• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.901-906
• /
• 1989

A robust stability problem for time delay systems is discussed by using a property of Lyapunov type operator equation. We propose a method to check the robust stability against the parameter perturbations occurring in both lumped parameter part and distributed delay element.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.105-107
• /
• 1991

A chemical process model represented by partial differential equations was studied as one of nonlinear distributed parameter control problems. Using an optimal control theory in the form of maximum principles based on nonlinear integral equations, an algorithm to solve the problem was developed and coded into a computer program.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.715-720
• /
• 1989

The individual control of machines or processors is subordinate to the management of the entire manufacturing production function. This distinction is necessary in order to provide the appropriate separation of and detailed focus on process activities while still providing acceptable interfaces for the upload of data and the download of instructions, recipes, or commands.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
• /
• pp.17-21
• /
• 1989

6-DOE simulator system is designed to real-time processing for motion control, data acquisition, image generation and image processing etc.. In this paper, we introduce hardware and software design technologies for distributed processing, event-trapping, system monitoring and time scheduling procedure in 6-DOF simulator system design.

• 제어로봇시스템학회논문지
• /
• 제16권9호
• /
• pp.891-897
• /
• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• 제어로봇시스템학회논문지
• /
• 제10권11호
• /
• pp.1058-1064
• /
• 2004

This paper presents a distributed precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a CAN based system, which keeps a fixed priority in data transaction. The mechanism is implemented in the upper sub-layer of the data link layer(DLL), which is fully compatible with the original medium access control layer protocol of CAN. Thus the mechanism can be implemented dynamically while the data transactions are going on without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry, and it was recently applied for a broader class of automated factories. Even though CAN is able to satisfy most of real-time requirements found in automated environments, it is not to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmission. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with the older CAN applications. Through the real experiments, effectiveness of the proposed mechanism is verified.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2346-2349
• /
• 2005

Distributed Autonomous Robotic System (DARS) is defined as a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the DARS, a robot contains sensor part to percept the situation around themselves, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, Bluetooth is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots such as DARS robots. For this purpose, The Bluetooth communication system must have several features. The first, this system should be separated from other robot parts and operate spontaneously and independently. In other words, this communication system should have the ability to organize and maintain and reorganize a network scheme. The next, this system had better support any kinds of standard interfaces in order to guarantee flexible applicability to other embedded system. We will discuss how to construct and what kind of procedure to develop the network system.

• 한국태양에너지학회:학술대회논문집
• /
• 한국태양에너지학회 2012년도 춘계학술발표대회 논문집
• /
• pp.414-418
• /
• 2012

In recent years, understanding the dynamics of DC distribution system has become critically important due mainly to the increasing needs for the interconnection of DC distributed generators and the (DC-based) electric vehicle (EV) charging systems. In this paper, the characteristics of the DC grid system connected to the compact proton exchange membrane fuel cell (PEMFC) has been studied. In particular, the voltage and current transient phenomena were measured by varying the load of the DC grid system. Also, the voltage and current ripple were measured at the different load conditions. Our experimental results clearly manifested that the study contributes to the establishment of fundamental method to characterize the small DC grid system including distributed generation.

• 제어로봇시스템학회논문지
• /
• 제17권10호
• /
• pp.1051-1058
• /
• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2237-2242
• /
• 2005

The original RRT is iteratively expanded by applying control inputs that drive the system slightly toward randomly-selected states, as opposed to requiring point-to-point convergence, as in the probabilistic roadmap approach. It is generally known that the performance of RRTs can be improved depending on the selection of the metrics in choosing the nearest vertex and bias techniques in choosing random states. We designed a path planning algorithm based on the RRT method for a remote-controlled mobile robot. First, we considered a bias technique that is goal-biased Gaussian random distribution along the command directions. Secondly, we selected the metric based on a weighted Euclidean distance of random states and a weighted distance from the goal region. It can save the effort to explore the unnecessary regions and help the mobile robot to find a feasible trajectory as fast as possible. Finally, the constraints of the actuator should be considered to apply the algorithm to physical mobile robots, so we select control inputs distributed with commanded inputs and constrained by the maximum rate of input change instead of random inputs. Simulation results demonstrate that the proposed algorithm is significantly more efficient for planning than a basic RRT planner. It reduces the computational time needed to find a feasible trajectory and can be practically implemented in a remote-controlled mobile robot.