• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1223-1232
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• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.275-276
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• 2006

An intelligent arm-wrestling system is recently developed in our laboratory that is comprised of an arm-force generation mechanism and a control system that detects the maximum arm-force of a user in the early stage of the match, generates a different game scenario each time, and executes force feedback control to implement the scenario. This paper presents the mathematical model of the force control system of the intelligent arm-wrestling system, and some improvements of it via experimental frequency responses using a control signal analyzer.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.66-66
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• 2000

In this parer, we introduce an algorithm to control flows of the traffic in multi-intersections. It is pointed out that the main problem in traffic control is how to resolve the congested situations for the particular time-durations and directions. The heavy load to a certain direction usually leads the intersection to congested situations, and the adjacent intersections are affected. We control and analyze the traffic flow of multi-intersections consisting of five intersections, in which four intersections are linked to the four directions of the central one. The entrance of vehicles of each direction is described using the concept of probability. We compare the performance of the pretimed signal controls to the traffic adaptive signal controller using a Petri Net simulation tool, Exspect.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.465-468
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• 2007

An intelligent home network system using low-power and low-cost sensor nodes was designed and implemented. In Intelligent Home Network System, active home appliances control is composed of RSSI (Received Signal Strength Indicator) based user indoor location tracking, dynamic multi-hop routing, and learning integration remote-control. Through the remote-control learning, home appliances can be controlled in wireless network environment. User location information for intelligent service is calculated using RSSI based Triangle measurement method, and then the received location information is passed to Smoothing Algorithm to reduce error rate. In order to service Intelligent Home Network, moreover, the sensor node is designed to be held by user. The gathered user data is transmitted through dynamic multi-hop routing to server, and real-time user location & environment information are displayed on monitoring program.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.139-143
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• 2005

As increasing gastrointestinal pathologies, general and thoracic surgeries using circular staplers have been dramatically increased. Because of convenience for surgical procedure, recently, various circular staplers for anastomosis have been used widely. Since the circular staplers conventional have used the displacement control method, however, the anastomosis could have various biomechanical conditions. To do that, biomechanical system of gastrointestinal soft tissue should be examined to control the anastomotic condition. In this study, a new intelligent robot used in circular anastomosis. The intelligent robot driven by a stepper motor and controlled by a digital signal processor.

• 한국ITS학회:학술대회논문집
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• 2005.11a
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• pp.125-129
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• 2005

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.6
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• pp.77-90
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• 2015

An increasing number of vehicles is causing various traffic problems such as chronic congestion of highways and air pollution. Local governments have been managing traffic by constructing systems such as Intelligent Transport Systems (ITS) and Advanced Traffic Management Systems (ATMS) to relieve such problems, but construction of an infrastructure-based traffic system is insufficient in resolving chronic traffic problems. A more sophisticated system with enhanced operational management capabilities added to the existing facilities is necessary at this point. As traffic patterns of the urban traffic flow is time-specific due to the different vehicle populations throughout the time of the day, a local network-wide signal operation plan that can manage such situation-specific traffic patterns is deemed to be necessary. Therefore, this study is conducted for the purpose of establishment of a plan for contextual signal control management through signal optimization at the network level after setting the Frame Signal in accordance to the traffic patterns gathered from the short-term traffic forecast data as a means to mitigate the problems with existing standardized signal operations.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.5
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• pp.49-58
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• 2010

The traffic signal controllers being used in the domestic currently are being manufactured based on the korean national police standard which was developed for controlling the quad-light traffic signal having the red, yellow, left-turn arrow, and green lights. But according to the national policy for the traffic operation, they have to be changed to be able to switch the tri-light signal having red, yellow and green lights. In this study, a new tri-light traffic signal controller was designed and developed by the way improving the Signal Control Unit of the existing quad-light standard traffic controller. The Load Signal Unit(LSU) was improved to output 6 signals which are the two assemblies of three signal indications having the red, yellow, and green lights. To enough traffic signals output to control each directional movements and the various transport modes which are car, bus, bike, and pedestrian etc., the connector bus system was designed to be able to accommodate maximum 96 signals outputs being constructed by 16 LSUs. Flasher device was developed to be able to support maximum 32 red signals. In the software, the communication protocol between traffic control center and the traffic signal controller was improved and new signal map code values were defined for the developed LSU controlling the quad-light traffic signal. A model of the quad-light traffic signal controller developed and was tested three operations, protocol-operation, remote-command and control-mode. The test result operated all of them successfully.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.5 no.1 s.9
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• pp.31-43
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• 2006

As of March 2005, the standard of traffic signal controllers became effective. The standard presents specifications and functions of a traffic signal controller which collects traffic information, sends it to the traffic control center, and controls traffic signal with adequate traffic signal timing provided by the traffic control center. Since the controllers by the previous standard lack parts compatibility and have different control functions and communication protocol, the maintenance cost has been increased. Also, some important functions like conflict detection have not worked out perfectly. To overcome these disadvantages, first of all, this standard secures hardware compatibility. Conflict detection method has been enhanced. Communication protocol to the traffic control center was included in the standard. With this standard, independent maintenance system and prompt treatment of hardware malfunctions becomes possible. Also, the unified intersection traffic control method will increase traffic safety.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.1
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• pp.1-12
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• 2012

Even though the semi-actuated signal control system based on image detectors has been spreading in Korea, any appropriate methods to evaluate the effectiveness and performance has not been established yet. Therefore, this research effort is aiming at developing a systematic method for evaluating the effectiveness and performance of the semi-actuated signal control system based on image detectors. To this end, this research firstly established measures of effectiveness(MOEs) and associated information to be surveyed from fields. Secondly, this research provided a procedure and methodology to evaluate any improvements due to the introduction of a semi-actuated signal control system based on image detectors. The developed methodology was examined at a case study site located in the city of Paju. As a result of the evaluation, the MOEs including traffic throughput, travel speeds, split usage rate, progression rate, etc. showed positive improvements though individual signalized intersections as well as coordinated corridors.