• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.6-37
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• 2002

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a 2-dimensional plane. In this research, a new class of an omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve...

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.823-824
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• 2006

This paper proposes a novel structured 3-DOF(Degree-of-Freedom) spherical motor. 3-DOF spherical motor presents some attractive features by combining pitch, roll, yaw motion in a single joint. The proposed motor has pole which is electromagnetic in stator and rotor. poles produce magnetic flux through by exciting current then produce torque. We show a novel structured rotor to avoid mechanical overlapping of each coil in rotor. The validity of the analysis is confirmed by 3D finite element method.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.886-889
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• 2003

In this paper a design of educational robot based on a PC and/or a microprocessor is discussed. The educational robot has 5 DOF and Is made with Swiss Mini Servomotor and Motor Controller IC LM629N. Also, a GUI(Graphical User Interface) is programmed by Visual Basic. This system is completed to consider control properties of the educational robot with 5-DOF that can be changed the parameter of controller by software.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.1
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• pp.58-66
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• 2013

This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV's 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.

• Structural Engineering and Mechanics
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• v.11 no.5
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• pp.535-546
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• 2001

A new p-adaptive analysis scheme for hp-clouds method is presented. In the scheme, refined global equations are resolved into two parts, one of them being related to the newly appended dof's. The solution obtained in previous analysis step is reflected in the force vector. The size of the p-adaptive equation consisting of the newly appended dof's is much smaller than the original equation. Consequently, the computational cost is drastically decreased. Through numerical examples, the efficiency and efficacy of the method in comparison with the existing p-refinement scheme of the hp-clouds have been demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1371-1374
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• 2004

The control system design of 2-DOF for SISO process by root locus technique is not complicated and efficiently. It can design the control system to have the transient and steady state responses, and do not adjust the gain of process controller later. However, due to control system design for MIMO process, by root locus technique, there is not exact method. This paper is presents the control system design method for Quadruple-Tank Process, by using root locus technique for the structure of 2-DOF control system. The design procedures are first decentralized then using the relative gain array, and finally 2-DOF controller design is applied.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1371-1376
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• 2003

In the thermal power plant, the main steam temperature is typically regulated by the fuel flow rate and the spray flow rate, and the reheater steam temperature is regulated by the gas recirculation flow rate. However, Strictly maintaining the steam temperature can be difficult due to heating value variation to the fuel source, time delay changes in the main steam temperature, the change of the dynamic characteristics in the reheater. Up to the present time, PID Controller has been used to operate this system. However, it is very difficult to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error. This paper focuses on tuning of the 2-DOF PID Controller on the DCS for steam temperature control using immune based multiobjective approach. The stable range of a 2-DOF parameter for only this system could be found for the start-up procedure and this parameter could be used for the tuning problem. Therefore tuning technique of multiobjective based on immune network algorithms in this paper can be used effectively in tuning 2-DOF PID controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.4
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• pp.393-400
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• 2012

This paper deals with a development of 2-DOF flutter experiment equipment which represents a 2-DOF typical section model. For a conventional 2-DOF flutter experiment equipment, it is hard to observe flutter boundary clearly due to the complexity of the experiment equipment. To refine our flutter experiment equipment system, a compliant mechanism based torsional spring is used. Well-designed extruded aluminum pipe works as a torsional spring. SolidWorks and ANSYS are used for modeling, analysis and design of the torsional spring. With this designed torsional spring, the 2-DOF flutter experiment equipment is developed and wind tunnel tests are performed. Clear flutter boundary which is estimated by classical flutter analysis is observed in the experiments.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.38-45
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• 2005

In this paper, a bird type biped robot for entertainment controlled by R/C servo motors, is built using the embedded RTOS (Real Time Operating System). ${\mu}C/OS-II$ V2.00 is used fur RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on ${\mu}C/OS-II's$ preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and 1DOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.