• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.237-241
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• 1987

In this paper, the BTR (Behind the Tape Reader) type communication unit which interfaces the IEBM PC/XT to the FANUC 5M NC controller is developed, making it possible to send NC part program from the memory of IBM PC/XT to the NC controller. As an example of integration of CAD and CAM technologies, the machining of a two dimensional hand-written free line which incorporates the processes of geometric data acquisition using a digitizing tablet, automatic part programming and control of NC milling machine operation is demonstrated.

• Journal of the Ergonomics Society of Korea
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• v.36 no.4
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• pp.267-280
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• 2017

Objective: The aim of this study is to investigate key user experience factors of interactions for Head Mounted Display (HMD) devices in the Virtual Reality Environment (VRE). Background: Virtual reality interaction research has been conducted steadily, while interaction methods and virtual reality devices have improved. Recently, all of the virtual reality devices are head mounted display based ones. Also, HMD-based interaction types include Remote Controller, Head Tracking, and Hand Gesture. However, there is few study on usability evaluation of virtual reality. Especially, the usability of HMD-based virtual reality was not investigated. Therefore, it is necessary to study the usability of HMD-based virtual reality. Method: HMD-based VR devices released recently have only three interaction types, 'Remote Controller', 'Head Tracking', and 'Hand Gesture'. We search 113 types of research to check the user experience factors or evaluation scales by interaction type. Finally, the key user experience factors or relevant evaluation scales are summarized considering the frequency used in the studies. Results: There are various key user experience factors by each interaction type. First, Remote controller's key user experience factors are 'Ease of learning', 'Ease of use', 'Satisfaction', 'Effectiveness', and 'Efficiency'. Also, Head tracking's key user experience factors are 'Sickness', 'Immersion', 'Intuitiveness', 'Stress', 'Fatigue', and 'Ease of learning'. Finally, Hand gesture's key user experience factors are 'Ease of learning', 'Ease of use', 'Feedback', 'Consistent', 'Simple', 'Natural', 'Efficiency', 'Responsiveness', 'Usefulness', 'Intuitiveness', and 'Adaptability'. Conclusion: We identified key user experience factors for each interaction type through literature review. However, we did not consider objective measures because each study adopted different performance factors. Application: The results of this study can be used when evaluating HMD-based interactions in virtual reality in terms of usability.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3560-3572
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• 1996

This paper presents a new discrete-time fuzzy-sliding mode controller for robust vibration control of a smart structure featuring a piezofilm actuator. A governong equation of motion for the smart beam structure is derived and discrete-time codel with mismatched uncertainties such as parameter variations is constructed ina state space. A discrete-time sliding mode control system consisting of an equivalent controller and a discontinuous controller is formulated. In the design of the equivalent part, so called an equivalent controller separation method is adopted to achieve vzster convergence to a sliding surface without extension of a sliding region, in which the system robustness maynot be guaranteed. On the other hand, the discontinuous part is constructed on the basis of both the sliding and the convergence conditions using a time-varying feedback gain. The sliding moide controller is then incorporated with a fuzzy technique to appropriately determine principal control parameters such as a discountinuous feedback gain. Experimental implementation on the forced and random vibraiton controls is undertaken in order to demonstrate superior control performance of the proposed controller.

• Journal of the Ergonomics Society of Korea
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• v.25 no.4
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• pp.71-80
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• 2006

A construction robot has been developed for higher productivity and better safety in various construction fields. Especially, curtain wall is suitable for outer wall material of tall commercial building and apartment complexes. This heavy material is, however, hard to install with a manpower and outdated equipment. For this reason, the prototype of ASCI (Automation System for Curtain wall Installation) was developed. This system has a robot controller(i.e. hand-held remote control unit) for the transfer information signal between human operator and robot system. Although study has been conducted on manual controller of ASCI, hardly any information is known about the operator's opinion. In this study, a questionnaire was completed by operator to get their opinion about aspects which need to design a more comfortable and productive manual controller of construction machinery, robot included. Through the result of study, it is expected that this technical data is contributed to the robot controller design for comfort and productivity of various industrial machinery.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.340-342
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• 2007

This paper presents the grip force control of myoelectric hand prosthesis according to myoelectric signal generated in the human muscle. The control system consist of a controller for driving DC motor, torque sensor for measuring out torque of motor, slip sensor for detecting slip of torque. The experimental results proved the reliability of proposed control system.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.21-26
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• 2014

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. 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. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.361-368
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• 2012

This paper presents an approach on the design of a nonlinear controller to track a reference velocity for an air-breathing supersonic vehicle. The nonlinear control scheme involves an adaptation of propulsive and aerodynamic characteristics in the equations of motion. In this paper, the coefficients of given thrust and drag functions are estimated and they are used to approximate the equations of motion under varying flight conditions. The form of the function of propulsive thrust is extracted from a thrust database which is given by preliminary engine input/output performance analysis. The aerodynamic drag is approximated as a function of angle of attack and fin deflection. The nonlinear controller, designed by using the approximated nonlinear control model equations, provides engine fuel supply command to follow the desired velocity varying with time. On the other hand, the stabilization of altitude, separated from the velocity control scheme, is done by a classical altitude hold autopilot design. Finally, several simulations are performed in order to demonstrate the relevance of the controller design regarding the vehicle.