• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.238-243
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• 1998

This paper presents a new approach to visual servoing with the stereo vision. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method fur a SCARA robot.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.668-678
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• 1996

A control system using fuzzy logic for a large capacity continuous dryer has been developed in order to minimize the damage of rice quality. The system has been verified in the case of 17% of object moisture content. With the initial input moisture contents of 20.46%(wb), 20.96%(wb) and 18.98%(wb), the final moisture contents of 17.99%(wb), 17.6%(wb) and 17.23%(wb) are obtained, respectively. The results show that the system controls the moisture content with the maximum error of 0.99% of the object moisture content.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.190-196
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• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• 대한산업공학회지
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• 제25권1호
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• pp.87-99
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• 1999

A shop floor control system(SFCS) performs the production activities required to fill orders. In order to effectively control these activities, the autonomous agent-based heterarchical shop floor control architecture is adopted where a supervisor does not exist. In this paper, we define functional perspective of the heterarchical shop floor control using planning, scheduling, and execution modules. In particular, we focus on an execution module that can coordinate the planning and scheduling modules and a general execution module that easily can be modified to execute the other equipment. The execution module can be defined informally as a module that downloads and performs a set of scheduled tasks. The execution module is also responsible for identifying and resolving various errors whether they come from hardware or software. The purpose of this research is to identify all the execution activities and solving techniques under the assumptions of the heterarchical control architecture. And we model the execution module in object-oriented modelling technique for generalization. The execution module modeled in object-oriented concept can be adopted to the other execution module easily. This paper also proposes a classification scheme for execution activities of the heterarchical control architecture. Petri-nets are used as a unified framework for modeling and controlling execution activities. For solving the nonexistence of a supervisor, a negotiation-based solution technique is utilized.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1868-1870
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• 2006

Neural network is used in many fields of control systems, but input-output patterns of a control system are not easy to be obtained and by using as single feedback neural network controller. And also it is difficult to get a satisfied performance when the changes of rapid load and disturbance are applied. To resolve those problems, this paper proposes a new algorithm which is the neural network controller. The new algorithm uses the neural network instead of activation function to control object at the output node. Therefore, control object is composed of neural network controller unifying activation function, and it supplies the error back propagation path to calculate the error at the output node. As a result, the input-output pattern problem of the controller which is resigned by the simple structure of neural network is solved, and real-time learning can be possible in general back propagation algorithm. Application of the new algorithm of neural network controller gives excellent performance for initial and tracking response and it shows the robust performance for rapid load change and disturbance. The proposed control algorithm is implemented on a high speed DSP, TMS320C32, for the speed of 3-phase induction motor. Enhanced performance is shown in the test of the speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.252-252
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• 2000

The Resistance Spot Welding (RSW) has been considered as an inherently safe and reliable method far joining metals, and has been widely employed, especially in automobile body assembly shops, as a manufacturing process. In recent years, the requirement for more sophisticated quality control procedures has considerably grown in the mass production industries. The object of the application of servo control to spot welding gun is the improvement of quality control in the spot welding, one of conventional industrial areas. The important factors affecting welding qualities (shear strength, nuggest size, indentation depth) are welding current, welding time, and gun press force. Welding current and welding time are controlled by welding timer. But, the conventional welding guns using compressed air are out of control in changing gun press forces in welding process. In this paper, a servo gun welding system having a AC servo motor and a PC control system is presented. The main object of this paper is to estimate the influence of gun press force changes in the welding process (press time -> welding time -> hold time) to welding qualities, and to evaluate welding qualities in real time, by recognizing the patterns of gun press forces changed in the welding process and comparing with the standard patterns.

• 한국위성정보통신학회논문지
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• 제8권2호
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• pp.17-21
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• 2013

빌딩 등 건물에너지 절약에 대한 관심이 전 세게적으로 날로 증가하고 있으며, BEMS(Building Energy Management System)을 효율적으로 운용하기 위한 IT 기술에 대한 연구를 지속적으로 진행하고 있다. 최근 LED 조명기술의 발전으로 LED를 제어하여 에너지 절감효과를 극대화 할 수 있으며 BEMS에 이러한 LED 조명 제어기술들이 개발되고 있다. 본 논문에서는 건물에 설치되어 있는 LED조명과 연동되어 있는 객체감지 센서를 ZigBee 통신을 활용하여 서버와 연결이 되며, 사용자가 서버와 연결된 PC를 통해 모니터링 및 제어가 가능한 시스템을 제안하였다. 설계한 구조를 기반으로 빌딩에서 객체를 감지하여 LED 조명을 실시간으로 모니터링 및 제어 가능한 기능을 제안하고, 관련 Software 개발을 통해 구현가능성을 입증하였다.

• 한국산업정보학회논문지
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• 제17권4호
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• pp.51-59
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• 2012

최근 보안 감시 분야에서 영상처리를 이용한 객체 추적에 관한 연구가 활발히 이루어지고 있다. 기존 여러 대의 카메라를 이용한 보안 감시 시스템은 각각 독립적으로 운영되었다. 따라서 추적 객체가 다른 카메라의 감시영역으로 이동 시 계속해서 추적이 어려웠다. 이 문제를 해결하기 위해 본 논문은 다중 카메라에서 객체의 이동방향에 따라 자동으로 카메라의 제어권을 변경하는 방법을 제안한다. 제안방법은 객체를 검출하고 객체의 색상 정보와 방향 정보로 객체를 추적한다. 색상 정보는 hue를 이용하고 방향 정보는 광류를 이용하여 획득한다. 이때 광류는 전체 영상이 아닌 객체가 검출된 영역에만 적용하여 계산량을 줄여 실시간 추적이 가능하게 한다. 또한, 자동으로 객체를 추적함으로써 기존 카메라를 이용한 보안 감시 시스템의 불편함을 해결할 수 있다.