• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.799-802
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• 1997

This paper deals with a new method to derive the Generalized Jacobian Matrix of a space robot. In a conventional method to derive the Generalized Jacobian Matrix, generalized coordinates select Joint angles and a space robot body's position and attitude angle. But, in this paper, we select position and attitude angle of the end-effector or the handled floating object as generalized coordinates. Then, we can derive the Generalized Jacobian Matrix of the system which consists of several space robots and a handled floating object. Moreover control methods operated by only one space robot can be easily extended to the cases of cooperation task by several space robots. Computer simulations show that the Generalized Jacobian Matrix derived here is effective.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.1
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• pp.31-36
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• 2015

In this paper, an LED lighting system that is capable of automatic or maunal dimming control using a ultrasonic sensor and Bluetooth wireless communication technology is presented. The LED lighting system consists of a ultrasonic sensor, microcontroller unit, Bluetooth wireless communication, LED driver, and LED light source. By using the implemented LED lighting system sample, it is shown that the automatic and manual dimming control is realized. By using the ultrasonic sensor, the LED lighting is automatically brighter or dimmer depending on the distance between the sensor and an object. When using a smartphone that includes Bluetooth wireless communication function, one can not only manually control the brightness of the LED lighting from level 1 to 10, but also monitor the distance between the sensor and object on the smartphone.

• Journal of the Korea Computer Industry Society
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• v.3 no.9
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• pp.1245-1250
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• 2002

This paper is an intelligence type of remote medical examination system for both on-line and off-line mode to transcend time and space on web where anyone can participate ;on-line consultation among patient, doctor, Korean medical doctor, medical examination in off-line mode, transmission of prescription to the pharmacist designated by patient and preparation of medicine, and semi-eternal storage of medical examination data by storage and check of medical examination data ; and database is composed by using intelligence type of object control which enables effect of treatment for heredity including check and mutual holding of medical examination data among family, fast treatment effect pursuant to situation of past medical examination through control of private disease history, cooperated medical examination among doctors, and so on.

• Journal of the Korea Society of Computer and Information
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• v.4 no.2
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• pp.46-60
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• 1999

Recently, CTI (Computer Telephony Integration) technology has been widely applied to various area such as video conference, file transfer, voice mail, automatic message transfer and automatic redial, integrated messaging and network fax. In this paper, an administrative affairs supporting system using call control mode of CTI is designed. To improve inefficient processing of job due to heavy calling from entrance candidates during entrance examination of a college, the system is developed. The database of the system is desigend using object modeling technique. Also, the automatic calling and response system using CTI call control mode is implemented. Especially, to interface with voice of candidates who ask whether they pass or fail the entrance examination of the college, TTS(Text To Speech) module is developed.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.5
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• pp.287-291
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• 2010

In this paper, we designed and implemented mobile object automatic system based on senor networks for telematics. For developing this system, we gather the various sensing data through wireless communication method using zigbee sensor networks and analyze them in monitoring equipment. And we enable the driver to recognize the car state information on the whole by interfacing analyzed data to telematics unit. And, we implemented automatic controller that can control temperature and humidity in car automatically by actuating air conditioner based on the data that was monitored throughout temperature sensor, humidity sensor and brightness sensor based on sensor networks.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.68.4-69
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• 2018

GMACS is one of the instruments for the Giant Magellan Telescope (GMT) which will provide wide field, multi-object, moderate resolution spectroscopy of faint targets. KHU (Kyung Hee University) is in charge of control software of GMACS. As a first step, the Slit Mask Exchange Mechanism Prototype (SMEM-P) will be used as a preliminary example to make development process between electronics and high level software. Recently, we have developed a sample program to communicate with low level devices via EtherCAT. It is expected to be a mockup design for software and control system of GMACS. In this poster, we show the development process and test operation results of control software for SMEM-P.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.321-327
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• 2011

This paper proposes an equipment and an algorithm for modeling the magnetic force of electromagnets in magnetic levitation systems. We assume that the magnetic force model is represented in terms of a 2D lookup table. The 2D lookup table is constructed by applying noncausal filtering and interpolation to data measured by the proposed modeling equipment. The proposed modeling equipment is designed such that it can measure the magnetic force exerted on the levitation object while it changes the voltage applied to the electromagnet and position of the levitation object. The algorithm of making a 2D lookup table has two stages. The data measured by the proposed modeling equipment is smoothed by a noncausal filter and then the 2D lookup table is obtained by interpolating filtered data. The proposed modeling method has advantages of time-saving, model consistency, and chance of automation for mass production. We show the validity of proposed method through control experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.631-637
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• 2010

In this paper, We propose a method of motion interpretation of pedestrian for active traffic signal control. We detect pedestrian object in a movie of crosswalk area by using the code book method and acquire contour information. To do this stage fast, we use parallel processing based on CUDA (Compute Unified Device Architecture). And we remove shadow which causes shape distortion of objects. Shadow removed object is judged by using the hilbert scan distance whether to human or noise. If the objects are judged as a human, we analyze pedestrian objects' motion, face area feature, waiting time to decide that they have intetion to across a crosswalk for pdestrians. Traffic signal can be controlled after judgement.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.373-376
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• 2007

The construction industry is an inevitable part of modem development. Now-a-days, the construction industry experiencing several issues related with the maintenance of productivity, quality and labor. Hence there is an immediate requirement for the development of technologies enabling the automated construction equipment. The new technologies should also assure the sufficient safety and efficiency. In the present investigation, an attempts have been made for the development of object sensing algorithm and safety control system for intelligent excavating system. we have analyzed some elemental technologies for sensing objects and also proposed a technology for safety control system as well. The proposed technology will highly influence the safe working performance of construction industry in the positive sense.