• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.988-993
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• 2009

In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.922-929
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• 2004

In this paper, we develop control hardware such as an FPGA based general purposed intelligent controller with a DSP board to solve nonlinear system control problems. PID control algorithms are implemented in an FPGA and neural network control algorithms are implemented in a BSP board. An FPGA was programmed with VHDL to achieve high performance and flexibility. The additional hardware such as an encoder counter and a PWM generator can be implemented in a single FPGA device. As a result, the noise and power dissipation problems can be minimized and the cost effectiveness can be achieved. To show the performance of the developed controller, it was tested fur nonlinear systems such as a robot hand and an inverted pendulum.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2017년도 제55차 동계학술대회논문집 25권1호
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• pp.125-128
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• 2017

모바일게임이 발전하면서 여러 디스플레이 제품과 유동적 연결이 가능하게 되었고 이를 통한 쾌적한 게임 환경이 가능하게 되었으나, 여전히 게임의 컨트롤러가 게임 진행 화면을 가려 몰입감이 떨어진다. 그렇기 때문에 Unity 3D 엔진을 이용한 First-person Shooter 게임 제작과 게임 컨트롤을 위한 Android Device Controller를 이용하여 외부 디스플레이 연결 시 컨트롤러와 게임화면이 분할되는 시스템을 개발하였다. 사용자가 모바일 디바이스를 게임 컨트롤러로 사용하여 콘솔게임 환경과 같은 편리한 조작이 가능하게 하는 효과가 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.969-972
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• 2000

In this paper, a controller design for brushless linear motor is proposed. The designed controller is mainly composed of speed and current controller, which are carried out by the high-speed digital signal processor(DSP). In addition the PWM inverter is controlled by space voltage PWM method. This system is implemented using by 32-bit DSP(TMS320C31), a high-integrated logic device(EPM7128), and IPM(Intelligent Power Module) for compact and powerful system design. The experimental results show the effective performance of controller for the brushless linear motor.

• 제어로봇시스템학회논문지
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• 제4권4호
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• pp.441-447
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• 1998

Motivated by a recent work, a fuzzy-power-controller(FPC) is designed for the relieving-horsepower control of output variable pump with electrical proportional valve and actually implemented on the industrial excavator. In order to calculate the output power of pump with input of FPC, a linear discrete time model of load system to pump is obtained and the result is applied to control the engine-pump coupled system by software without pressure and flow sensor. The FPC controls the engine and pump coupled system by relieving horsepower control according to the change of load and the running conditions in relieving horsepower control are selected by fuzzy inference engine. A case study is peformed through the construction of the control device and installation on the excavator. It shows that the relieving-horsepower control system with the FPC, as suggested in this paper, is superior to the conventional PID controllers. And also, the excavator, with the FPC, shows that the power-loss of the coupled system is reduced and the running speed of the hydraulic actuator is enhanced.

• 한국정밀공학회지
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• 제15권8호
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• pp.60-70
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• 1998

A harmonic drive is compact torque transmission device with no backlash which is widely applied in industrial field to transmit torque precisely. However, one of the disadvantages of harmonic drives is the existence of mechanical flexibility caused by its structural properties, which imposes great limitation on designing precise controller This paper proposes a nonlinear controller for synchronous operation of DC servo-motors with harmonic drive, using Integrator Backstepping method. Furthermore, an alternative algorithm for serial type synchronous operation of multiple DC servo-motors is proposed. Simulation results by SIMULINK for proposed controller shows considerably small error and rapid approach to reference input, which can be adapted to industrial applications.

• 대한기계학회논문집
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• 제19권9호
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• pp.2399-2411
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• 1995

Crane operation for transporting heavy loads inherently causes swinging motion at the loads due to crane's acceleration or deceleration. This motion not only lowers the handling safety but also slows down the handling process. To complement such a problem, Korea Atomic Energy Research Institute(KAERI) has designed several anti-swing controllers using open loop and closed loop approaches. They are namely a pre-programmed feedback controller and a fuzzy controller. These controllers are implemented on a 1-ton crane system at KAERI and their control performances are compared. Test operations show that the new controllers are superior to that of conventional cranes in terms of robustness to the disturbances and adaptation capability to the change of rope length.

• 한국게임학회 논문지
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• 제17권4호
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• pp.47-54
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• 2017

포켓몬고 게임의 인기로 실외 증강현실 게임에 대한 관심이 높아졌다. 본 논문은 실외 증강현실 슈팅 게임을 위한 권총형 모션 컨트롤러와 이와 연동하는 증강현실 게임 콘텐츠를 소개한다. 기존의 증강현실 게임용 총 컨트롤러는 방아쇠 인터랙션만 지원하고 있지만, 제안하는 장치는 모션 인터랙션으로도 게임을 조작할 수 있어, 실외에서도 총기류를 이용한 슈팅 게임을 몰입하여 즐길 수 있다.

• 로봇학회논문지
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• 제14권3호
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• pp.203-210
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• 2019

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.