• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.403-405
• /
• 2004

This paper describes an implementation of Home network Control Protocol(HnCP) and it's application to an Intelligent lighting system. The HnCP was announced by korea PLC forum in June 2003 to provide a network protocol for PLC based home appliances. The HnCP master and HnCP slaves were implemented using XPLC30 which is an SOC with ARM9 core. The efficacy of the developed HnCP network modules were shown by applying them to a intelligent lighting system composed of dimmable fluorescent lamps. An extended message set was proposed for the intelligent lighting system and we proposed some directions for the future development of HnCP.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1025-1028
• /
• 1993

In this paper, an intelligent control scheme with multi-stage fuzzy inference is developed for a myoelectric prosthesis to achieve natural control with tactile feedback based on fuzzy control strategies. Strain gauges and a potentiometer are added to the prosthesis for tactile feedback with a PWM motor driver developed to save the battery power. According to the multi-stage fuzzy inference, the prosthesis can determine the stiffness of the object and hold an object without injuring it, meanwhile, the hysteresis phenomenon is an 80196KC single-chip microcontroller to replace the original controller.

• Proceedings of the KIEE Conference
• /
• 1987.07a
• /
• pp.270-274
• /
• 1987

In this paper, the design method, design techniques and structure of a language for a SCARA type industrial robot, are presented. The proposed new language is modular and expandable using the C programming language and the 8086 assembly language. It is composed of monitor mode, editor mode, execution mode, I/O mode and teach mode. The developed language is implemented on the robot controller to verify its performance.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
• /
• 1999.11a
• /
• pp.251-255
• /
• 1999

현대인의 활동범위가 넓어지고 작업의 양이 많아지면서, 육체적ㆍ정신적 피로를 해결할 수 있는 쾌적환경에 대한 관심이 높아지고 있다. 쾌적감이란 인간이 쉽게 동조하고 물입할 수 있어서, 인간과 환경이 일체가 되기 쉬운 상태로서 이에 대한 연구가 활발히 진행되어오고 있다. 본 논문은 수학적으로 표현하기 어려운 인간의 쾌적감 요소이미지와 물리적 환경 요소의 구조 분석에 신경망 이론을 적용한다. 인간감성 모델과 역인간감성모델을 제안하여, 지능제어 이론인 신경망(Neural Network)이 쾌적감 요소이미지와 물리적 환경 요소의 구조 분석에 유용하게 사용될 수 있음을 보인다.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1077-1081
• /
• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.1014-1021
• /
• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1086-1091
• /
• 2005

This paper focuses on intelligent control of induction motor by hybrid system consisting of GA-PSO. Induction motor has been using in industrial area. However, it is challengeable on how we control effectively. From this point, an optimal solution using GA (Genetic Algorithm) and PSO (Particle Swarm Optimization) is introduced to intelligent control. In this case, it is possible to obtain local solution because chromosomes or individuals which have only a close affinity can convergent. To improve an optimal learning solution of control, This paper deal with applying PSO and Euclidian data distance to mutation procedure on GA's differentiation. Through this approaches, we can have global and local optimal solution together, and the faster and the exact optimal solution without any local solution. Four test functions are used for proof of this suggested algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1492-1495
• /
• 2005

This paper presents a new linear-matrix-inequality-based intelligent digital redesign (LMI-based IDR) technique to match the states of the analog and the digital T-S fuzzy control systems at the intersampling instants as well as the sampling ones. The main features of the proposed technique are: 1) the affine control scheme is employed to increase the degree of freedom; 2) the fuzzy-model-based periodic control is employed; and the control input is changed n times during one sampling period; 3) The proposed IDR technique is based on the approximately discretized version of the T-S fuzzy system; but its discretization error vanishes as n approaches the infinity. 4) some sufficient conditions involved in the state matching and the stability of the closed-loop discrete-time system can be formulated in the LMIs format.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.4
• /
• pp.458-463
• /
• 1998

This paper presents an autopilot design method for STT missiles using the intelligent control technique and multiple controllers. The mixed $H_2/H_{\infty}$ control technique is applied for each controller design and the control gains are implemented by using the genetic searching algorithm. To facilitate automatic switching of multiple controllers under different operating conditions, an error based switching scheme is also combined with the multiple controllers at a higher level, which constitutes a hierarchical intelligent control system. It is shown via computer simulation that the proposed autopilot outperforms the conventional one.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.2
• /
• pp.283-288
• /
• 2001

A throttle/brake control law for the intelligent cruise control(ICC) systems has been proposed in this paper. The ICC system consists of a vehicle detection sensor, the control algorithm and a throttle/brake actuators. For the control of a throttle/brake system, we introduced a solenoid-valve-controlled electronic vacuum booster and a step-motor controlled throttle actuator. Nonlinear computer model for the electronic vacuum booster has been developed and the simulations were per formed using a complete nonlinear vehicle model. The results indicate the proposed throttle/brake control law can provide the ICC system with an optimized performance.