• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.95-98
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• 2001

A hierarchical structure for the cooperative control of multiple mobile robots using coordinates of objects obtained from vision system is proposed. The order-level perceives environments represented by workspace sets. The algorithm selects an object to be moved using an object discrimination part and determines the robot actions. The action-level generates a trajectory of each wheel velocity of robot. The simulation results show the effectiveness of the proposed algorithm.

• 대한전자공학회논문지
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• 제24권4호
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• pp.577-582
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• 1987

A co-operative position control is proposed for two robots manipulation with five degrees of freedom to transfer an object following a specified trajectory, where each manifulator is assumed to change the postrue of its end effector without releasing the object.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1489-1494
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• 2003

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

• 디지털융복합연구
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• 제13권6호
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• pp.247-256
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• 2015

본 연구는 키네틱 발광 오브젝트 제어 장치 및 이를 위한 방법에 관한 것으로 BMW Korea의 의뢰를 받아 제작하게 된 작품이다. 연구에서 설명하고 있는 작품은 BMW Korea 드라이빙센터의 설치를 목적으로 하고 있으며 현제 프로토타입 제작이 완료된 상태이다. 본 연구는 다수의 그룹으로 이루어진 다수의 오브젝트와, 그것을 이용하여 형상을 나타내기 위해 다수의 그룹 각각에 대응하는 메인 제어 신호를 전송하는 메인제어부와, 메인 제어신호에 따라 상기 다수의 그룹 중 대응하는 그룹의 오브젝트 각각에 대응하는 서브 제어 신호를 전송하는 다수의 서브제어부와, 서브 제어 신호에 따라 다수의 오브젝트 각각과 연결된 와이어의 길이를 조절하는 다수의 구동부를 포함하는 것을 특징으로 하는 키네틱 발광 오브젝트 제어 장치와 이에 따른 방법에 관한 연구이다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2010년도 하계학술대회
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• pp.42-45
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• 2010

This paper proposes an intelligent video surveillance system for human object tracking. The proposed system integrates the object extraction, human object recognition, face detection, and camera control. First, the object in the video signals is extracted using the background subtraction. Then, the object region is examined whether it is human or not. For this recognition, the region-based shape descriptor, angular radial transform (ART) in MPEG-7, is used to learn and train the shapes of human bodies. When it is decided that the object is human or something to be investigated, the face region is detected. Finally, the face or object region is tracked in the video, and the pan/tilt/zoom (PTZ) controllable camera tracks the moving object with the motion information of the object. This paper performs the simulation with the real CCTV cameras and their communication protocol. According to the experiments, the proposed system is able to track the moving object(human) automatically not only in the image domain but also in the real 3-D space. The proposed system reduces the human supervisors and improves the surveillance efficiency with the computer vision techniques.

• 산업경영시스템학회지
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• 제20권42호
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• pp.49-57
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• 1997

As a software development methodology, object-oriented paradigm that has execellent reusability, portability, and extensibility, is currently being used in many application fields. Especially, UML(Unified Modeling Language), which is recently released as a third generation methodology for the object-oriented system development, has many advantages such as generalization, certainty, visualization. For this reason, the usability of UML in manufacturing system control is expected to increase. In this paper, analysis and design of FMC control system are peformed by UML. Software objects to accommodate the dynamic environment of FMC operations are modeled by using the diagrams of UML. The objective of this paper is to suggest a generic framework to design FMC control software.

• 한국정밀공학회지
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• 제17권4호
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• pp.142-147
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• 2000

An overhead crane system which transports an object by girder motion, trolley motion, and hoist motion becomes a nonlinear system because the length of a rope changes. To develope the position control algorithm for the nonlinear crane systems, we apply a nonlinear optimal control method which uses forward and backward difference methods and obtain optimal inputs. This method is suitable for the overhead crane system which is characterized by the differential equation of higher degree and swing motion. From the results of computer simulation, it is founded that the position of the overhead crane system is controlled, and the swing of the object is suppressed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.395-398
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• 1996

In this study, when the nonlinear overhead crane which allows simultaneously travel and traverse motion moves a desired transport route, the object suspended the end of rope does undesirable swing motion. Nonlinear overhead crane pertubes in the vicinity of an operating point, therefore the nonlinear overhead crane is modified to linear overhead crane for the operating point. The linear overhead crane was controlled to swing angles of the object by the ratio of torque inputs to motors of the girder and the trolley. As a basis for the result of the linear overhead crane, the nonlinear overhead crane was controlled swing angles of the object and positions of the overhead crane without collision with environmental equipment by partial state feedback control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2780-2782
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• 2002

In this paper Valentine Braitenberg structure based sensory motor model for object tracking control system was proposed. Conventional model based control schemes are require highly non-linear mathematical models, which require long computational time to solve complex high order equations. Contrast to conventional models proposed system simply link signal data from camera directly to the inputs of neural network, and outputs of network are directly fed into input of motor driver of camera. With simple structure of sensory motor model, real time tracking control system for dynamic object was realized successfully, and the implementation of sensory motor model can overcome the limitation of model-based control schemes.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권1호
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• pp.38-44
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• 2003

In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.