• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.762-769
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• 2002

This paper presents how effective it is to use many features for improving the speed and accuracy of visual servo systems. Some rank conditions which relate the image Jacobian to the control performance are derived. The focus is to describe that the accuracy of the camera position control in the world coordinate system is increased by utilizing redundant features in this paper. It is also proven that the accuracy is improved by increasing the number of features involved. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm robot manipulator made by Samsung Electronic Co. Ltd..

• 대한기계학회논문집A
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• 제25권12호
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• pp.1966-1973
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• 2001

The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.712-715
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• 1997

In image jacobian based visual servoing, generally, inverse jacobian should be calculated by complicated coordinate transformations. These are required excessive computation and the singularity of the image jacobian should be considered. This paper presents a visual servoing to control the pose of the robotic manipulator for tracking and grasping 3-D moving object whose pose and motion parameters are unknown. Because the object is in motion tracking and grasping must be done on-line and the controller must have continuous learning ability. In order to estimate parameters of a moving object we use the kalman filter. And for tracking and grasping a moving object we use a fuzzy inference based reinforcement learning algorithm of dynamic recurrent neural networks. Computer simulation results are presented to demonstrate the performance of this visual servoing

• 한국정밀공학회지
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• 제20권4호
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• pp.103-111
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• 2003

The Denavit-Hartenberg symbolic notation provides the framework for the convenient and systematic method for the robot manipulator kinematics, but is limited its use to the lower pair mechanism or to the single loop mechanisms. The Sheth-Uicker notation is its revised and generalized version to be extended fur the entire domain of the link mechanism including the higher pairs. This paper proposes the method that uses the Sheth-Uicker notation fur the robot kinematics modeling. It uses the instantly coincident coordinate system and the closed loop chain fur the coordinate transformation. It enables us to model the velocity kinematics of the robot that has the complex structures such as the ternary links and the wheels in a systematic and rational way. As an implementation of the proposed method, the Jacobian matrices were obtained for not only the robot with two legs and a torso, but a manipulator on a mobile platform.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1944-1948
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• 2005

This paper presents how it is effective to use many features for improving the speed and the accuracy of the visual servo systems. Some rank conditions which relate the image Jacobian and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy with respect to the world coordinate system. Usefulness of the redundant features is verified by the real time experiments on a Dual-Arm Robot manipulator made in Samsung Electronic Co. Ltd

• 대한전기학회논문지
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• 제35권5호
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• pp.177-184
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• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권9호
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• pp.630-637
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• 2004

In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1773-1778
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• 2006

Steady-state natural convection heat transfer characteristics from cylinders in a multiply-connected bounded region are clarified. A spectral finite difference scheme (spectral decomposition of the system of partial differential equations, semi-implicit time integration) is applied in numerical analysis, with a boundary-fitted conformal coordinate system through a Jacobian elliptic function with a successive transformation to formulate a system of governing equations in terms of a stream function, vorticity and temperature. Multiplicity of the domain is expressed explicitly.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.679-685
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• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

• 한국정보통신학회논문지
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• 제26권4호
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• pp.548-555
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• 2022

본 논문은 타원곡선 디지털 서명 알고리듬 (Elliptic Curve Digital Signature Algorithm; ECDSA)의 핵심 연산으로 사용되는 타원곡선 암호 (Elliptic Curve Cryptography; ECC)의 하드웨어 구현에 대해 기술한다. 설계된 ECC 프로세서는 NIST P-521 곡선 상의 8가지 연산 모드 (점 연산 4가지, 모듈러 연산 4가지)를 지원한다. 점 스칼라 곱셈 (PSM)에 필요한 연산량을 최소화하기 위해 5가지 PSM 알고리듬과 4가지 좌표계에 따른 연산 복잡도 분석을 토대로 radix-4 Booth 인코딩과 수정된 자코비안 좌표계를 적용하여 설계하였다. 모듈러 곱셈은 수정형 3-Way Toom-Cook 정수 곱셈과 수정형 고속 축약 알고리듬을 적용하여 구현되었다. 설계된 ECC 프로세서는 xczu7ev FPGA 디바이스에 구현하여 하드웨어 동작을 검증하였다. 101,921개의 LUT와 18,357개의 플립플롭 그리고 101개의 DSP 블록이 사용되었고, 최대 동작주파수 45 MHz에서 초당 약 370번의 PSM 연산이 가능한 것으로 평가되었다.