• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.24-29
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• 1991

RCCL(Robot Control C Library) is general purpose robot control language. It is programmed with C language and composed of C library. So it is well portable and supports sensor integration control and high level force control algorithms. We implemented RCCL on PUMA. We developed servo controller of DDC(Direct Digital Control). We used intel 8097BH one chip micro controller as CPU. One digital servo board controls three motors. Host computer is IBM PC 386DX-33 with RCCL.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.172-176
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• 1989

In this paper, a simple method for designing iterative learning control scheme is proposed. The proposed learning algorithm is designed based on series expansion of inverse plant model. The proposed scheme has simple structure and fast convergency so that it is suitable for implementing it on conventional micro processor based controllers. The effectiveness of the proposed algorithm is investigated through a series of computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.260-265
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• 1989

The micro-computer based automatic control of the overhead crane system is designed. Two control methodologies were suggested; the one is the anti-swing controller which improves poor damping characteristics of the crane and the other is the stop-position controller which minimizes the transportation position error. The input speed profile is automatically determined by the pre-programmed digital control algorithm. The experimental results show that these proposed controllers have excellent control performance as compared with those of the uncontrolled crane system.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.282-285
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• 1989

This paper presents a new algorithm for position control of the BALL-HOOP system driven by th D.C. servo motor-through the micro computer simulation. The Stale Feed back + PID control algorithm is proposed. This algorithm performs that the settling time is faster and overshoot is decreased more remarkably than the PID and the State Feedback algorithm alone. In this simulation the difference equations are used to calculate the output of the control system.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.637-640
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• 1986

The design and use of a micro-computer-based system for quantitative study of ocular kinetics are described. An algorithm for microcomputer analysis of electro-oculographically recorded saccadic eye movement is presented. From a brief, 4-min recording session detailed statistical information about saccade amplitude, duration, and velocity can be obtained. Since this data is not significantly altered by practice of motivational factors, it provides a sensitive functional test of the oculomotor system and its brain control system.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.459-462
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• 1986

The liquid level in a spherical tank was controlled with a micro-computer and the dynamic behavior of this non-linear system due to the variation of set point was studied. The adaptive control theory was used and the real values of controlled variables were compared with the theoretical values from a mathematical model.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.260-263
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• 1987

In this study, PC-based FEA system (Micro-STANS) running on the 16 bit microcomputer is developed. This system has powerful pre & post processing function using computer graphics, and is interfaced to AutoCAD system which is most popular PC-CAD system, making it possible to accomplish the concept of real integration between design and analysis. This system which has truss , beam plate & shell elements in the element library, can perform linear static analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.228-231
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• 1987

Microprocessor-based software DDA interpolator is developed and applied to two axis contouring control of X-Y table. Developed assembly program is composed of feedrate, linear and circular DDA interpolation routines. Reference-pulse type of open-loop stepping motor control system in which the micro-computer produces a sequence of reference pulses for each axis of motion is adopted. To test performance of the developed program, X-Y table drive system based on stepping motor and shaft encoder is designed. Contouring error of the system in linear and circular path is within .+-.0.2 mm.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.87-90
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• 1987

This paper gives the Sonic Range Finder(SRF) Array which detects the unknown obstacles on the mobile robot's path. This SRF Array gives mobile robot's circumstance information wider, processes and transfers them to the locomotion module to construct the modify path. In this system, 8 pairs of the 40 KHz ultrasonic sensors constitute the SRF Array, including a pair of reference sensors to correct the errors, 4051 analog multiplexer and demultiplexer swtch the sensor with time and 8031-on chip micro computer controls processes the data and communication the others.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.29-29
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• 2000

This paper describes the design and implementation of a high-speed navigation computer to achieve precision navigation performance with Strapdown INS. The navigation computer inputs are velocity and angular increment data from the ISA at the signal of the 2404Hz interrupt and performs the removal of gyro block motion and the compensation of high dynamic errors at the 200Hz. For high-speed and high-accuracy, the computer consists of the 68040 micro-processor, 128k Memories, FPGAs, and so on. We show that the computer satisfies the required performance by In-Run navigation tests.