PID-neural network controller. The angle of the pendulum is controlled and then the position of the rotating arm is also controlled to maintain with in the set point. Measurement of the pendulum angle is obtained using a potentionmeter. The objective of the experiment is to design a PID-neural network control system that positions the arm as well as maintains the ivnerted pendulum vertical. Finally, we describe the actual experiment system and confirm the experimental results.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.233-236
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• 2004

In this paper, a new sensorless vibration control scheme is proposed for a flexible manipulator system. A robust sliding mode controller incorporating with a ‘reaction moment observer’ used for the estimation of the reaction moment reciprocally acting on flexible arm and hub inertia is introduced to achieve desired control target. The rigid body dynamics of the single-link flexible manipulator is simply considered in the design of the sliding mode controller. Then, the reaction moment is estimated by the proposed reaction moment observer to suppress the residual vibration of the flexible arm. The performance of the proposed control scheme is verified by computer simulation and experiment.

• 유공압시스템학회논문집
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• 제1권1호
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• pp.23-30
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• 2004

This paper deals with the issue of trajectory tracking control of a hydraulic excavator using disturbance observer in order to compensate external disturbances occuring from coupling between attachment, asymmetry of a single rod cylinder, and deadzone of main control valve. Disturbance compensation control system with disturbance observer has been constructed for the boom and arm respectively. Simulation results were compared with experimental results to validate the computer simulation system of hydraulic excavator itself. Computer simulation shows that disturbance compensation control is effective for compensating system nonlinearity and thus improves positioning accuracy and trajectory tracking performance. Steady state error has been decreased by adding PI controller to this control scheme.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2019년도 추계학술대회
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• pp.223-224
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• 2019

본 논문은 IoT 기반 선박제어 시스템 구현을 위한 제어모듈 연구에 관한 내용이다. 최근 ARM 기반 및 ATmega 기반의 효율적인 제어모듈이 전기전자 및 제어분야에 범용화되고 있다. 본 논문에서는 MCU (Micro Control Unit)을 이용한 선박제어 시스템을 구현하기 위한 하드웨어 및 임베디드 소프트웨어 프로그래밍에 관한 연구내용을 발표하고자 한다.

• 한국콘텐츠학회논문지
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• 제20권6호
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• pp.99-113
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• 2020

미래에는 일상생활에서 우리 삶을 편의를 위한 로봇이나 드론들이 증가할 것이다. 그리고 이것을 제어하기 위한 방법으로 현재 리모컨이나 사람의 음성에 의한 방법이 가장 보편적으로 사용되고 있다. 하지만 리모컨은 사람이 찾아서 일일이 조작해야하며 음성의 경우에는 주변 노이즈를 무시할 수 없다. 그래서 본 논문에서는 팔의 자세정보만으로 무선으로 간편하게 주변 드론이나 로봇들을 제어 할 수 있다는 전제하에 실시간으로 정확하게 팔의 자세정보를 획득하기 위한 경제적인 자세정보 획득방법에 대하여 연구하였다. 이를 위해서 확장 칼만필터를 이용하여 팔의 자세정보에 대한 노이즈를 제거하였으며 팔의 움직임을 감지하기 위하여 저가의 MEMS 타입의 센서를 적용하여 장치의 경제성을 확보하였으며 팔의 착용성을 증대시키기 위하여 FPGA를 활용하여 최대한 칩 하나에 모든 기능을 집적화시켜 소형 경량의 자세정보 획득장치를 개발하였다. 그 결과 1 ms의 실시간성을 확보하였고 확장칼만필터를 적용하여 노이즈가 제거된 정확한 팔의 자세정보를 획득하고 실시간으로 팔의 자세정보를 전시하였다. 이를 통해서 팔의 실시간 자세정보를 이용하여 명령을 생성할 수 있는 기초가 마련되었다.

• 동력기계공학회지
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• 제21권1호
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• pp.30-36
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• 2017

In robot industries, the request to obtain a high efficiency and accurately controlled electric actuator has been growing. Nevertheless, the effectiveness of electric actuators is significantly affected by the presence of factors such as nonlinearity, uncertain disturbance and unknown dynamics. Therefore, it makes difficult to derive an exact mathematical model of the controlled system. In this paper, a new method for easily recognizing and regenerating robot motions used in small size industries such as painting and welding parts is proposed. Instead of modeling the entire dynamic motion of the robot system, this method is based on the procedure of modeling and controller design for every arm individually. The proposed method does not require complex model and control system such that it gives easy working process to the small size industries. Based on this fact, in this research, the model and PID controller for every arm of the 3 DOF robot system are obtained separately. Some experimental results are implemented to validate the effectiveness of the proposed method.

• 동의신경정신과학회지
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• 제10권1호
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• pp.1-15
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• 1999

The effects of Sahyangsohapwon on the enhancement of learning and memory of AD model rats were studied with Morris water maze and radial arm maze. Sample group was electrolytically lesioned on nbM, and then daily treated with the medicine for two months. Control group with nbM lesion, and sham group with the sham operation were treated the vehicle for same duration. The following results were observed. In the learning trials of Morris water maze, all three groups were improved in learning capacity as trials were repeated, but the sham group showed more prominent improvement in learning compared with the control group(p<0.01). 2. In memory retention test of Morris water maze, the sham group marked more significant improvement statistically in memory retention compared with the control group(p<0.05). 3. In the learning of radial arm maze, the sham group shows better learning capacity significantly compared with the control group(p<0.05). With the experimental results above, Sahyangsohapwon can be supposed to have the improving effects on the learning and memory of AD rats induced by electronical injury of nbM.

• 한국정밀공학회지
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• 제19권9호
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• pp.125-132
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• 2002

We use a compound-cam twin arm structure and random tool access method to achieve a faster ATC (Automatic Tool Changer) system for the accurate position and rotation control of a tool magazine and an exchange am. Based on the data obtained from various sensors, it is possible to follow the sequence of commands in each control step for an exchange arm. However, it is not so easy to reduce the exchange time of the system because of the slow responses of the sensors and execution mode delays of PLC (Programmable Logic Controller) scan time. In this paper, we propose a new programmed limit-switch position control method to obtain the shortest possible delays for the random tool access method and compound-cam twin arm structure. With some experimental results, we have achieved below 0.9sec tool exchange time with the proposed method.