• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1025-1028
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• 1993

In this paper, an intelligent control scheme with multi-stage fuzzy inference is developed for a myoelectric prosthesis to achieve natural control with tactile feedback based on fuzzy control strategies. Strain gauges and a potentiometer are added to the prosthesis for tactile feedback with a PWM motor driver developed to save the battery power. According to the multi-stage fuzzy inference, the prosthesis can determine the stiffness of the object and hold an object without injuring it, meanwhile, the hysteresis phenomenon is an 80196KC single-chip microcontroller to replace the original controller.

• Journal of information and communication convergence engineering
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• 제3권1호
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• pp.56-61
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• 2005

In this paper, we present a video rate control scheme for storage and delivery in which the time-varying viewing interests are controlled by human gaze. To track the gaze, the pupil's movement is detected using the three-step process : detecting face region, eye region, and pupil point. To control bit rates, the quantization parameter (QP) is changed by considering the static parameters, the video object priority derived from the pupil tracking, the target PSNR, and the weighted distortion value of the coder. As results, we achieved human interfaced visual model and corresponding region-of-interest rate control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1754-1757
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• 2004

For the anti-sway control of traveling cranes, there are several solutions, i.e., by fuzzy control, by optimal control theory, etc. Each of them is reported to be effective. And, H infinity control and $H_2$ control can be also used. However, the full order observer which estimates all states in the controlled object is used in these methods. Therefore, the orders of these controllers are apt to be higher than that of the optimal controller, etc. Because the conventional H2 controller which minimizes $H_2$ norm consists of two parts, that is: feedback gains which make the controlled object stable and the full order observer which estimate those states. If the minimal order observer is used instead of the full order one, the order of the controller can be reduced. In this paper, we propose a new method based on the minimalization of $H_2$ norm using the minimal order observer. And, we confirm the effect of a new $H_2$ controller in the experiments of the anti-sway control of a traveling crane.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.472-475
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• 2008

Generally, a linear vibration theory regards a vibratory system as the superposition of many degrees of vibratory system. Modal analysis stems, in fact, considers the vibration system as what has input, output, and transfer function that relates the input and output. When we want to control, however, the vibratory system, we define, first, the object function that can be vibration energy of certain vibratory system. Then, we try to find the transfer function that can minimize the object function. We can readily extend this approach to control the distributed vibration system. For example, the vibrations of a vehicle, including ships and trains. In this case, we may want to minimize the vibration of the area we select. For example, minimize the vibration of the passengers' seat, but allowing the vibration of other area; for example engines and wheels. This paper introduces a general theory that can control the vibration of the selected area, which can be called as "regional control of vibration." In fact, this is the extended theory of well known sound control of "bright zone"(Choi and Kim, 2002).]. Several illustrative examples demonstrate the applicability and properties that are not available if we use modal analysis method.

• 한국지리정보학회지
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• 제6권2호
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• pp.33-45
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• 2003

이 연구는 객체지향 지리정보시스템을 이용하여 지리-객체와 지리-필드를 연결하는 지리-객체필드 방법을 규정하고, 수계-객체필드를 이용하여 새만금호 수량과 배수갑문수위를 조작하는 새만금수자원관리시스템의 홍수 시뮬레이션을 구현하고자 한다. 그리고 새만금 수계 수자원에 발생하는 자연현상과 인공현상을 조합하여 하나의 전체 수계-객체필드로 구성되는 객체지향 클래스 계층구조를 설계함으로써 홍수통제 알고리즘 기법을 제안하고자 한다. 동시에 UML을 이용하여 전체적인 지리-객체필드와 단계적인 부분 지리-객체필드의 클래스계층구조를 가시화하고자 하며, 각 클래스의 속성과 메소드는 ZEUS/COM과 Win32 API을 이용한 Visual Basic 6.0을 사용함으로써 각각 호환성과 재사용성 기능을 확보하고자 한다. 이 논문은 새만금수자원관리시스템을 구현함으로써 효율적인 물관리를 하는데 기여할 수 있을 것이다.

• 대한기계학회논문집A
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• 제25권5호
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• pp.891-898
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• 2001

This paper develops a master manipulator which can reflect a force from a slave manipulator effectively. It many have a big workspace, can represent a human operators manipulation perfectly, and is composed of a position control part, an orientation control part and an end effector control part. This paper also develops a graphic simulator using the Visual C++ and OpenGL in the Window operating system. It can be used to make a virtual slave manipulator and set a virtual working environment, and provide a visual information from a desired view point. A virtual teleoperation system is developed by connecting the developed master manipulator to the graphic simulator using an interfacing hardware bilaterally. It is used for performing a virtual object exploration experiment. In the experiment, two virtual objects are used. They are virtual wall and virtual hexahedron which have 0.7N/mm and 2.2 N/mm stiffness respectively. The experiments are performed under six different working conditions. The experiment results will show the effectiveness of the reflected force from the slave manipulator for improving the efficiency and stability of the teleoperation task.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.171-176
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• 2001

This paper describes the methodology of an IEC 1131-3-based control logic generator for the control system design and converting algorithm between programmable languages. The proposed control logic generator is generated based on the software model and common element with data type, variables, POUs(program organization unit) and execution control unit commonly used within programmable languages of IEC 1131-3 Standard. The generation method of object file was proposed on five programmable language based on IECI 131-3. The generation method of object file is represented as following; 1) the generation method using conversion algorithm from LD to IL with FBD(function block diagram), 2) the generation method using C code generation algorithm from SFC using the SFC execution sequence with FBD and ST(structured text). The proposed control logic generator was implemented by Visual C++ and MFC on MS-windows NT 4.0

• 정보보호학회논문지
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• 제15권6호
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• pp.93-103
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• 2005

XML에 대한 사용의 증가와 함께, XML. 객체에 대한 보안의 필요성이 계속해서 증가하고 있다. 특히, 다양한 사용자가 서로 결합되어 있는 환경에서 공유되는 XML. 객체에 대한 접근제어 문제의 해결은 매우 중요하다. 본 논문에서는 XML 객체에 대한 접근제어를 위하여 RBAC의 역할 계층과 계층적 키 유도/할당 기법을 결합한 접근제어 모델을 제안한다. RBAC는 자체적으로 주체에 대한 키 할당 기법은 지원하지 않으므로 계층적 키 분배 기법을 도입하여 접근제어 메커니즘이 실현되도록 하였다. 본 논문에서 제안된 방식은 XML. 객체를 위한 접근제어에서 RBAC이 제공하는 관리상의 이점뿐만 아니라, 상위 계층의 사용자가 하위 계층의 키를 유도하여 사용할 수 있게 지원하므로 각 역할계층에서 관리하는 키의 수가 기존 방식에 비하여 줄어드는 특징을 제공한다.