• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.117.5-117
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• 2001

This paper presents the key idea of handlebar reaction force and pedal resistance force generation in creating life-like feeling in KAIST bicycle simulator. Also, it provides methods to evaluate its reality level with given reaction force profile. In KAIST bicycle simulator, the pedal resistance force and the handlebar reaction force are calculated using the bicycle dynamic model. With the information handlebar angle, rider´s pedaling torque and road profile transmitted from the handlebar system, the pedal system and the visual part, the bicycle dynamics engine calculates the handlebar reaction force and the pedal velocity. The handlebar system and the pedal resistance system generate reaction force and resistance force transmitted from dynamics engine. However to make more realistic riding feeling ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.166.5-166
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• 2001

In the teleoperation system, force, position and velocity signals are communicated between master and slave arm. The addition of force feedback for the teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable. Also it is well known that the system can become unstable when a time delay exists in the communication channel. The proposed control strategy is to use predictive control method(MBPC). The predictive controller is used to control teleoperation´s position and force control. Also it is used to overcome time delay.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.181.6-181
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• 2001

This paper describes a development of rehabilitation training system for the postural balance control. A new rehabilitation training system, designated as a virtual cycling system, was developed to improve postural balance control by combining virtual reality technology with an unfixed bicycle. In this experiment, 20 normal adults were tested to investigate the influencing parameters of postural balance control. In order to evaluate the usefulness and the training effects of the system, several parameters including path deviation, cycling velocity, cycling time, center of pressure, and head movement were evaluated and analyzed quantitatively. Also, to improve the effect of balance training, the visual feedback information related to the subject's weight shift was assessed to identify whether it was useful. It could be also known ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.65.6-65
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• 2002

In teleoperation robotic system such as hydraulically actuated robotic excavator for dangerous area, the maneuverability and convenience is the most important part. Particularly the force information is important in dealing with digging and leveling operation in the tole-operated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper proposes a new force reflecting joystick using pneumatic motor and a new algorithm for selecting force-reflecting gain in a velocity-force type bi lateral teleoperation system. The master system is electrical joystick with the same structure of that of real excavator. Particularly Pneumatic motor is used newly in...

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.180-188
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• 1999

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which complex global intelligence form from simple local interactions. Here, we propose an architecture of neural network learning with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigate in a group. As the results of the simulations, the optimum weight is obtained in real time, which not only prevent the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.292-298
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• 1991

A new 6-axis robot controller with a high-speed 32-bit floating-point DSP TMS32OC30 has been developed in Samsung Electronics. The controller composed of Intel 80386 microprocessor for the main controller, and TKS32OC30 DSP chip for joint position controller. The characteristics of the controller are high sampling rate of 200us and fast reponsibility. The main controller supports MS-DOS, kinematics, trajectory planning, and sensor fusion functions which are vision, PLC, and MAP. The one high speed DSP chip is used for controlling 6 axes of a robot in 200us simultaneously. The control law applied is PID controller including a velocity feedforvard in joint position controller. The performance tests, such as command following, CP, were conducted for the controller integrated with a 6 axes robot developed in Samsung Electronics. The results showed a good performance. This controller can also perform the system control with other controllers, the communication with high priority controllers, and visual information processing.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.635-642
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• 1989

We formulated the multi-robot trajectory problem into a series of NLP problem, each of which is that of finding the optimal tip positions of the robots for the next time step. The NLP problem is composed of an objective function and three constraints, namely: a) Joint position limits, b) Joint velocity limits, and c) Collision-avoidance constraints. By solving a series of NLP problem, optimally coordinated trajectories can be determined without requiring any prior path information. This is a novel departure from the previous approach in which either all paths or at least one path is assumed to be given. Practical application of the developed method is for optimal synthesis of multiple robot trajectories in off-line. To test the validity and effectiveness of the method, numerical examples are illustrated.

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.4
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• pp.66-71
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• 1985

A MOSFET with multigates arrayed in periodic structure is studied as a transit time device for microwave amplification. The interactions between the periodic metal gates and the slow wave on the surface of the semiconductor can be observed in the vicinity of synchronism. The stability and the reciprocity of the active quadrupole are shown depending on the frequency and velocity of the carriers.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.1
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• pp.49-55
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• 1988

To provide a quantitative parameter of evaluating diagnosis of the liver diseases accurately, the ultrasonic attenuation coefficient was estimated from liver phantoms, 15 normal human livers and 30 liver disease patients. Two kind of phantoms(No.1: 1552m/s, No.2: 1562m/s) which have velocity (1560m/s) similar to that in human liver were constructed and their ultrasonic attenuation coefficients were determined. In this paper the spectral-shift approach and spectral-difference approach were used for estimating ultrasonic attenuation coefficient, \ulcornerdB/Cm.MHz). These two approaches were utilized to esitmate for 15 normal humans without any liver disease and 30 liver disease patients. The results indicate that the two types of phantoms produce the value of near the suggested value of 0.5 and the attenuation coefficients of hepatoma, normal liver, corrhosis, fatty liver and hepatitis show decreasing value in order named, suggesting that the present study can be of clinical value incorrelating the estimated attenuation coefficidents with the liver diseases.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.89-95
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• 1990

A model for bipolar-CMOS buffer design is presented which offers a guideline for determining device sizes based on speed and capacitive load. Closed-form solutions for area optimization are obtained assuming high level injection and channel velocity limitation. The solutions and circuit simulations show that the areas of BICMOS buffers are optimized by scaling the emitter length and the channel width approximately in proportion with capacitive load.