• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.10a
• /
• pp.566-569
• /
• 2022

In this paper, the algorithm was developed to recognize hand golve gesture and implemented a system to remotely control the robot. The system consists of a camera and a controller that controls robot motion by hand position gesture. The camera recognizes the specific color of the glove and outputs the recognized range and position by including the color area of the glove. We recognize the velocity vector of robot motion and control the robot by the output data of the position and the detected rectangle. Through the several experiments, it was confirmed that the robot motion control was successfully performed.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.4 no.1
• /
• pp.26-34
• /
• 1999

According to increase of nonlinear power electronics equipment, active power filters have been researched and developed for many years to compensate harmonic disturbances and reactive power. However the commercial of active power filter is being proceeded slowly, because the cost of active power filter compared to the passive filter for harmonic and reactive power compensation is expensive. Especially, the use of DSP (Digital Signal Processing) chip, which is frequently used to control 3-phase active power filter, is a factor of increasing the cost of active power filters. On the other hand, the use of only analog controller makes the controller's circuits much more complicate and depreciates the flexibilities of controller. In this paper, a controller with low cost for 5[kVA] 3-phase active power filter system is designed. To reduce the expense of active filter system, the presented controller is composed of digital control part using Intel 80C196KC $\mu$P and analog control part using hysteresis controller for current control. Characteristic analysis of designed controller for active filter system is performed by computer simulation and compensating characteristics of the designed controller are verified by experiment.tegy can apply to the vector control, leading to better output torque capability in the ac motor drive system. This strategy is that in the overmodulation range, the d-axis output current is given a priority to regulate the flux well, instead the q-axis output curent is sacrificed. Therefore, the vector control even in the overmodulation PWM operation can be achieved well. For this purpose, the d-axis output voltage of a current controller to control the flux is conserved. the q-axis output voltage to control the torque is controlled to place the reference voltage vector on the hexagon boundary in case of the overmodulation. The validity of the proposed overall scheme is confirmed by simulation and experiments for a 22[kW] induction motor drive system.

• Journal of Korea Game Society
• /
• v.16 no.6
• /
• pp.49-58
• /
• 2016

This paper proposes three schemes of one-hand control that can be used in the First-Person Viewpoint mobile games and evaluates them. Displaying virtual controllers on the screen, the existing mobile games use schema that allows users use both hands. In the First-Person Viewpoint mobile games, however, one-hand control is possible because smaller number of functions for viewpoint movement is required. This research proposes three one-hand control schemes for First-Person Viewpoint movement and rotation, and evaluates them using AHP. The experiment results prove that one-hand control schemes are more useful than both-hands control schemes for the mobile game users.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.14 no.1
• /
• pp.30-37
• /
• 2000

We studied on acquiring of transfer function and tuning of 2-DOF PID controller using ANFIS for the optimum control to turbine's variables variety. Since the shape of a membership function in the ANFIS based on the characteristics of plant. ANFIS based control method is effective for plant that its variable vary. On the other hand, a start-up time is very short and its variable's value for optimal start-up in gas turbine should be varied, but it is very difficult for such a controller to design. In this paper, we tune 2-DOF PID controller after apply a ANFIS to the operating data of Gun-san gas turbine and verify the characteristics. Its results is compared to the conventional PID controller and discuss. We expect this method will be used for another process because it is studied on the real operating data.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.4
• /
• pp.436-443
• /
• 2007

In this paper, an intelligent method called BELBIC (Brain Emotional Learning Based Intelligent Controller) is used to control of Locally Linear Neuro-Fuzzy Model (LOLIMOT) of Washing Machine. The Locally Linear Neuro-Fuzzy Model of Washing Machine is obtained based on previously extracted data. One of the important issues in using BELBIC is its parameters setting. On the other hand, the controller design for Washing Machine is a multi objective problem. Indeed, the two objectives, energy consumption and effectiveness of washing process, are main issues in this problem, and these two objectives are in contrast. Due to these challenges, a Multi Objective Genetic Algorithm is used for tuning the BELBIC parameters. The algorithm provides a set of non-dominated set points rather than a single point, so the designer has the advantage of selecting the desired set point. With considering the proper parameters after using additional assumptions, the simulation results show that this controller with optimal parameters has very good performance and considerable saving in energy consumption.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1539-1543
• /
• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• Proceedings of the KIPE Conference
• /
• 2001.10a
• /
• pp.174-178
• /
• 2001

