• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.273-280
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• 1999

Yard cranes are very useful equipments for handing of heavy containers, But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. Therefore rope-driven yard cranes require skilled drivers to depress sway and skew motions. So many researches have been concentrated on anti-sway and anti-skew algorithm controlling trolley speed or rope tension. Although many efforts, the rope-driven method is not proper to an automated yard equipment because of sway and skew motion. This paper will propose a new concept yard crane which has a new structure, overcomes defects of rope-driven cranes and is proper to automation. And we will study its actuality

• Proceedings of the Korean Society of Computer Information Conference
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• 2019.07a
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• pp.439-440
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• 2019

본 논문에서는 1인칭 시점 VR 게임 콘텐츠를 개발하였고, 멀티플레이를 구현할 때, 가상현실 세계에서 플레이어들끼리 대면했을 때 서로의 캐릭터가 폰 콘트롤러라는 이름의 팔만 보이는 외형을 띠고 있다. 게임에서 시각적인 부분을 간과할 수 없기에 멀티플레이 시 서로의 캐릭터가 보일 수 있도록 새로운 방법을 제안하였다. 3인칭 캐릭터를 이용해서 만든 캐릭터는 인간과 같은 외형의 스켈레톤을 사용하면 원하는 캐릭터를 사용할 수 있다. 3인칭 캐릭터의 양팔의 트랜스폼 값을 언리얼엔진4의 라이브러리인 패브릭 노드를 이용하여 모션 콘트롤러와 매핑을 시키는 방식으로 접근하였다. 이를 통해 좀더 플레이시 실감이 가능한 게임 제어기법을 적용할 수 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.761-764
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• 1995

This paper demonstrates the feasibility of utilizing Shape Memory Alloy(SMA) actuators in controlling the motion of micro active catherer. The dynamic behavior of SMA is obtained by several experiments for the design of the controller. Two different type of structures which realize catheter are proposed. Each prototype of micro active catherer is fabricated, and its control performance which used the designed controller is investigated. The results obtained show the potential of the SMA as viable means for actuating the micro active catheter.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.4-149
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• 2001

In this paper, the multiple micro robot soccer playing system is introduced at first. Learning and evolving in artificial agents is a difficult problem, but on the other hand a challenging task. In our laboratory, this soccer studies mainly centered on single agent learning problem. The construction of such experimental system has involved lots of kinds of challenges such as robot designing, vision processing, motion controlling. At last we will give some results showing that the proposed approach is feasible to guide the design of common agents system.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.534-539
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• 1986

This paper considers the ring rolling process contorl and treats the problem of controlling the pressure roll and conical roll motion which critically affects final quality of the rolled products. Since the process dynamics reveals nonlinear characteristics and parameter uncertainty, an adaptive control scheme was applied. The results show that this proposed adaptive control scheme can produce rolled rings of closer dimensional tolerances as compared with nonadaptive control system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.345-350
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• 1996

The suspension system plays an important role in vehicle performance. To improve suspension characteristics related to riding comfort and handling stability simultaneously, active suspension system is developed. In this study, a hybrid control scheme is proposed, the idea of which is that the sliding mode control is applied to nonlinear hydraulic system and the skyhook control is applied for controlling the motion of the suspension system. The performance of the proposed control method is evaluated by simulation and experiment of a half car active suspension system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• Journal of the Korea Computer Graphics Society
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• v.13 no.4
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• pp.1-6
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• 2007

In this paper we describe the method of controlling the animation of 3D characters according to ISO/IEC 19774 (H-Anim) specification, which has been released by Wed3D Consortium and ISO/IEC SC24 WG6. The animation structure of the H-Anim character can be defined and modified in our H-Anim editor program. Our H-Anim animator generates the character's motion automatically according to the input of motion parameters at the character's joints interactively. This paper is focused on the development of a motion generation tool for human-like characters defined by H-Anim structures.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.7
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• pp.767-772
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• 2011

Trajectory generation is important because it determines the walking stability, continuity, and performance of a body in motion. Generally, the Linear Inverted Pendulum Mode is used for trajectory generation; however, for the sake of simplicity, the trajectory in this mode does not allow vertical motions and pitching motions of the body. This paper proposes a new trajectory generation method called Extended Linear Inverted Pendulum Mode (ELIPM) that allows vertical motion as well as pitching motion. This method can also improve the performance of locomotion by controlling the stride and locomotion frequency of a body.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.7
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• pp.506-511
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• 2009

Insect flight is adapted to cope with each circumstance by controlling a variety of the parameters of wing motion in nature. Many researchers have struggled to solve the fundamental concept of insect flight, but it has not been solved yet clearly. In this study, to find the most effective flapping wing dynamics, we conducted to analyze CFD data on fixing some of the optimal parameters of wing motion such as stoke amplitude, flip duration and wing rotation type and then controlled the deviation angle by fabricating wing tip motion. Although all patterns have the similar value of lift coefficient and drag coefficient, pattern A(pear-shape type) indicates the highest lift coefficient and pattern H(pear-shape type) has the lowest lift coefficient among four wing tip motions and three deviation angles. This result suggest that the lift and drag coefficient depends on the angle of attack and the deviation angle combined, and it could be explained by delayed stall and wake capture effect.