• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.59 no.2
• /
• pp.411-416
• /
• 2010

In this paper, an integral variable structure static output feedback controller with an integral-augmented sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty and matched input matrix uncertainty and disturbance satisfying some conditions. To effectively remove the reaching phase problems, an output dependent integral augmented sliding surface is proposed. Its equivalent control and ideal sliding mode dynamics are obtained. The previous some limitations is overcome in this systematic design. A stabilizing control with the closed loop exponential stability is designed for all unmatched system matrix uncertainties and proved together with the existence condition of the sliding mode on S=0. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• Electronics and Telecommunications Trends
• /
• v.36 no.4
• /
• pp.92-102
• /
• 2021

Outdoor sports activities have been restricted by serious air pollution, such as fine dust and yellow dust, and abnormal meteorological change, such as heatwave and heavy snow. These environmental problems have rapidly increased the demand for indoor sports activities. Virtual sports, such as virtual golf, virtual baseball, virtual soccer, etc., allow playing various sports games without going outdoors. Indoor sports industries and markets have seen rapid growth since the advent of virtual sports. Most virtual sports platforms use screen-based virtual reality techniques, which are why they are called screen sports. However, these platforms cannot support various sports games, especially virtual match games, such as squash, boxing, and so on, because existing screen-based virtual reality sports techniques use real balls and players. This article presents screen-based haptic-augmented reality technologies for a new virtual sports platform. The new platform does not use real balls and players to solve the limitations of previous platforms. Here, various technologies, including human motion tracking, human action recognition, haptic feedback, screen-based augmented-reality systems, and augmented-reality sports content, are unified for the new virtual sports platform. From these haptic-augmented reality technologies, the proposed platform supports sports games, including indoor virtual matches, that existing virtual sports platforms cannot support.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.60.1-60
• /
• 2002

. an output feedback stabilizing controller for non-minimum phase nonlinear systems . Assumption 1 : the Jacobi linearization of the given nonlinear linear system is controllable . Assumption 2: an appropriate transformation which transforms the zero dynamics into a special form . Assumption 3: the system satisfies the observability rank condition . Augmentation of systems by augmented by a chain of integrators

• The Journal of Korea Robotics Society
• /
• v.3 no.1
• /
• pp.58-67
• /
• 2008

This study developed a novel augmented reality interface for minimally invasive surgery. The augmented reality technique can alleviate the sensory feedback problem inherent to laparoscopic surgery. An augmented reality system merges real laparoscope image and reconstructed 3D patient model based on diagnostic medical image such as CT, MRI data. By using reconstructed 3D patient model, AR interface could express structure of patient body that is invisible outside visual field of laparoscope. Therefore, an augmented reality system improved sight information of limited laparoscope. In our augmented reality system, the laparoscopic view is located at the center of a wide-angle concave screen and reconstructed 3D patient model is displayed outside the laparoscope. By using a joystick, the laparoscopic view and the reconstructed 3D patient model view are changed concurrently. With our augmented reality system, the surgeon can see the peritoneal cavity from a wide angle of view, without having to move the laparoscope. Since the concave screen serves immersive environments, the surgeon can feel as if she is in the patient body. For these reasons, a surgeon can recognize easily depth information about inner parts of patient and position information of surgical instruments without laparoscope motion. It is possible for surgeon to manipulate surgical instruments more exact and fast. Therefore immersive augmented reality interface for minimally invasive surgery will reduce bodily, environmental load of a surgeon and increase efficiency of MIS.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.216-220
• /
• 1999

In this paper, the feedback linearization technique is used with the sliding mode control for nonlinear system. The combination of these two control techniques can be achieved by proposing a novel sliding surface which has the nonminal dynamics of the original system controlled by feedback linearization technique. The noble design of the sliding surface is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state which makes the initial sliding function equal to zero

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.2
• /
• pp.124-131
• /
• 1997

This paper presents a modified adaptive control scheme that improves the transient performance of the overall system while maintaining the asymptotic convergence of the output error. The proposed control scheme is characterized as the added outer dynamic feedback loop on the conventional adaptive control scheme. This control scheme enables various robust control methods that were developed for standard model reference adaptive controllers to be applied to the proposed controller. In contrast with the modified adaptive controllers that use augmented errors to provide additional dynamic feedback, the proposed controller uses tracking error directly, thereby reducing the tracking error significantly in the transient state and making the error insensitive to noise.

