• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.1047-1050
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• 2008

다양한 이기종 로봇 클라이언트가 등장하면서 각 URC 서버의 로봇 클라이언트 관리 및 프로파일링 방법 등은 생산 업체에 의존적이다. 이러한 URC 서버와 로봇 클라이언트간의 표준화된 통신 프로토콜만으로는 URC 서버들간의 호환성을 보장해줄 수 없다. 본 논문에서는, SyncML DM 기술을 사용하여 RUPI 참조 구현 모델인 URC 서버의 로봇 클라이언트 접속 및 프로파일링, 원격 진단 및 관리 모델을 제안한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.217-218
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.63-64
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• 2010

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.147-152
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• 2016

Shape Memory Alloys (SMAs) undergo changes in shape and hardness when heated or cooled, and do so with great force. Since wire-type SMAs contract in length when heated and pull with a surprisingly large force and move silently, they can be used as actuactors which replace motors. These SMA actuators can be heated directly with electricity and can be used to create a wide range of motions. This paper presents the mechanical design and control for a three fingered, six degree-of-freedom robotic hand actuated by SMA actuators. Each finger has two joints and each joint is actuated with two tendons in the antagonistic manner. In order to create the sufficient force to make the smooth motion, the tendon is composed of two SMA actuators in parallel. For controlling the current to heat the SMA actuators, PWM drivers are used. In experiments, the antagonistic interaction of fingers are evaluated.

• Journal of Platform Technology
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• v.11 no.1
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• pp.38-51
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• 2023

We propose an intelligent interface algorithm using hand gesture recognition information based on artificial intelligence. This method is functionally an interface that recognizes various motions quickly and intelligently by using MediaPipe and artificial intelligence techniques such as KNN, LSTM, and CNN to track and recognize user hand gestures. To evaluate the performance of the proposed algorithm, it is applied to a self-made 2D top-view racing game and robot control. As a result of applying the algorithm, it was possible to control various movements of the virtual object in the game in detail and robustly. And the result of applying the algorithm to the robot control in the real world, it was possible to control movement, stop, left turn, and right turn. In addition, by controlling the main character of the game and the robot in the real world at the same time, the optimized motion was implemented as an intelligent interface for controlling the coexistence space of virtual and real world. The proposed algorithm enables sophisticated control according to natural and intuitive characteristics using the body and fine movement recognition of fingers, and has the advantage of being skilled in a short period of time, so it can be used as basic data for developing intelligent user interfaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.221-222
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• 2007

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.329-332
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• 1997

This paper deals with the attitude control problem of nonlinear MIMO propeller setup. Multivariable GPC[Generalized Predictive Control] is adopted as the main controller, and it is implemented by TMS320C31 in the current paper. The main object of control is to move the propellers to wanted positions. System identification is performed to configure the system. Performance of the multivariable predictive controller implemented is shown via some experiments, which shows the controller meets the adequate control purpose.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.360-363
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• 1993

Fuzzy Logic Control immitating human decision making process is a novel control strategy based on expert's experience and knowledge and many process designers are developing its applications. But it is difficult to obtain a set of rules from human operator. And there is a limitation on adjusting to environmental changes. In this paper, we proposed adaptive fuzzy algorithm to overcome these difficulties using weights added to the rules. To verify the validity of this control strategy, we have implemented this algorithm for a DC servo motor with PD-type fuzzy controller.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.276-280
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• 1993

An articulated, multifinger mechanical hand can carry out grasping and manipulation operations on objects of different type and shape. In this paper the architecture of the mechanical hand is presented. Joints are driven by two antagonist tendons. Strain gauges are used to derive tendon tensions, and located in the palm of the hand. Angular defection of the joints is measured by Hall effect sensors attached to the joints. A multiprocessor-based architecture for controlling the hand is illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.160-163
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• 1996

This paper deals with MCMBPC(Multivariable Constrained Model Based Predictive Controller) for nonlinear boiler system with noise and disturbance. MCMBPC is designed by linear state space model obtained from some operating point of nonlinear boiler system and Kalman filter is used to estimate the state with noise and disturbance. The solution of optimization of the cost function constrained on input and/or output variables is achieved using quadratic programming, viz. singular value decomposition (SVD). The controller designed is shown to have excellent tracking performance via simulation applied to nonlinear dynamic drum boiler turbine model for 16OMW unit.