• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.151-152
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• 2008

본 논문에서는 도립 역진자 시스템에서의 진자의 도립 상태를 유지하도록 하기 위하여, DSP와 FPGA를 결합하여 ANFIS 뉴로퍼지 제어기를 구현하여 실험하였다. 도립진자의 위치 추종 성능을 PID 제어기와 비교 평가하였다.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.163-164
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• 2008

본 논문에서는 MR(Magneto-rheological)댐퍼의 특성을 파악하고 모델링하기 위해 실험 장치를 설계 및 제작을 하였다. 그리고 MR댐퍼의 특성 중 전항복(pre-yieid) 영역에서의 속도가 증가하거나 및 감소할 때의 감쇠력의 차이를 보이는 이력현상을 모델링하기 위해 개선된 Bouc-Wen 모델을 이용하였다. 다양한 실험을 통해 Bouc-Wen 모델의 변수들을 이용하여 구하였다.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1327-1328
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• 2015

본 논문에서는 스틱 모델을 사용하여 외바퀴 로봇의 수직 방향에서 생기는 파라메트릭 진동을 시뮬레이션 분석하고, 분석된 결과를 바탕으로 제어 법칙을 유도한 다음, 실험을 통해 성능을 검증한다. 실험에 활용된 외바퀴 로봇은 수평 방향에 대해서는 비례미분제어기를 사용하고, 수직 방향에 대해서는 진동제어기를 활용한다.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.575-580
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• 2003

In this paper, we develop a control hardware such as an FPGA based general purpose controller with a DSP board to solve nonlinear control problems. PID control algorithms are implemented in an FPGA and neural network control algorithms are implemented in a DSP board. PID controllers implemented on an FPGA was designed by using VHDL to achieve high performance and flexibility. By using high capacity of an FPGA, 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. In order to show the performance of the developed controller, it was tested for controlling nonlinear systems such as an inverted pendulum.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.4
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• pp.324-335
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• 2013

This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.154-161
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• 2012

This article presents experimental studies of fuzzy logic application to control a two-wheel mobile robot(TWMR) system. The TWMR system is composed of two systems, an inverted pendulum system and a mobile robot system. Although linear controllers can stabilize the TWMR, fuzzy controllers are expected to have robustness to uncertainties so that the resulting performances are expected to be better. Nominal fuzzy rules are used to control balance and position of TWMR. Fuzzy logic is embedded on a DSP chip to control the TWMR. Balancing performances of the PID controller and the fuzzy controller under disturbances are compared through extensive experimental studies.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.213-215
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• 2007

This paper introduces an emotional behavior decision model for intelligent service robots. An emotional model should make different behavior decisions according to the purpose of the robots. We propose an emotional behavior decision model which can change the character of emotional model and make different behavior decisions although the situation and environment remain the same. We defined each emotional element such as reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics by state dynamic equations. The proposed system model is a linear system. If you want to add one external stimulus or behavior, you need to add just one dimensional vector to the matrix of external stimulus or behavior dynamics. The case of removing is same. The change of reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics also follows the same procedure. We implemented the proposed emotional behavior decision model and verified its performance.

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.10a
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• pp.196-197
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• 2004

• The Journal of the Korea Contents Association
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• v.9 no.3
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• pp.99-107
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• 2009

As the information and the network technology are improved, the system which can express the interactions between the individuals becomes to play more important roles in these days. In fact, that tendency is especially well shown in the community area of P2P and social network service programs. This paper suggest an intelligent character manipulation system which can be effectively used to express emotional representation in an intelligent way in spite of many constraints. The system employs an emotion searching mechanism by attaching emotional information to each object in the database and defining a function of emotional similarity. It is expected that the system can be successfully used not only to find and represent the suitable emotional character representations but also to provide brand new services in the area of mobile platform based contents.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.179-184
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• 2005

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior, and so on, in the robot, is hard and need to make efforts to use our originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various Points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.