• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.5
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• pp.1-7
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• 1997

In this paper, a neuro-contouring control scheme for the high precision machining of CNC machine tools is descrihed. The proposed control system consists of a conventional controller for each axis and an additional neuro-controller. For contouring control, the contour error must be computed during realtime motion, but generally the contour error for nonlinear contours is difficult to he directly computed. We, therefore, propose a new contour error model to approximate real error more exactly, and here we also introduce a cost function for better contouring performance and derive a learning law to adjust the weights of the neuro-controller. The derived learning law guarantees good contouring performance. Usefulness of the proposed control scheme is demonstrated hy computer simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.8
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• pp.1759-1766
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• 2010

The performance of noise attenuation of the adaptive active noise control algorithm is improved using the recurrent neural network. The FXLMS that has been frequently used in the active noise control is simple and has low computational load, but this method is weak to nonlinearity of the main or secondary path since it is based on the FIR linear filter method. In this paper, the recurrent neural network filter has been developed and applied to improvement of the active noise attenuation by simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.723-732
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• 2001

In this paper, the neurofuzzy controller of optically guided AGV is proposed to improve the path-tracking performance A differential steered AGV has front-side and rear-side optical sensors, which can identify the guiding path. Due to the discontinuity of measured data in optical sensors, optically guided AGVs break away easily from the guiding path and path-tracking performance is being degraded. Whenever the On/Off signals in the optical sensors are generated discontinuously, the motion errors can be measured and updated. After sensing, the variation of motion errors can be estimated continuously by the dead reckoning method according to left/right wheel angular velocity. We define the estimated contour error as the sum of the measured contour in the sensing error and the estimated variation of contour error after sensing. The neurofuzzy system consists of incorporating fuzzy controller and neural network. The center and width of fuzzy membership functions are adaptively adjusted by back-propagation learning to minimize th estimated contour error. The proposed control system can be compared with the traditional fuzzy control and decision system in their network structure and learning ability. The proposed control strategy is experience through simulated model to check the performance.

• ICROS
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• v.14 no.4
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• pp.42-50
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• 2008

• ICROS
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• v.14 no.4
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• pp.57-64
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• 2008

• Journal of the KSME
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• v.44 no.1
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• pp.79-85
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• 2004

이 글에서는 인간 자세 제어에 대해 설명을 하고 나이가 들면서 자세 제어 기능에 어떠한 변화가 오는가와 인간 자세 제어에 관한 모델에 대해 설명을 한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.139-142
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• 2005

유비쿼터스 센서네트워크는 저 전력 무선통신, 초소형 마이크로프로세서, Ad-Hoc네트워크, HEMS등 다양한 종류의 센서들과 임베디드 시스템의 기술 발전을 기반으로 모든 사물에 컴퓨팅 능력 및 무선통신 능력을 부여하여 언제, 어디서나, 어느 것과도 사물들끼리의 통신이 가능한 환경을 구현하는 것이다. 이러한 무선센서네트워크의 응용 분야는 산업 전반에서 일상생활에 이르기까지 수많은 분야에 응용되어지며, 군사용, 교통, 환경 감시, 의료분야, 홈 네트워크, 빌딩 제어 등 다양한 분야에 응용될 수 있다. 이에 본 논문에서는 무선 센서네트워크 노드인 MicaZ와 자기센서를 이용하여 자기장을 감지하고, 얻어진 데이터를 MS-SQL 데이터베이스에 저장하고 저장된 데이터를 이용하여 자성체의 이동경로 추적 및 위치제어에 관하여 연구하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.05b
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• pp.1393-1396
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• 2003

멀티캐스트 그룹의 멤버들만으로 트리를 구성하는 Overlay 멀티캐스트 프로토콜인 AMRoute은 이동이 빈번한 Ad hoc 네트워크 환경에서 중간 라우터의 이동에 대한 트리의 견고함으로 높은 데이터 전송을 제공하는 장점이 있으나, 네트워크의 변동으로 인하여 중복되는 전송 경로가 발생하여 대역폭이 낭비되는 효율성 문제를 가지고 있다. 본 논문에서는 기존의 AMRoute 제어 메시지에 각 멤버의 메쉬 링크 상태 정보가 추가된 제어 메시지를 통하여 멤버간에 장치 상태를 교환함으로써 AMRoute에서의 중복되는 전송 경로를 제거하여 대역폭의 낭비를 줄이는 방안을 제안한다. 본 논문에서 제안한 방안은 기존의 제어 메시지를 활용함으로써 적은 오버헤드로 새로운 메쉬 링크를 발견하여 기존의 AMRoute의 중복되는 전송 경로로 인한 대역폭의 낭비를 줄여 멀티캐스트의 성능을 향상시키는 효과를 기대할 수 있다.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.42 no.2
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• pp.15-22
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• 2005

This paper represents the sensor combination technique of mobile robot to reduce the ambiguity and uncertainty of environment that prevents the mobile robot from recognizing the path planning and navigation. The sensors such as optical encoder, ultra sonar sensor, and infra-red sensor gathered the dynamic information of mobile robot that are used to detect the obstacle. Therefore, the mobile robot controller with sensor combination is stably demonstrated by the experimental results.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.476-480
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• 2012

In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-objective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.