• 전자공학회논문지B
• /
• 제32B권7호
• /
• pp.1010-1024
• /
• 1995

An intelligent trajectory control method that controls a direction and a average velocity for a prosthetic arm by force and direction estimations using EMG signals is proposed. 3 stage linear filters are used as a real time joint trajectory planner to minimize the impact to human body induced by arm motions and to reduce muscle fatigues. We use combination of MLP and fuzzy filter for a limb direction estimation and a time model of force for determining a cartesian trajectory control parameter. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. Simulation results of the proposed method show that the arm is effectively followed the desired trajectory by estimated foreces and directions. This method reduces the number of electrodes and attatched sites compared with the method using Hogan's impedance control.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.135-139
• /
• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
• /
• pp.23-26
• /
• 2000

Generally, the wheel-driven mobile robot systems, by their structural property, have nonholonomic constraints. These constraints are not integrable and cannot be written as time derivatives of some functions with respect to the generalized coordinates. Hence, nonlinear approaches are required to solve the problems. In this paper, the trajectory controller of wheeled mobile robot systems is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation, the trajectory controller is applied to differentially driven robot system and car-like mobile robot system on the assumption that the trajectory planner be given.

• 한국전자파학회:학술대회논문집
• /
• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
• /
• pp.496-500
• /
• 2003

In This paper, a pole-zero optimized design method for multi-layed planar interdigital stripeline linear group delay bandpass filter with tap input port is presented. As a design example, a four-pole group delay filter with center frequency of 2.14GHz, bandwidth of 160MHz, and group delay variation of ${\pm}0.1nS$ for LTCC technology or multilayerd PCB technology is designed. In the design process, as well the whole structure is not necessary to be simulated, and within three times of optimizing process we have good result as well. This design method could be useful for controlling error correction of manufacturing process as well as design stage.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
• /
• pp.513-515
• /
• 1995

A computer aided process is inevitable for the optimization of train operation planning. Developing of train diagrams is very important for the train operation planning. In this paper, the user friendly program related to the train scheduling that can be used for the basic data on developing of train diagram is introduced. It can also provide basic data for other train operation plannings, such as Timetabling, Crew Operation Scheduling, etc. It provides the planner with data moving, data changing and zooming functions, and it can assist the user easily produces their optimal solution. All this operations are performed interactively through graphic windows.

• 대한산업공학회지
• /
• 제19권1호
• /
• pp.1-17
• /
• 1993

It is well known that an assembly operation is usually constrained by the geometric interference between parts. These constraints are normally presented as AND/OR precedence relationships. To find a feasible assembly sequence which satisfies the geometric constraints is not an easy task because of the TSP(Traveling Salesman Problem) nature with precedence constraints. In this paper, we developed an automated system based on Neural Network for generating feasible assembly sequences. Modified Hopfield and Tank network is used to solve the problem of AND/OR precedence-constrained assembly sequences. An economic assembly sequence can be also obtained by applying the cost matrix that contains cost-reducing factors. To evaluate the performance and effectiveness of the developed system, a case of automobile generator is tested. The results show that the developed system can provide a "good" planning tool for an assembly planner within a reasonable computation time period.

• 대한산업공학회지
• /
• 제37권4호
• /
• pp.382-389
• /
• 2011

Salesperson Monitoring System (SMS) is geographic based information system that supports business auditing, sales area coordinating and customer management for each salesperson. Conventional SMSs focus mainly on the monitoring or logging functions, i.e., a salesperson locating or moving trail tracking. However, the schedules have been planned by human planner, and they have rarely been managed with a software system like SMS. In this paper, a mixed integer programming model for a salesperson routing schedule is provided. Then, 2-phase Genetic Algorithm (GA) is proposed to make salesperson routing schedule. Experimental results show a validity of the proposed method.

• Architectural research
• /
• 제17권2호
• /
• pp.57-64
• /
• 2015

In architectural planning, previous cases of similar spatial program provide important data for architectural design. Case-based reasoning (CBR) paradigm in the field of architectural design is closely related to the designing behavior of a planner who makes use of similar architectural designs and spatial programs in the past. In CBR, spatial graph can be constituted with most fundamental data, which can provide a method of searching spatial program by using visual graphs. This study developed a system for CBR that can analyze the similarity through graph comparison and search for buildings. This is an integrated system that is able to compare space similarity of different buildings and analyze their types, in addition to the analysis on a space within a single structure.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
• /
• pp.539-543
• /
• 1999

This paper describes a sweeping path planning algorithm for an autonomous smearing robot on commercial autoCAD system. An automatic planner generates a sweeping path pattern by proposed five basic procedures, (1) interfacing architectural CAD system, (2) off-line obstacle map building, (3) scanning the whole workspace for subgoals of sweeping line, (4) tracking sequence of the subgoals, and (5) obstacle avoiding. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• Journal of applied mathematics & informatics
• /
• 제18권1_2호
• /
• pp.171-182
• /
• 2005

An analysis of the non-homogeneous term involved in the free surface condition for second order wave diffraction on a pair of cylinders is presented. In the computations of the nonlinear loads on offshore structures, the most challenging task is the computation of the free surface integral. The main contribution to this integrand is due to the non-homogeneous term present in the free surface condition for second order scattered potential. In this paper, the free surface condition for the second order scattered potential is derived. Under the assumption of large spacing between the two cylinders, waves scattered by one cylinder may be replaced in the vicinity of the other cylinder by equivalent plane waves together with non-planner correction terms. Then solving a complex matrix equation, the first order scattered potential is derived and since the free surface term for second order scattered potential can be expressed in terms of the first order potentials, the free surface term can be obtained using the knowledge of first order potentials only.