• 한국ITS학회:학술대회논문집
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• 2008.11a
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• pp.480-487
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.37.5-37
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• 2001

A robust control for robot manipulators actuated by induction motors using neural networks(NNs) is considered. The control is designed to compensate for nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems only with the measurements of link position, link velocity and stator winding currents. Two-layer NNs are used to approximate unknown functions occurring from parameter variation during backstepping design process. Specially, through the use of nonlinear observers for rotor flux, observed backstepping controller is designed to achieve uniform ultimately bounded link position tracking of the given reference signal ...

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.12 no.6
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• pp.127-136
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• 2013

In order to improve the safety and efficiency of traffic signal operation, several core projects of advanced transportation operating systems were implemented in Changwon City. This project included 10 units such as the expansion of roundabout, the permitted left-turn signal operation and the effectiveness of the projects was assessed using before and after studies. This paper presented the quantitative and qualitative evaluation results for three projects: roundabout, permitted left-turn signal operation, and left-turn actuated signal operation. From the analysis results, average travel speed was improved by 16.8% from the installation of roundabouts and average travel time and control delay were reduced by 12.4% and 41.6% respectively, from permitted left-turn operation. It was found that average control delay was reduced about 26.7% from left-turn actuated signal operation. In addition, more than 57.7% of the surveyed people was satisfied with the operational performance of the roundabout implemented. It is expected that the operational performance of traffic signal can be greatly improved by incorporating the proper projects of advanced transportation operating systems in other cities.

• Journal of Korean Society of Transportation
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• v.14 no.2
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• pp.89-118
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• 1996

The development and implementation of a real-time, traffic adaptive control scheme based on fuzzy logic through Video Image Detector systems (VIDs) is presented. Through VIDs based image processing, fuzzy logic can be used for a real-time traffic adaptive signal control scheme. Fuzzy control logic allows linguistic and inexact traffic data to be manipulated as a useful tool in designing signal timing plans. The fuzzy logic has the ability to comprehend linguistic instructions and to generate control strategy based on a priori verbal communication. The implementation of fuzzy logic controller for a traffic network is introduced. Comparisons are made between implementations of the fuzzy logic controller and the actuated controller in an isolated intersection. The results obtained from the application of the fuzzy logic controller are also compared with those corresponding to a pretimed controller for the coordinated intersections. Simulation results from the comparisons indicate the performance of the system is between under the fuzzy logic controller. Integration of the aforementioned schemes into and ATMS framework will lead to real-time adjustment of the traffic control signals, resulting in significant reduction in traffic congestion.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1248-1255
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• 2011

In daily life, another major role of human hand is a communicative function using hand gestures besides grasp function. Therefore, if amputees can express their intention by the prosthetic hand, they can much actively participate in social activities. Thus, this paper propose myoelectric multi-function prosthetic hand which can express 6 useful hand gestures such as Rock, Scissors, Paper, Indexing, Ok and Thumb-up. It was designed as under-actuated structure to minimize volume and weight of the prosthetic hand. Moreover, in order to effectively control various hand gestures by only two EMG sensors, we propose a control strategy that the signal type are expanded as "Strong" and "Light", and hand gestures are hierarchically classified for the intuitive control. Finally, we prove the validity of the developed prosthetic hand with the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.5-132
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• 2001

In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system is hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the ...

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.4
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• pp.54-62
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• 2018

As a part of realization of artificial intelligence signal(AI Signal), this study proposed an actuated signal algorithm based on vehicle queue length that estimates in real time by deep learning. In order to implement the algorithm, we built an API(COM Interface) to control the micro traffic simulator Vissim in the tensorflow that implements the deep learning model. In Vissim, when the link travel time and the traffic volume collected by signal cycle are transferred to the tensorflow, the vehicle queue length is estimated by the deep learning model. The signal time is calculated based on the vehicle queue length, and the simulation is performed by adjusting the signaling inside Vissim. The algorithm developed in this study is analyzed that the vehicle delay is reduced by about 5% compared to the current TOD mode. It is applied to only one intersection in the network and its effect is limited. Future study is proposed to expand the space such as corridor control or network control using this algorithm.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.1 no.1
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• pp.58-69
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• 2002

Most of the traffic accidents are a rear-end collision and a clash generated in the signalized intersection on the local roads. So, it is demanded that the high-quality of signal control and dilemma zone control. According to the cases generated by foreign countries, we established the strategies which are composed of Volume-Density Control, strategy of the dilemma zone control using R-detector (microwave detector) In Japan and EC-DC Control. MOEs(Measure of effectiveness) are car numbers in the dilemma zone , max-out probability in the safe side and the average stopping delay in the progress side. We choose a signalized intersection in rural highway to analyze the effect of the strategies and practiced an on-the-spot survey. The result of the survey is applied to the basic data in the simulator. Consequently, strategy of the dilemma zone control using R-detector(microwave detector) in Japan is the best effective in the safe side and EC-DC control is the best in the progress side. Based on the result, we developed the effective strategy of the signal control . This strategy is composed of the strategy of Japan and the detector on the stopping line used in the EC-DC control. On the result of the analysis, new strategy is the best effective in two sides.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.1
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• pp.42-58
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• 2008

Nowadays the installation of Real-time Traffic Signal Control system is gradually spread, in order to solve the traffic problem which become serious. The most important thing are reliability of data collection and functionality of system in Real-time Traffic Signal Control System. But, the evaluation for those introduction system are defective after system constructing. So, many systems are not working properly to those systems's primarily purpose. This study is executed expansion through field test and analysis which check performance and advise of system operation. It has purpose to establish of the maintenance system of Real-time Traffic Signal Control system. As the result of analysis, we could find the several problems in this study. So, we also could guess that the effective maintenance systems of the Real-time Traffic Signal Control system is necessary within few years.

• Journal of Industrial Technology
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• v.21 no.B
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• pp.117-123
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• 2001

In a modern control field, a control engineer who has theoretical backgrounds with some practical knowledge is demanded. That is to say, an engineer who can understand and operate the various parts such as modeling, simulation, system analysis, signal processing, statistics, and hardware is required. In order to prove the theoretical backgrounds and operate various hardwares, a lot of experimental devices for students are designed in universities. Since the conventional experimental devices are manufactured abroad and the prices of the devices are too high, it is difficult to have. If a low cost experimental device can be developed, it will be very useful for a control engineering education. In Ibis paper, an experimental rig which has two control inputs and three sensor outputs to control the end point of a flexible beam is designed and manufactured. This rig can be used for a control field education.