• Journal of Korea Multimedia Society
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• v.17 no.11
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• pp.1263-1269
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• 2014

As rapid development of new hardware control interface technology, new concepts have been being proposed and emerged. In this paper, a new approach based on leap motion system is proposed. While we employ a position information from sensor, the hand gesture recognition is suggested with the pre-defined patterns. To do this, we design a recognition algorithm with hand gesture and finger patterns. We apply the proposed scheme to 3-dimensional avatar controling and editing software tool for making animation in the cyber space as a representative application. This proposed algorithm can be used to control computer systems in medical treatment, game, education and other various areas.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.146-151
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• 2001

The Grand-Touring is a game motion simulator that simulates the race-car driving motion with three hydraulic cylinders which connect the platform and base in parallel. Its motion control system consists of the PC-based main controller and micro-controller based sub-controller. The former one process the dynamic image of race-car in response to the driver's action and computes the reference command for each cylinder and the latter one is designed for the tracking control of hydraulic cylinder and interfacing the auxiliary signals between various sensors/actuator and main controller. In this research, we developed the sub-controller that implements the required functions of Grand-Touring and prove the overall performance with experiments.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.

• Journal of the Korean Society of Systems Engineering
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• v.17 no.1
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• pp.11-20
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• 2021

Decontamination of systems, structures and components (SSC) during the decommissioning of a Nuclear Power Plant (NPP) can be for a variety of reasons. The main reasons for decontamination are: to reduce the contamination of SSC to a reasonably low level, to reduce the potential for the spread of contaminants into the environment and to reduce the cost of disposal due to the reduced level of contamination in a particular SSC. The decontamination technique can be aggressive or non-aggressive depending on the intent after the decontamination process. Aggressive decontamination technique is used when the intent is not to reuse the SSC while a non-aggressive decontamination technique is used with the intent of SSC reuse. For different SSCs there are different decontamination techniques that can be used, each having its own advantages and drawbacks. Metal components such as pipes in the nuclear power plant account for a large amount of nuclear wastes generated. Some of these wastes can be reused if the contaminant level is reduced to an acceptable level. Laser ablation is a non-aggressive decontamination technique that can be used to reduce the contamination in pipes to an acceptable level with no secondary waste generated during the process. The operation and control of a laser ablation device must be precise to achieve a high decontamination factor. This precision can be achieved by a well-designed motion control system. For this purpose, a motion control system was developed consisting of two parts: the first part being the precise control of the laser ablation device inside the pipe and the second part is the control of the laser ablation device outside the pipe. This paper describes the Systems Engineering approach for the development process of a motion control system for the Laser decontamination system.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.3
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• pp.155-162
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• 2018

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.1
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• pp.16-24
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• 2018

This paper addresses the heading control of an offshore floating storage and regasification unit (FSRU) using a resolved motion and acceleration control (RMAC) algorithm. A turret moored vessel tends to have the slewing motion. This slewing motion may cause a considerable decrease in working time in loading and unloading operation because the sloshing in the LNG containment tank might happen and/or the collision between FSRU and LNGC may take place. In order to deal with the downtime problem due to this slewing motion, a heading control system for the turret moored FSRU is developed, and a series of model tests with azimuth thrusters on the FSRU is conducted. A Kalman filter is applied to estimate the low-frequency motion of the vessel. The RMAC algorithm is employed as a primary heading control method and modified I-controller is introduced to reduce the steady-state errors of the heading of the FSRU.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.286-292
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• 2009

This paper proposes a knee-wearable robot system for assisting the muscle power of human knee by processing EMG (Electromyogram) signals. Although there are many muscles affecting the knee joint motion, the rectus femoris and biceps femoris among them play a core role in the extension and flexion motion, respectively, of the knee joint. The proposed knee-wearable robot system consists of three parts; the sensor for measuring and processing EMG signals, controller for estimating and applying the required knee torque, and actuator for driving the knee-wearable mechanism. Ultimately, we suggest the motion control method for knee-wearable robot system by processing the EMG signals of corresponding two muscles in this paper. Also, we show the effectiveness of the proposed knee-wearable robot system through the experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.2
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• pp.73-82
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• 1994

Low-band type active suspension system is implemented on a passenger car. Level. roll, pitch and bouncing motion of body are controlled by a digital controller. Sky-hook damper is applied to control bouncing motion. This paper describes overall construction of the system, design of hydraulic system, sensor system, controller, and control scheme. Performance of prototype car has been evaluated on a test track and reported in the second paper.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.2
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• pp.136-144
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• 2014

The existing conventional motion controller does not perform well in the presence of nonlinear properties, uncertain factors, and servo lag phenomena of industrial actuators. Hence, a feasible and effective fuzzy self-tuning proportional integral derivative (PID) and feed-forward control scheme is introduced to overcome these problems. In this design, a fuzzy tuner is used to tune the PID parameters resulting in the rejection of the disturbance, which achieves better performance. Then, both velocity and acceleration feed-forward units are added to considerably reduce the tracking error due to servo lag. To verify the capability and effectiveness of the proposed control scheme, the hardware configuration includes digital signal processing (DSP) which plays the main role, dual-port RAM (DPRAM) to guarantee rapid and reliable communication with the host, field-programmable gate array (FPGA) to handle the task of the address decoder and receive the feed-back encoder signal, and several peripheral logic circuits. The results from the experiments show that the proposed motion controller has a smooth profile, with high tracking precision and real-time performance, which are applicable in various manufacturing fields.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2001.06a
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• pp.212-217
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• 2001

This paper presents the stability characteristics of a rotor-bearing system supported by actively controlled hydrodynamic journal bearing. The proportional and derivative controls including coupled motion are adopted for the control algorithm to control the hydrodynamic journal bearing with a circumferentially groove. Also, the cavitation algorithm implementing the Jakobsson-Floberg-Olsson boundary condition is adopted to predict cavitation regions in the fluid film more accurately than conventional analysis which uses the Reynolds condition. The stability characteristics are investigated with the Routh-Hurwitz criteria using the linear dynamic coefficients which are obtained from the perturbation method. The stability characteristics of the rotor-bearing system supported by active controlled hydrodynamic journal bearing are investigated for various control gain. It is found that the speed at onset of instability is increased for both proportional and derivative control of the bearing, and the proportional and derivative control of coupled motion is more effective than proportional and derivative control of uncoupled motion.