An improved stationary frame-based digital current control technique for a permanent magnet (PM) synchronous motor is presented. Generally, the stationary frame current controller is known to provide the advantage of a simple implementation. However, there are some unavoidable limitations such as a steady-state error and a phase delay in the steady-state. On the other hand, in the synchronous frame current regulator, the regulated currents are dc quantities and a zero steady-state error can be obtained through the integral control. However, the need to transform the signals between the stationary and synchronous frames makes the implementation of a synchronous frame regulator complex. Although the PI controller in the stationary frame gives a steady-state error and a phase delay, the control performance can be greatly improved by employing the exact decoupling control inputs for the back EMF, resulting in an ideal steady-state control characteristics irrespective of an operating condition as in the synchronous PI decoupling controller. However, its steady-state response may be degraded due to the inexact cancellation inputs under the parameter variations. To improve the control performance in the stationary frame, the disturbance is estimated using the time delay control. The proposed scheme is implemented on a PM synchronous motor using DSP TMS320C31 and the effectiveness is verified through the comparative simulations and experiments.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.26 no.3
• /
• pp.23-31
• /
• 2018

This paper describes the effect of advice information for arriving aircraft landing order on the air traffic controller's work efficiency. The air traffic control simulator used in the experiment was modeled on the basis of the aircraft parameters from BADA, gamma-command model and the 4-dimensional trajectory using the Bezier curve. The simulation results show that advice information was helpful for the performance of the work for users who did not have the air traffic control training. On the other hand, in case of users who have experience in air traffic control training, the work efficiency was lowered when the advisory information that does not reflect the user's intention is provided. Therefore, it can be seen that the effect of improving the work efficiency through advice information can be limited depending on the skill level of the air traffic controllers and the complexity of the air traffic situation.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.11 s.170
• /
• pp.1982-1992
• /
• 1999

This paper presents a novel concept of cargo handling system adapted for a sea port subjected to severe time-varying tide. The proposed system can perform loading or unloading by using a sort of hydraulic elevator associated with real-time position control. In order to achieve a proof-of-concept, a small-sized laboratory model of the cargo handling system is designed and built. The model consists of three principal components container palette transfer (CPT) car, platform with lifting columns, and cargo ship. The platform activated by electro-rheological (ER) valve-cylinders is actively controlled to track the position of the cargo ship subjected to be varied due to the time-varying tide and wave motion. Following the derivation of the dynamic model for the platform and cargo ship motions, an appropriate control scheme is formulated and implemented. The location of the CPT car is sensed by a set of photoelectric switches and controlled via sequence controller. On the other hand, a sliding mode controller (SMC) is adopted as the position controller for the platform. Both simulated and measured control results are presented to demonstrate the effectiveness of the proposed cargo system.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1994.10a
• /
• pp.449-454
• /
• 1994

The Stewart Platform is one example of a motion simulator which generater 6DOF motion in space by six actuators in parallel. The presented control methrol of 6DOF motion simulator is generally classified into two types, one is SISO and the other is MIMO control type. The SISO control can't compensate for external load variation and different dynamic behavior of 6DOF motion, trerefore this type don's control motion precisely. On the other hand, the MIMO control compensates for a interference of 6DOF motion because MIMO controller is designed with 6DOF motion simulator synamics. But MIMO control of motion simulator has a complexity of 6DOF displacement feedback, because in oder to obtain feedback value we must solve the forward kinematics using measurement of cylinder length or design a state estimator, unless measurement of 6DOF displacement is possible. In this paper, a multivariable controller using H .inf. optimal control theory is designed to consider a interference of 6DOF motion and to obtain robust,precise control of system. Also in order to solve the mentioned problem of MIMO control, this paper presents a modified MIMO control model which control 6DOF motion by using feedback of measurement od cylinder length.