• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.906-911
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• 1992

We deals with stationary layout control system of AGV. It is a intelligent contorl system to be wholly charged control PC a layout information and guided command and to be controlled a vehicle driving, steening, safety of natural functions of AGV. Fieldbus concentrator of stationary layout control system serves control command from control PC and status information of AGV. Telegram software monitors transmitted command and status information through IR (Infrared) modem. Epecially it is possible to easily network to use not an exclusive controller of AGV but

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권9호
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• pp.2419-2435
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• 2023

Command and control networks(C2N) exhibit evident multi-network interdependencies owing to their complex hierarchical associations, interleaved communication links, and dynamic network changes. However, the existing command and control networks do not consider the effects of dependent nodes on the load distribution. Thus, we proposed a command and control networks load allocation strategy based on interdependence strength. First, a new measure of interdependence strength was proposed based on the edge betweenness, which was followed by proposing the inter-layer load allocation strategy based on the interdependence strength. Eventually, the simulation experiments of the aforementioned strategy were designed to analyze the network invulnerability with different initial load capacity parameters, allocation model parameters, and allocation strategies. The simulation indicates that the strategy proposed in this study improved the node survival rate of the interdependent command and control networks model and successfully prevented cascade failures.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.564-572
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• 2008

The performance of the direct adaptive time-delay command shaping filter depends on the select time-delay. In the previously introduced direct adaptive command shaping filter, however, the time-delay value is fixed and only the magnitudes of the impulses are learned. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.

• 연구논문집
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• 통권22호
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• pp.27-38
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• 1992

We deals with stationary layout control system of AGV. It is a intelligent control system to he wholly charged control PC a layout information and guided command and to be controlled a vehicle driving, steering, safety of natural functions of AGV. Fieldbus concentrator of stationary layout control system serves control command from control PC and status information of AGV. Telegram software monitors transmitted command and status information through IR(JnfraRed) modem. Especially it is possible to easily network to use not an exclusive controller of AGV but personal computer(PC) when communicate and interface a different kind of controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.603-608
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• 2003

Recently, personal robots and home robots are developing by many companies and research groups. It is considered that a general effective interface for user of those robots is speech or voice. In this paper, Japanese speech based man-machine interface system is discussed for reflecting the fuzziness of natural language on robots, by using fuzzy reasoning. The present system consists of the derivation part of action command and the modification part of the derived command. In particular, a unique problem of Japanese is solved by applying the morphological analyzer ChaSen. The proposed system is applied for the motion control of a robot manipulator. It is proved from the experimental results that the proposed system can easily modify the same voice command to the actual different levels of the command, according to the current state of the robot.

• 한국항공운항학회지
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• 제23권2호
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• pp.63-68
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• 2015

This paper presents the algorithm for envelope protection of helicopters. The algorithm consists of two feedback control loops: inner loop and outer loop. As an inner loop control, model following control is designed to meet the ADS-33 handling qualities specification by minimizing the tracking errors between the responses of the actual model and those of the command filter. In order to implement envelope protection, saturation limiter is imposed to command channels in command filter, whose limits are computed corresponding to the envelope limit. Fast model predictive control is designed as an outer loop control to deal with saturation constraints generated by the inner loop envelope protection and also imposed by outer loop envelope protection variables. Simulation results show that the proposed algorithm yields good envelope protection performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1858-1862
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• 2005

Stepping motor normally operates without feedback and may loss the synchronization. This problem can be prevented by using positional feedback. This paper introduces one method for closed loop control of stepping motor and a method for combining full-step control and micro-step control. This combination controlling apparatus can perform position control with high accuracy in a high speed, so that it will not suffer from vibration (or hunting) problem when stopping motor. Controlling apparatus contains a position counter block for detecting rotor position of stepping motor, a driving block for supplying current to windings of stepping motor, a control block for comparing output signal of position counter block with command position (desired position) and outputting current command signal based on deviation between current position and command position of rotor. To output current command signal, the control block refers to a sine wave data table. This table contains value of duty cycle of Pulse Width Modulation signal. As the second object of this paper, the process of building this data table is also presented.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2015년도 전력전자학술대회 논문집
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• pp.361-362
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• 2015

This paper proposes a Direct Power Control (DPC) scheme of improved command tracking capability for Permanent Magnet Synchronous Generator (PMSG) Medium Voltage (MV) Wind Turbines. Benchmarking is performed based on a neutral point clamped three-level back-to-back type voltage source converter. It is introduced to design the DPC modeling and propose DPC scheme of a three-level NPC (3L-NPC) converter. During the fault condition in wind farms, the proposed control scheme directly controls the generated output power to the command value from the hierarchical wind farm controller. The proposed control scheme is compared with conventional control scheme as respect to loss and thermal analysis. The DPC scheme of improved command tracking capability is confirmed through PLECS simulations. Simulation result shows that proposed control scheme achieves a much shorter transient time in a step response of generated output power. The proposed control scheme makes it possible to provide a good dynamic performance for PMSG MV wind turbine to generate a high quality output power under grid fault condition.

• 한국생산제조학회지
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• 제20권2호
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• pp.207-213
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• 2011

In this paper, we present a study on the real-time implementation of mobile robot to which the interactive voice recognition technique is applied. The speech command utters the sentential connected word and asserted through the wireless remote control system. We implement an automatic distance speech command recognition system for voice-enabled services interactively. We construct a baseline automatic speech command recognition system, where acoustic models are trained from speech utterances spoken by a microphone. In order to improve the performance of the baseline automatic speech recognition system, the acoustic models are adapted to adjust the spectral characteristics of speech according to different microphones and the environmental mismatches between cross talking and distance speech. We illustrate the performance of the developed speech recognition system by experiments. As a result, it is illustrated that the average rates of proposed speech recognition system shows about 95% above.