• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.240-247
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• 2013

This paper proposes an optimal three-dimensional coordinate implementation of the vision sensor using two CCD cameras. The PBVS (Position based visual servoing) is implemented using the positional information obtained from images. Stereo vision by PBVS method that has enhanced every frame using calibration parameters is effective in the distance calculation. The IBVS (Image based visual servoing) is also implemented using the difference between reference and obtained images. Stereo vision by IBVS method calculates the distance using rotation angle of motors that correspond eyes and neck without enhanced images. The PBVS method is compared with the IBVS method in terms of advantages, disadvantages, computing time, and performances. Finally, the IBVS method is applied for the dual arm manipulator on the mobile inverted pendulum. The autonomous mobile inverted pendulum is successfully demonstrated using the center of the manipulator's mass.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.310-319
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• 2003

As the importance and the need for network security are increased, many organizations use the various security systems. They enable to construct the consistent integrated security environment by sharing the network vulnerable information among IDS (Intrusion Detection System), firewall and vulnerable scanner. The multiple IDSes coordinate by sharing attacker's information for the effective detection of the intrusion is the effective method for improving the intrusion detection performance. The system which uses BBA (Blackboard Architecture) for the information sharing can be easily expanded by adding new agents and increasing the number of BB (Blackboard) levels. Moreover the subdivided levels of blackboard enhance the sensitivity of the intrusion detection. For the simulation, security models are constructed based on the DEVS (Discrete Event system Specification) formalism. The intrusion detection agent uses the ES (Expert System). The intrusion detection system detects the intrusions using the blackboard and the firewall responses to these detection information.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.247-254
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• 2006

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.87-94
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• 2015

This paper proposes a situation awareness method based on data fusion and independent objects for autonomous driving in on-road environment. The proposed method, designed to achieve an accurate analysis of driving situations in on-road environment, executes preprocessing tasks that include coordinate transformations, data filtering, and data fusion and independent object based situation assessment to evaluate the collision risks of driving situations and calculate a desired velocity. The method was implemented in an open-source robot operating system called ROS and tested on a closed road with other vehicles. It performed successfully in several scenarios similar to a real road environment.

• Transactions of Materials Processing
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• v.12 no.2
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• pp.142-150
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• 2003

To construct the extrusion die surface, a B-Spline surface scheme based on the cubic B-Spline curve interpolation method is proposed in the present work. The inlet and outlet profiles are described with B-Spline curves by using the centripetal method for uniform parameterization. The interior control points of surface are generated using the derivative characteristics of B-Spline curve. A complete B-Spline surface is constructed by using appropriate coordinate transformation and knot deletion. In the present study, a quantitative measure for the control of surface is suggested by introducing the tangential vector and inclination angles at the inlet and outlet sections. To verify the validity of the proposed method, automatic surface generation is carried out for the various types of extrusion die surface.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.397-400
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• 1991

This paper presents a cartesian space decentralized adaptive controller design for the end effector of the robot manipulator to track the given desired trajectory in the cartesian coordinate. By the cartesian based control scheme, the task related high level motion command is directly executed without solving the complex inverse kinematic equations. The controller does not require the complex manipulator dynamic model, and hence it is computationally very efficient. Each degree of freedom of the end effector on the cartesian space is controlled by a PID feedback controller and a velocity acceleration feed forward conpensation part. Simulation results for a two-link direct drive manipulator conform that the present cartesian based decentralized scheme is feasible.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.241-246
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• 2016

This paper presents a method that can improve the performance of permanent magnet synchronous motor current control by minimizing the measured current phase delay caused by the Low Pass Filter(LPF) used to cut off the noises that flowed in when feedback currents are measured. Although existing methods that change the Cutoff Frequency of the LPF can minimize phase delays during high speed rotations, their noise cutoff effects are much lower and this may lead to the decline of control performance. Therefore, in this study, an algorithm that can compensate current phase delays through relatively simple calculations from the synchronous motor d-q axis coordinate transformation matrix and the inverse transformation matrix is proposed and the validity of the proposed method is verified by comparing the waveform of the calculated current with the waveform of actual currents through simulations and experiments.

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.76-81
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• 2006

In this study, warpage characteristics of mobile phone cover through injection molding process were investigated using design of experiments in injection molding process. Warpage in plastic injection molding has a significant effect on quality of product. Effects of injection time, packing pressure, packing time, mold temperature and melt temperature on the warpage of mobile phone cover were considered by numerical analysis and experiment with Taguchi method. The degree of warpage for the injection molded part was measured by using three dimensional coordinate measurement machine. It was shown that temperature control factor has more significant effect on the warpage of mobile phone cover than pressure control factor.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.896-899
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• 1996

A new algorithm for planning a collision free path is developed based on linear parametric curve. A collision-free path is viewed as a connected space curve in which the path consists of two straight curve connecting start to target point. A single intermediate connection point is considered in this paper and is used to manipulate the shape of path by organizing the control point in polar coordinate (.theta.,.rho.). The algorithm checks interference with obstacles, defined as GM (Geometry Mapping), and maps obstacles in Euclidean Space into images in CPS (Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The clear area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidean Space. Any points from the clear area of CPS is a candidate for a collision-free path. A simulation of GM for number of cases are carried out and results are presented including mapped images of GM and performances of algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.698-705
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• 2002

The redundant sensor configuration problem of inertial navigation system(INS) is considered and analyzed the navigation and fault detection performance according to various sensor configurations. We considered various kinds of redundant sensor configurations for symmetric, cone, and orthogonal configurations and compare the navigation and fault detection performance for the configurations. We show that the navigation and fault detection performance is not affected by the coordinate change for a fixed configuration.