• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.712-715
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• 1997

In image jacobian based visual servoing, generally, inverse jacobian should be calculated by complicated coordinate transformations. These are required excessive computation and the singularity of the image jacobian should be considered. This paper presents a visual servoing to control the pose of the robotic manipulator for tracking and grasping 3-D moving object whose pose and motion parameters are unknown. Because the object is in motion tracking and grasping must be done on-line and the controller must have continuous learning ability. In order to estimate parameters of a moving object we use the kalman filter. And for tracking and grasping a moving object we use a fuzzy inference based reinforcement learning algorithm of dynamic recurrent neural networks. Computer simulation results are presented to demonstrate the performance of this visual servoing

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.694-699
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• 2009

This paper presents the implementation of the real-time object tracking control of the ROBOKER head. The visual servoing technique is used to track the moving object, but suffers from ill-estimated Jacobian of the virtual link design. To improve the tracking performance, the RBF(Radial Basis Function) network is used to compensate for uncertainties in the kinematics of the robot head in on-line fashion. The reference compensation technique is employed as a neural network control scheme. Performances of three schemes, the kinematic based scheme, the Jacobian based scheme, and the neural network compensation scheme are verified by experimental studies. The neural compensation scheme performs best.

• 전자공학회논문지S
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• 제34S권9호
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• pp.67-76
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• 1997

This ppaer describes the development of the stereo camera system(KASS-1) and the control of the vergence of the stereo camera to fix a gaze on a moving object in real-time using a stereo disparity. The motion energy and the stereo disparity of a moving object from the stereo image are used to control the vergence of stereo camera to keep stereo disparity constant. The disparity from the rotating stereo camera is introduced not only from the moving object but also from the background. In this paper, the background disparity error due to the vergence control of the stereo camera is eliminated by compensation algoithm, and the vergence of steereo camera system can be controlled continuously using the disparity of a moving object only.

• 로봇학회논문지
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• 제2권3호
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• pp.212-220
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• 2007

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.415-425
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• 2000

An open architecture manufacturing strategy intends to integrate manufacturing components on a single platform so that a particular component can be easily added and/or replaced. Therefore, the control scheme based upon the open architecture concept is hardware-independent. In this paper, a modular and object oriented approach for a PC-based open robot control system is investigated. A standard reference model for robot systems, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then, a PC-based Open Robot Controller(PC-ORC), which can reconfigure robot control systems in various production environments, is developed. The PC-ORC is built upon the object-oriented method, and allows an easy implementation and modification of various modules. The PC-ORC consists of basic softwares, application objects, and additional hardware device on the PC Platform. The application objects are: sequencer, computation unit, servo control, ancillary equipment, external sensor control, and so on. In order to demonstrate the applicability of the PC-ORC, the proposed PC-ORC configuration is applied to an industrial SCARA robot system.

• 한국정보과학회논문지:데이타베이스
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• 제32권1호
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• pp.100-110
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• 2005

지리정보시스템(Geographic Information System)에서 지도 갱신 작업은 대화식으로 이루어지는 긴 트랜잭션이다. 지도 갱신 작업의 동시성을 향상시키기 위하여 특정 공간객체가 트랜잭션의 작업 영역보다 큰 공간 속성을 가질 때 다수의 트랜잭션이 해당 객체를 동시에 변경할 필요가 있다. 그러나, 큰 객체에 대한 쓰기 잠금이 충돌하기 때문에 둘 이상의 트랜잭션이 동일한 큰 객체를 동시에 변경할 수 없다. 이 논문에서는 큰 객체의 동시 변경을 지원하기 위하여 트랜잭션이 큰 객체의 부분에 대하여 잠금을 설정하는 부분 잠금 기법을 제시한다. 부분 잠금은 특정 공간객체의 부분객체에 대하여 사용자에 의해 설정되는 배타적 잠금으로 부분객체의 공간 속성을 이용하여 잠금 간의 충돌을 검사한다. 제안한 기법은 큰 객체에 대한 동시성 제어 단위를 낮추기 때문에 공간 객체를 변경하는 긴 트랜잭션의 동시성을 향상키는 장점을 가진다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.720-723
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• 1997

This paper presents a cooperative control method for multiple robots. This method is based on local sensors. The proposed method integrates all information obtained by local perception through a set of sensors and generates commands without logical conflicts in designing control logic. To control multiple robots effectively, a global control strategy is proposed. These methods are constructed by using AND/OR logic and transition firing sequences in Petri nets. To evaluate these methods, the object-searching task is introduced. This task is to search an object like a box by two robots and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results for the object-searching task and the wall tracking task are presented to show the effectiveness of the method.

• International Journal of Contents
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• 제3권4호
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• pp.15-21
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• 2007

Image morphing deals with the metamorphosis of one image into another. The field morphing depends on the manual work for most of the process, where a user has to designate the control lines. It takes time and requires skills to have fine quality results. It is an object of this paper to propose a method capable of realizing the semi-automation of field morphing using adaptive vertex correspondence based on image segmentation. The adaptive vertex correspondence process efficiently generates a pair of control lines by adaptively selecting reference partial contours based on the number of vertices that are included in the partial contour of the source morphing object and in the partial contour of the destination morphing object, in the pair of the partial contour designated by external control points through user input. The proposed method generates visually fluid morphs and warps with an easy-to-use interface. According to the proposed method, a user can shorten the time to set control lines and even an unskilled user can obtain natural morphing results as he or she designates a small number of external control points.

• 정보보호학회논문지
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• 제7권3호
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• pp.79-94
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• 1997

분산 객체 시스템에서 보안 기술과 객체지향 기술의 통합은 중요한 요소이기 때문에 OMG(Object Management Group)에서는 객체 시스템에서 보안성을 다루기 위한 표준 보안 서비스 규격으로 CORBA(Common Object Request Broker Architecture) 보안 참조 모델(security reference model)을 제시하였다. CORBA 보안 참조 모델에서 접근 제어 기능은 특정 구현 메카니즘에 종속되지 않는 독립적인 개념으로 정의되고 있으며, 또한 보안 특성의 의미가 완전하게 기술되지 않는다. 이는 구현자와 사용자가 상호 일치되지 않은 개념을 갖을 가능성을 내포한다 따라서 본 논문에서는 CORBA 보안참조 모델에 기술된 접근 제어 기능이 갖는 의미가 정확히 기술될 수 있도록 집합론에 기초하는 정형화 언어인 Z 언어의 스키마 구조를 이용하여 CORBA 접근 제어 모델을 정형화한다.