• The Transactions of the Korea Information Processing Society
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• v.7 no.11S
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• pp.3651-3667
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• 2000

Recently, in the distributed multimedia environments based on internet, as radical growing technologies, the most of researchers focus on both streaming technology and distributed object thchnology, Specially, the studies which are tried to integrate the streaming services on the distributed object technology have been progressing. These technologies are applied to various stream service mamgements and protocols. However, the stream service management mexlels which are being proposed by the existing researches are insufficient for suporting the QoS of stream services. Besides, the existing models have the problems that cannot support the extensibility and the reusability, when the QoS-reiatedfunctions are being developed as a sub-module which is suited on the specific-purpose application services. For solving these problems, in this paper. we suggested a QoS Integrated platform which can extend and reuse using the distributed object technologies, and guarantee the QoS of the stream services. A structure of platform we suggested consists of three components such as User Control Module(UCM), QoS Management Module(QoSM) and Stream Object. Stream Object has Send/Receive operations for transmitting the RTP packets over TCP/IP. User Control ModuleI(UCM) controls Stream Objects via the COREA service objects. QoS Management Modulel(QoSM) has the functions which maintain the QoS of stream service between the UCMs in client and server. As QoS control methexlologies, procedures of resource monitoring, negotiation, and resource adaptation are executed via the interactions among these comiXments mentioned above. For constmcting this QoS integrated platform, we first implemented the modules mentioned above independently, and then, used IDL for defining interfaces among these mexlules so that can support platform independence, interoperability and portability base on COREA. This platform is constructed using OrbixWeb 3.1c following CORBA specification on Solaris 2.5/2.7, Java language, Java, Java Media Framework API 2.0, Mini-SQL1.0.16 and multimedia equipments. As results for verifying this platform functionally, we showed executing results of each module we mentioned above, and a numerical data obtained from QoS control procedures on client and server's GUI, while stream service is executing on our platform.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.135-140
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• 2009

In this paper, a robot control system with stereoscopic Image was presented. The robot control system has an auto-focusing functionality which measures the distance between robot and object using an infrared sensor. By providing depth and information based on the stereoscopic image, it allows user to have presence and immersion as if he(she) be there. the proposed robot control system's propriety was examined through the comparison experiment with the mono-scopic image.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.421-424
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• 2008

The real time modeling of dynamic system on adaptive control system is very important for flying control system(FCS). Using traditional method, it is required much calculation load for integral/differential at control system. Therefore, It is very important theme of study in these days to find algorithms for integration/differential at FCS. These algorithms for integral/differential influence strongly stability/reliability to control flying object. In this paper, we present optimal predictive sampling time for reduce calculation load at FCS and optimal predictive time on general cost function by applying adaptive control method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1227-1234
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• 2001

A multi d.o.f robotic manipulator is considered for multi-axis vibration control of a slender structure, using the concept of the flow source based vibration control. In order not to cause the motion saturation of the manipulator system, a hybrid dynamics associated with the flexible and desired manipulator error dynamics is also modeled as the control object. It is numerically shown that the flexible vibrations and the base motions of a test structure can be effectively controlled with the proposed hybrid dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.369-375
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• 2008

The kinematics and control problem of a visual alignment system is investigated, which plays a crucial role in the fabrication process of flat panel displays. The first solution is the inverse kinematics of a 4PPR parallel alignment mechanism. It determines the driving distance of each joint to compensate the misalignment between mask and panel. Second, an efficient vision algorithm for fast alignment mark recognition is suggested, where by extracting essential feature points to represent the geometry of a mark, the geometric template matching enables much faster object recognition comparing with the general template matching. Finally, the overall visual alignment process including the kinematic solution, vision algorithm, and joint control is implemented and experimental results are given.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.969-974
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• 2003

A simple and cost-effective method for the electrostatic suspension of thin plates like silicon wafers is proposed which is based on a switched voltage control scheme. It operates according to a relay feedback control and deploys only a single high-voltage power supply that can deliver a dc voltage of positive and/or negative polarity. This method possesses the unique feature that no high-voltage amplifiers are needed which leads to a remarkable system simplification relative to conventional methods. It is shown that despite the inherent limit cycle property of the relay feedback based control, an excellent performance in vibration suppression is attained due to the presence of a relatively large squeeze film damping origination from the air between the electrodes and levitated object. Using this scheme, a 4-inch silicon wafer was levitated stably with airgap variation decreasing down to 1 $\mu\textrm{m}$ at an airgap of 100 $\mu\textrm{m}$

• Korean Journal of Computational Design and Engineering
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• v.5 no.1
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• pp.33-41
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• 2000

A monitoring and control system, as a broker to connect work-fields with higher departs, gives a great effect on capacity and reliability of a manufacturing system. However, it is very difficult to construct an integrated monitoring control system in a shop with diverse equipment. This paper proposes a CORBA based scheme to construct an integrated system for monitoring and control of equipment in a machining shop. The system is developed by applying the object oriented technology. Thus, its design and maintenance are not only early but it can cope with variation of production situation flexibly. Finally, we introduce a prototype using a milling machine, a robot, PLC's, etc.

• International Journal of Internet, Broadcasting and Communication
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• v.9 no.1
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• pp.1-8
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• 2017

Nowadays many articles describe the controlling models for four rotor flying vehicle. Basic approaches to the problem of these articles are mathematical expressions describing dynamics of the models of the vehicle and PID control for manipulating the object in 3 dimensional space. Design of control systems is usually started by careful consideration of its mathematical model description. We present a detailed mathematical model for a quad rotor. This paper first considers simulation of quadcopter control based on full state feedback technique with linearization in MATLAB environment and shows the results of the simulations. Finally will be shown experimental results of the state feedback control implemented in real model.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.337-342
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• 1992

The load distribution problem of two cooperating robots grasping one object is studied. The optimal joint torque needed for the desired motion is obtained by using a new objective function. A new objective function is defined for the minimization of joint torque effort and internal force. The optimal solution can be found by geometrical approach and analysis using the concept of force ellipsoid. Simulation results are presented with 6DOF PUMA robots.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.8 no.1
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• pp.11-30
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• 2004

Access Control is one of essential branches to provide system's security. Depending on what standards we apply, in general, there are Role-based access control, History-based access control. The first is based on subject's role, The later is based on subject's history. In fact, RBAC has been implemented, we are using it by purchasing some orders through the internet. But, HBAC is so complex that there will occur some errors on the system. This is more and more when HBAC is used with other access controls. So HBAC's formalization and model which are general enough to encompass a range of policies in using more than one access control model within a given system are important. To simplify these, we design the mathematical model called non-access structure. This Non-access structure contains to historical access list. If it is given subjects and objects, we look into subject grouping and object relation, and then we design Non-access structure. Then we can determine the permission based on history without conflict.