• 전자공학회논문지B
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• 제32B권7호
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• pp.1010-1024
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• 1995

An intelligent trajectory control method that controls a direction and a average velocity for a prosthetic arm by force and direction estimations using EMG signals is proposed. 3 stage linear filters are used as a real time joint trajectory planner to minimize the impact to human body induced by arm motions and to reduce muscle fatigues. We use combination of MLP and fuzzy filter for a limb direction estimation and a time model of force for determining a cartesian trajectory control parameter. EMG signals are acquired by using a amputation simulator and 2 dimensional joystick motion. Simulation results of the proposed method show that the arm is effectively followed the desired trajectory by estimated foreces and directions. This method reduces the number of electrodes and attatched sites compared with the method using Hogan's impedance control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• 한국정밀공학회지
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• 제14권3호
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• pp.114-121
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• 1997

In this paper, the automated initial process planning for 3-axis NC machining of sculptured surfaces is persented. The solution algorithms determining three process planning functions, i.e. machining feasibility, setup orientation and feasible machine selection are developed. The machining feasibility is determined by means of BSM(Binary Spherical Map) which derives its solution quickly in algebraic form, and the setup orientation is determined so that the cutting force is minimized. Finally, the feasible machine is determined by computing the minimum motion ranges of each control axisl. The developed algorithms are tested by numerical simulations, convincing they can by readily implemented on the CAD/CAM system as a process planner.

• 한국해양공학회지
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• 제19권2호
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• 한국컴퓨터산업학회논문지
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• 제7권5호
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• pp.573-582
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• 2006

게임은 텍스트, 그래픽, 애니메이션, 동화상, 음악 등 모든 미디어가 서로 연결되어 게임의 스토리에 맞게 진행된다. 또한 게이머의 판단에 의한 전략 전술은 그 게임의 결과를 다르게 만들어 낼 수 있다. 본 논문에서는 이와 같은 게임을 개발하는데 있어서 핵심 구성원들 즉 게임 기획자, 게임 프로그래머, 게임 그래픽 디자이너들의 역할을 언급하였다. <중략>또한 게임 캐릭터를 처음 개발하는 초보자나 중급자를 대상으로 보다 빠른 모델링을 할 수 있도록 150개 이내의 폴리곤을 사용하여 $5\sim8$등신의 RT캐릭터 포맷을 만들어 그것을 기반으로 다양한 모델링을 개발을 할 수 있는 방법을 제시하였다. 그리고 그 SourceModel을 사용함에 있어서 3D Modeling 툴중 하나인 3D MAX 환경 안에 SourceModel이 포함된 Character Primitives 인터페이스를 제공함으로써 사용자가 게임 캐릭터 개발을 쉽고 빠르게 할 수 있도록 하였다.