• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.293-300
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• 2016

The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.

• Journal of Power Electronics
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• 제18권1호
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• pp.225-233
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• 2018

This paper proposes a universal system control strategy for voltage source converter (VSC) based high voltage direct current (HVDC) systems. The framework of the designed control strategy consists of five layer structures considering the topology and control characteristics of the VSC-HVDC system. The control commands sent from the topmost layer can be transmitted to the next layer based on the existing communication system. When the commands are sent to each substation, the following transmission of commands between the four lower layers are realized using the internal communication system while ignoring the communication delay. This hierarchical control strategy can be easily applied to any VSC-HVDC system with any topology. Furthermore, an integrated controller for each converter is designed and implemented considering all of the possible operating states. The modular-designed integrated controller makes it quite easy to extend its operating states if necessary, and it is available for any kind of VSC. A detailed model of a VSC-HVDC system containing a DC hub is built in the PSCAD/EMTDC environment. Simulation results based on three operating conditions (the start-up process, the voltage margin control method and the master-slave control method) demonstrate the flexibility and validity of the proposed control strategy.

• 대한조선학회논문집
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• 제60권3호
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• pp.165-174
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• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.715-720
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• 1989

The individual control of machines or processors is subordinate to the management of the entire manufacturing production function. This distinction is necessary in order to provide the appropriate separation of and detailed focus on process activities while still providing acceptable interfaces for the upload of data and the download of instructions, recipes, or commands.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.283-286
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• 1995

Due to finite bandwidth of missile dynamics, guidance commands in PN guidance tend to diverage as the missile approaches to the target. In this paper, a new method based on the short-time stability theorem is introduced to extend the stability region.

• 지구물리와물리탐사
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• 제11권4호
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• pp.373-378
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• 2008

현재 전세계적으로 지구과학 분야의 지도제작은 Generic Mapping Tools (GMT) 소프트웨어가 사용되고 있으나, 사용자가 그 내용을 이해하기 쉽지 않고, 마이크로소프트 (MS) 윈도우 PC에서의 구동이 잘 되지 않은 단점이 있다. R언어는 패키지 'GEOmap'을 사용하면 MS윈도우상에서 GMT와 같은 지도작업이 잘 될 뿐 아니라, GMT에 비해 명령어가 이해하기 쉬우며, 명령에 대한 Help 기능이 컴퓨터 상에서 대화형으로 잘 구비되어 있다. 여기서는 'GEOmap'을 이용한 지도제작의 대강을 설명하고, 본 연구팀이 최근 발표한 토모그라피 지도제작에대한 적용례를 소개하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1115-1120
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• 2003

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.

• IEIE Transactions on Smart Processing and Computing
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• 제5권3호
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• pp.222-229
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• 2016

Linked Data is a powerful technology for storing and publishing the structures of data. It is helpful for web applications because of its usefulness through semantic query data. However, using Linked Data is not easy for ordinary users who lack knowledge about the structure of data or the query syntax of Linked Data. For that problem, we propose a translator component that is used for translating RESTful/JSON request messages into SPARQL commands based on ontology - a metadata that describes the structure of data. Clients do not need to worry about the structure of stored data or SPARQL, a kind of query language used for querying linked data that not many people know, when they insert a new instance or query for all instances of any specific class with those complex structure data. In addition, the translator component has the search function that can find a set of data from multiple classes based on finding the shortest paths between the target classes - the original set that user provide, and target classes- the users want to get. This translator component will be applied for any dynamic ontological structure as well as automatically generate a SPARQL command based on users' request message.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 2000년도 추계학술대회 및 정기총회
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• pp.59-62
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• 2000

Many of the previous researchers have been studied for the performance estimation of an AS/RS with a static model or computer simulation. Especially, they assumes that the storage/retrieval (S/R) machine performs either only single command (SC) or dual command (DC) and their requests are known in advance. However, the S/R machine performs a SC or a DC. or both or becomes idle according to the operating policy and the status of system at an arbitrary point of time. In this paper, we propose a stochastic model for the performance estimation of a unit-load AS/RS by using a M/G/1 queueing model with a single-server and two queues. Expected numbers of waiting storage and retrieval commands, and the waiting time in queues for the storage and retrieval commands are found

• 제어로봇시스템학회논문지
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• 제8권7호
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• pp.599-606
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• 2002

A new method to govern the navigation of a mobile robot using hand gesture recognition is proposed based on the following two procedures. One is to achieve vision information by using a 2-DOF camera as a communicating medium between a man and a mobile robot and the other is to analyze and to control the mobile robot according to the recognized hand gesture commands. In the previous researches, mobile robots are passively to move through landmarks, beacons, etc. In this paper, to incorporate various changes of situation, a new control system that manages the dynamical navigation of mobile robot is proposed. Moreover, without any generally used expensive equipments or complex algorithms for hand gesture recognition, a reliable hand gesture recognition system is efficiently implemented to convey the human commands to the mobile robot with a few constraints.