• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.69-72
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• 1996

In this paper robust tracking control scheme using the new three-segment nonlinear sliding mode technique for nonlinear rigid robotic manipulator is developed. Sliding mode consists of three segments, the promotional acceleration segment, the constant velocity segment and the deceleration segment using terminal sliding mode. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the new three-segment nonlinear sliding mode technique together with a few useful structural properties of rigid robotic manipulator. The efficiency of the proposed method for the tracking has been demonstrated by simulations for two-link robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.387-390
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• 1996

In this paper, A new PI-type reaching law for variable structure control is proposed to alleviate the chattering and improve the robustness properties in the presence of matched uncertainty. The proposed reaching law consists of a proportional term and an integral term. And the dynamics of switching function can easily be specified by using the second-order system analysis method. And also the proposed scheme has the advantages of alleviating the chattering than Gao's one and reducing the influence of uncertainties by band pass filter characteristic. The efficiency of the proposed method has been demonstrated by simulations for Dutch Roll damping in a light aircraft.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2007년도 학술대회 1부
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• pp.706-712
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• 2007

국가간 연구목적으로 개설된 초고속 광 네트워크 기술의 발전은 새로운 응용 기술의 등장을 요구하고 있다. 고화질 저지연의 실감 협업 응용은 이러한 연구 목적에 부합할 뿐만 아니라 향후 커뮤니티 기반 응용 기술의 요구를 충족시킬 것으로 보인다. 본 논문에서는 실감 협업 응용 기술에 필요한 비압축 HD stereoscopic 영상 전송 시스템을 구성해 3D HD 영상을 사용자가 체감할 수 있도록 한다. 또한, 소프트웨어 기반 다채널 음성 재생을 다루며 실험을 통해 방향성 있는 협업 환경 구축의 가능성을 보여준다. 입체감 있는 미디어 재생을 위해 병렬 구조의 좌 우 송수신 시스템을 구축 후 stereoscopic 비압축 영상 전송을 수행하며, 좌 우 영상 세션간의 인터 미디어 동기화 기법의 설계방법을 제안한다. 음성 재생 소프트웨어는 ALSA를 이용하여 구현하였으며 가변 데이터 길이 및 프레임 손실로 인한 채널 뒤섞임(channel swapping)을 방지하기 위한 버퍼를 재생 모듈 전처리단에 추가하였다. 초고속 네트워크와 비압축 미디어 전송의 결합은 IP를 이용해 다채널 음성 지원의 실감 HDTV를 가능케 하므로 이를 유용하게 활용할 수 있는 사용 시나리오를 살펴본다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.449-452
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• 1997

In this paper, we suggest a variable structure controller using the time-varying nonlinear sliding surface instead of the fixed sliding surface, which has been the robustness against parameter variations and extraneous disturbance during the reaching phase. As appling TS fuzzy algorithm to the regulation of the nonlinear sliding surface, the reaching time of the system trajectory is faster than the fixed method . This proposed scheme has better performance than the conventional method in reaching time parameter variation and extraneous disturbance. To demonstrate its performance, the proposed control algorithm is applied to a rotational inverted pendulum.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.208-219
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• 1999

Springs have been employed in a wide range of mechanical systems. This work deals with the concept of an adaptable spring mechanism which can arbitrarily modulate its spring characteristics. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adapting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. This phenomenon has been explained by several human arm models. Based on the analysis results, we propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verifiy the applicability of these mechanisms through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.179-184
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• 1991

This paper will describe the application for variable structure control theory to the first order dynamic system and verify it's robustness. The study on the first order dynamic system control which has been essential part for the control of servo motor (AC, DC) systems has been excluded in the study of variable structure control system(VSCS) because this first order system was not applicable to the previous variable structure control theory. So, for the robustness control of first order dynamic system with variable structure control theory, we propose modified switching function synthesis which guarantees the advantages of conventional VSCS and removes reaching phase which regards as shortcomings in VSCS. And we demonstrate the practical potential of implementation about this theory by simulation results of AC motor variable speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.63-66
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• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2017년도 추계학술대회
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• pp.170-171
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• 2017

최근 디지털 사이니지 시장은 정방형 디스플레이로 콘텐츠를 표출하던 초기와 달리 다양한 형태와 크기를 가진 비정형 사이니지를 배치하여 표출하는 기술에 관심이 높아지고 있다. 본 논문에서는 디스플레이의 회전에 따라 변하는 비정형 사이니지 시스템의 구조를 제시한다. 자이로 센서의 출력 값을 입력으로 받아 기울어진 각도를 계산하고, 극좌표계의 특성을 이용하여 회전 각도에 따라 네 꼭짓점의 위치가 가변되는 영상을 영상좌표계로 변환하여 회전형 디스플레이 사이니지로 표출할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.927-930
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• 1992

VSS identification approach is based on following concept, i.e. while in sliding motion, the switching of control inputs refects system uncertainites. Therefore, if there exist some operations that make the information form the switiching control inputs be achievable, then the unknown parameters can be actually identification mechanisms which can fully make use of the available information. Two different types of VSS identifiers are taken into consideration. The first type uses adjustable model whose structure is similar to that of identified systems. From the viewpoint of contro, this type of VSS identifiers may be regraded as direct identifier vecause the identified system is handled as an open loop. On the other hand, if the identified system is controlable in the sense of VSS(sliding mode can be generated through chosing control inputs), the second type of VSS identifier, the indirect VSS identifier, can be constructed according to the linerized system strucutre while staying in sliding mode. Therefroe it can be applied to some nonlinear systems which are not linear in parametric space by general identification algorithms, whereas linear in parametric space when sliding mode is existed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.382-386
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• 1992

In this paper, the author proposed FLVSC(Fuzzy Logic Variable Structure Controller), of which control rules are extracted from the concepts of VSC(Variable Structure Control). FLC(Fuzzy Logic Controller) based on linguistic rules has the advantages of not needing of some exact mathematical model for plant to be controlled. The proposed method has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbances, parameter variations and uncertainties in sliding mode. In addition, the method has the properties of FLC - noise rejection capability etc. The computer simulations have been carried out for a DC servo motor to show the usefulness of the proposed method and the effects of disturbances and parameter variations are considered.