• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1729_1730
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• 2009

This paper presents comparative experimental results of PI sliding mode control and PI control for a heavy duty robot which can handle an object of 600kg, The gains of the PI control was determined by TAE(Trial and Error) method. This paper presents a novel approach for the decoupling of the states cross-coupling using sliding mode control. The sliding mode control methode is based on the error between reference speeds and the actual speed. The proposed method has the advantages of PI control performance and the sliding mode control robustness. Its first step is to design PI controller, then the sliding mode control input term is added to it. This makes actual implementation of the controller easier. The robot and motion controllers were designed and made by author. The good control performance of the heavy duty robot was obtained by using simple algorithm. This means that the robot was designed very well in control respect.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.814-819
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• 2007

Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on $A^{*}$ algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent

• Journal of Internet Computing and Services
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• v.6 no.5
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• pp.85-95
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• 2005

This study proposes a method of feature point extraction using scale-space filtering and a feature point tracking algorithm based on a texturedness similarity comparison, With well-defined operators one can select a scale parameter for feature point extraction; this affects the selection and localization of the feature points and also the performance of the tracking algorithm. This study suggests a feature extraction method using scale-space filtering, With a change in the camera's point of view or movement of an object in sequential images, the window of a feature point will have an affine transform. Traditionally, it is difficult to measure the similarity between correspondence points, and tracking errors often occur. This study also suggests a tracking algorithm that expands Shi-Tomasi-Kanade's tracking algorithm with texturedness similarity.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.740-756
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• 2017

This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation's parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm's accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.

• Journal of Astronomy and Space Sciences
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• v.20 no.2
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• pp.153-162
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• 2003

Recently, we have reconstructed LX-200 12inch telescope system for tracking and observing man-made space object. Motor, motor driver and motion controller were up-graded for getting faster respond characteristic and active control available. Also, command signal was offered to the PID controller into motor driver as computed real orbiting information of objects using PC, and it's control period of command signal was reduced to the 20ms. As the result, slew speed of the mount system was in proved up to $18^{\circ}/sec$ and respond speed of the system was faster than that of commercial system. Also, flipping state of image observed could be minimized by the up-graded system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.358-359
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• 2018

In this paper, opencv and android studio are used to distinguish between objects ahead of the blind. When the movement is detected in a positive direction in connection with the camera of the smartphone, the user is informed that the part of the camera is being rabelified and continues to track using the mean shift algorithm. A C ++ program based on OpenCV-based was used for real-time motion observation and the application will be produced by android studio. As a result of the study, objects that move with Labeling are identified and the box area is specified using the mean shift algorithm to move the box along with the object to track objects in real time.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2575-2580
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• 2005

In this paper, we address two position control scheme; the lead-lag control and the sliding mode control for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived simply. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.371-376
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• 2007

This paper presents an emotion recognition and its expression system of an intelligent robot like a home robot or a service robot. Emotion recognition method in the robot is used by a facial image. We use a motion and a position of many facial features. apply a tracking algorithm to recognize a moving user in the mobile robot and eliminate a skin color of a hand and a background without a facial region by using the facial region detecting algorithm in objecting user image. After normalizer operations are the image enlarge or reduction by distance of the detecting facial region and the image revolution transformation by an angel of a face, the mobile robot can object the facial image of a fixing size. And materialize a multi feature selection algorithm to enable robot to recognize an emotion of user. In this paper, used a multi layer perceptron of Artificial Neural Network(ANN) as a pattern recognition art, and a Back Propagation(BP) algorithm as a learning algorithm. Emotion of user that robot recognized is expressed as a graphic LCD. At this time, change two coordinates as the number of times of emotion expressed in ANN, and change a parameter of facial elements(eyes, eyebrows, mouth) as the change of two coordinates. By materializing the system, expressed the complex emotion of human as the avatar of LCD.

• The Bulletin of The Korean Astronomical Society
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• v.39 no.2
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• pp.55.1-55.1
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• 2014

on the observation with the Gemini Multi-Object Spectrograph on the Gemini-South 8.1 m telescope. The radial velocities of four ESCs do not display any sign of systematic motion, unlike the intermediate age carbon stars in NGC 6822. The ages and metallicities derived using the Lick indices show that the ESCs are old (>=8 Gyr) and metal poor ([Fe/H] <= -1.5). NGC 6822 is found to have both metal poor ($[Fe/H]{\approx}-2.0$) and metal rich ($[Fe/H]{\approx}-0.9$) star clusters within 15' (2 kpc) from the center, whereas only metal poor clusters are observed in the outer halo with r >= 20'(2.6 kpc). Based on the kinematics, old ages, and low metallicities of ESCs, we discuss the possible origin of ESCs and the formation of the outer halo of a small dwarf irregular galaxy NGC6822.

• 한국정보디스플레이학회:학술대회논문집
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• 2008.10a
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• pp.51-54
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• 2008

In this paper, we propose a practical method for displaying 2D/True3D mixed contents in real-time. Many companies released their 3D display recently, but the costs of producing True3D contents are still very expensive. Since there are already a lot of 2D contents in the world and it is more effective to mix True3D objects into the 2D contents than making True3D contents directly, people became interested in mixing 2D/True3D contents. Moreover, real-time 2D/True3D mixing is helpful for 3D displays because the scenario of the contents can be easily changed on playback-time by adjusting the 3D effects and the motion of the True3D object interactively. In our system, True3D objects are rendered into multiple view-point images, which are composed with 2D contents by using depth information, and then they are multiplexed with pre-generated view masks. All the processes are performed on a graphics processor. We were still able to play a 2D/True3D mixed contents with Full HD resolution in real-time using a normal graphics processor.