• 한국HCI학회:학술대회논문집
• /
• 2007.02b
• /
• pp.118-123
• /
• 2007

본 논문에서는 증강현실 기반 제품 디자인 시, 논문 [1]에서 제안된 몰입감 향상 기법들에 대한 사용성 평가를 통해, 사용자에게 다차원 피드백(multimodal feedback)을 제공하는 것이 몰입감 향상에 어떠한 영향을 미치는가에 대해 알아본다. 우선 기존의 데스크톱 기반의 디자인 환경과 다차원 피드백을 가능하게 하는 증강현실 기반 디자인 환경과의 비교 후, 시각 피드백에 대한 사용성 평가로써 증강된 가상객체에 의해 가려진 손을 다시 보이게 함으로 얻게 되는 실재감 향상 정도와 사용자의 입력에 따른 컨텐츠의 시각적 맵핑의 적절성을 평가한다. 또한 청각 피드백에 대한 평가 기준으로써 시나리오 상의 상황에 따른 배경음/효과음 맵핑의 몰입감과 적절성을 평가한다. 마지막으로 촉각 피드백에 대한 평가로써, 물리적인 감각형 객체에 가상객체를 정합함으로써 얻게 되는 촉감과 시나리오 상의 이벤트에 따라 제시되는 진동-촉각 피드백에 의한 몰입감 향상 정도를 평가한다. 제시된 사용성 평가의 결과는 기존의 증강현실 기반 디자인 시스템의 몰입감을 향상 시키기 위한 구현에 있어, 고려될 수 있는 사항으로써 의미가 있다.

• International Journal of Internet, Broadcasting and Communication
• /
• v.6 no.1
• /
• pp.1-4
• /
• 2014

In this paper, an augmented refrigerator is proposed that presents information to increase the awareness of electric power consumption of a household fridge. The key idea is to reflect wasteful behavior on the feedback to a user, rather than mere amount of consumption or duration of opening a door of a fridge.

• Proceedings of the KIPE Conference
• /
• 2017.07a
• /
• pp.266-267
• /
• 2017

To synchronize the distributed generation (DG) unit with the grid, the voltage sensors are generally employed to obtain the grid phase angle. This paper presents an observer-based voltage sensorless control scheme for a three-phase inverter connected to the grid through an LCL filter. The proposed control scheme consists of an augmented state observer and a feedback controller. The augmented state observer is used to estimate the grid voltages and states of the inverter system, which are then employed to determine the grid voltage angle and to construct the feedback controller. As a result of using the observer, only the grid current sensors are required to accomplish the control scheme. The simulation results are given to prove the validity of the proposed control scheme.

• The Journal of Korea Robotics Society
• /
• v.14 no.2
• /
• pp.150-156
• /
• 2019

Haptic systems have been widely used for both virtual reality and augmented reality application including game, entertainment, education and medical sectors. Clothing designers and retailers initiated using AR and VR technologies to help the consumers find style with the perfect fit. Most of the developed augmented reality shopping is implemented by overlapping the image of the clothes on the customer so that he/she can find the fit. However, those are only visual information and the customer cannot experience the real size and the stiffness of the clothes. In this paper, we present the haptic upper garment which provides the haptic feedback to the user using cables. By controlling the length of the cable, the size of the clothes is set and by stiffness control, the compliance of the fabric is implemented. The haptic garment is modeled for precise control and the distributed controller architecture is described. With the haptic upper garment, the user's experience of the virtual clothes is greatly enhanced.