• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 추계학술대회논문집
• /
• pp.33-48
• /
• 2000

Limitations of the simple single degree of freedom vibration isolation theory in real applications are discussed and a theory of multi-dimensional vibration/noise isolation by power approach is introduced. Illustrations of the application to compressor of an air-conditioner are presented together with problems caused by approximations. Then possible sources of distortions in the vibration power estimation are looked into and some relevant research topics are suggested.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1539-1543
• /
• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). 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. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• 제어로봇시스템학회논문지
• /
• 제21권12호
• /
• pp.1193-1200
• /
• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• 한국산업융합학회 논문집
• /
• 제20권3호
• /
• pp.245-256
• /
• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• 제어로봇시스템학회논문지
• /
• 제19권5호
• /
• pp.457-461
• /
• 2013

This paper proposes an image feature-based real-time RGB-D (Red-Green-Blue Depth) 3D SLAM (Simultaneous Localization and Mapping) system. RGB-D data from Kinect style sensors contain a 2D image and per-pixel depth information. 6-DOF (Degree-of-Freedom) visual odometry is obtained through the 3D-RANSAC (RANdom SAmple Consensus) algorithm with 2D image features and depth data. For speed up extraction of features, parallel computation is performed with GPU acceleration. After a feature manager detects a loop closure, a graph-based SLAM algorithm optimizes trajectory of the sensor and builds a 3D point cloud based map.

• 한국멀티미디어학회논문지
• /
• 제18권8호
• /
• pp.935-942
• /
• 2015

According to growing of the plant cultivation in a greenhouse environment, the demand of a system to control the greenhouse easier has increased. Currently, the methods to control by the mobile App represent the information in a greenhouse environment with a simple numerical data or compose only the contents with a limited degree of freedom. In order to solve these problems, this paper presents a system that can be viewed or controlled greenhouse conditions in near / remote distance using augmented reality and MQTT communication protocol, RTSP media streaming protocol. The proposed method is implemented in Android smartphone environment and acts monitoring the information (temperature, humidity, illuminance) obtained by greenhouse's sensors and transmits the real time greenhouse's video using RTSP in the remote distance, and controls the values of temperature, humidity, illuminance for the greenhouse using the augmented reality in the near distance.

• 대한기계학회논문집
• /
• 제17권9호
• /
• pp.2373-2380
• /
• 1993

This paper addresses the design procedure and testing result of a servo driven pan/tilt device which is capable of tracking arbitrary movement of a specified target object. In order to achieve real-time acquisition of feedback signal, a 2 degree-of freedom non-contact type displacement follower has been employed in stead of vision camera. The performance of the designed system is tested for different target velocities and control gains. The test result shows the satisfactory performance to be adopted as an effective tool for visual transfer in the context of teleoperation.

• International Journal of Korean Welding Society
• /
• 제3권1호
• /
• pp.2-7
• /
• 2003

Laser welding application for car body manufacturing has many advantages in the stiffness and the lightness of vehicle, the productivity of assembly line, and the degree of freedom in design. This presentation will express the innovation of car body manufacturing including parameter optimization, process modeling, and system integration. In this application the investment for systems was cut down dramatically by real time switching over the laser path between two welding stations. Points of technical discussion are as follows; optimization of parameters such as laser power, robot speed and trajectory, compact and useful design of jig & fixture to assure welding quality for 3 sheet-layer zinc-coated steel, system integration between 4㎾ Nd:YAG laser device and the other systems, on-line real time welding quality monitoring system, perfect safety standards for high power laser, minimization of consumption costs such as arc lamp, protective glass for optic, etc. This application was successfully launched mass production line in 2001. The laser-welded line of side panel consists of 122 stitches totally. And the length is about 2.4m.

• 한국자동차공학회논문집
• /
• 제16권4호
• /
• pp.173-178
• /
• 2008

Electro-hydraulic brake system has many advantages. It provides improved braking performance and stability functions. It also removes complex mechanical parts for freedom of design, improves maintenance requirements and reduces unit weight. However, the EHB system should be dependable and have back-up redundancy in case of a failure. In this paper, the model-based fault diagnosis system is developed to monitor the brake status using the analytical redundancy method. The performance of the model-based fault diagnosis system is verified in real-time simulation. It demonstrates the effectiveness of the proposed system in various faulty cases.

• Communications for Statistical Applications and Methods
• /
• 제23권4호
• /
• pp.321-334
• /
• 2016

In this paper, we propose power t distribution based on t distribution. We also study the properties of and inferences for power t model in order to solve the problem of real data showing both skewness and heavy tails. The comparison of skew t and power t distributions is based on density plots, skewness and kurtosis. Note that, at the given degree of freedom, the kurtosis's range of the power t model surpasses that of the skew t model at all times. We draw inferences for two parameters of the power t distribution and four parameters of the location-scale extension of power t distribution via maximum likelihood. The Fisher information matrix derived is nonsingular on the whole parametric space; in addition we obtain the profile log-likelihood functions on two parameters. The response plots for different sample sizes provide strong evidence for the estimators' existence and unicity. An application of the power t distribution suggests that the model can be very useful for real data.