• 한국산업융합학회 논문집
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• 제18권2호
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• 한국군사과학기술학회지
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• 제13권3호
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• pp.453-460
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• 2010

For high quality image acquisition, compensating air-vehicle motion is essential for airborne SAR system. This paper describes a timing control based motion compensation method for airborne SAR system. Efficient timing control is critical for SAR system since it maintains many timing signals and timing setting for the signals should be updated frequently. This paper proposes Timing Cluster method as an efficient means for timing control of SAR system. Moreover, this paper suggests a simple and efficient method to compensate air-vehicle motion based on the Timing Cluster method. Timing Cluster method enables SAR system to control the timing in a timing noncritical way just maintaining little amount of information.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제12권2호
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• pp.121-130
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• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

• 한국의학물리학회지:의학물리
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• 제27권3호
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• pp.117-124
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• 2016

Intrafractional motion of patients, such as respiratory motion during radiation treatment, is an important issue in image-guided radiotherapy. The accuracy of the radiation treatment decreases as the motion range increases. We developed a control system for a robotic patient immobilization system that enables to reduce the range of tumor motion by compensating the tumor motion. Fusion technology, combining robotics and mechatronics, was developed and applied in this study. First, a small-sized prototype was established for use with an industrial miniature robot. The patient immobilization system consisted of an optical tracking system, a robotic couch, a robot controller, and a control program for managing the system components. A multi speed and position control mechanism with three degrees of freedom was designed. The parameters for operating the control system, such as the coordinate transformation parameters and calibration parameters, were measured and evaluated for a prototype device. After developing the control system using the prototype device, a feasibility test on a full-scale patient immobilization system was performed, using a large industrial robot and couch. The performances of both the prototype device and the realistic device were evaluated using a respiratory motion phantom, for several patterns of respiratory motion. For all patterns of motion, the root mean squared error of the corresponding detected motion trajectories were reduced by more than 40%. The proposed system improves the accuracy of the radiation dose delivered to the target and reduces the unwanted irradiation of normal tissue.

• 한국정밀공학회지
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• 제14권7호
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• pp.15-21
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• 1997

This paper presented a linear motion accuracy by using two-dimensional probe with the master block and the square for NC machine tools. This measuring system could be measured motion error due to numerical control system. The results of measurement and simulation for motion error were similar, and so, this system had enough accuracy to measure a linear motion accuracy for NC machine tools. The experimental results are as follows. 1. This measuring system could be measured motion error due to mumerical control system. 2. The results of measurement and simulation for motion error were similar. 3. This measuring system had enough accuracy to measure a linear motion accuracy for NC machine tools.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.36-48
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• 1992

This paper describes motion control system applied to mechatronics devices. It is pointed out that a new approach is necessary to realize a good performance motion control. At first, a motion controller of mechatronics devices is introduced. The controller is constructed from four layer of hierarchical structure. After that two practical examples are presented to introduce the new approach to advanced motion control exactly.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 한국통신학회논문지
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• 제22권6호
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• pp.1343-1355
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• 1997

Full motion video data is the most effective data type that transmits information in multimedia enviornment. VOD service is system that uses network to transmit full motion video data interactively. Therefore VOD service system must satisfy the following requirements. First, it should transmit high quality full motion video. Second, it should be able to control a large quantity of full motion video. Third, a user should be able to retrieve the full motion vide effectively. However the existing VOD service system is established based n file system that not only does it have disadvantages in managment such as transaction control but also it is not suitable for distributed multimedia environment. The goal of this research is to build a VOD service system that provides high-quality full motion video assuming information retrieval. In order to mainly search video data's bibliographical information and to manage related information, VOD service system and DBMS system are to be closely related. Also, to transmit high quality full motion video data, we use MTP$^{TM}$(Media Transfer Protocol) developed by StarLight. MTP$^{TM}$ guarantees high bandwidth that is necessary to tansmit high quality full motion video data effectively. In other hand TCP/IP which is used for information search does not guarentee high bandwidth as that in MTP$^{TM}$. Therfore VOD service system that seraches information managed by DBMS and transmits requried full motion video data should control different kinds of protocol simultaneously. This paper describes the configuration of VODB system that has solved these problems, implementation and efficiency of data applied system.stem.

• 한국해양공학회지
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• 제36권1호
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• pp.50-60
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• 2022

The deep ocean engineering basin (DOEB) of the Korea Research Institute of Ship and Ocean Engineering (KRISO) is equipped with an extreme-environment reproduction facility that can analyze the motion characteristics of offshore structures and ships. In recent years, there have been requirements for a wide range of six-degree-of-freedom (6-DOF) motion measurements for performing maneuvering tests and free-running tests of target objects (offshore structures or ships). This study introduces the process of developing a wide-area motion measurement technology by incorporating the auto-tracking technology of the towing carriage system to overcome the existing 6-DOF motion measurement limitation. To realize a wide range of motion measurements, the automatic tracking control system of the towing carriage in the DOEB was designed as a speed control method. To verify the control performance, the characteristics of the towing carriage according to the variation in control gain were analyzed. Finally, a wide range of motions was tested using a model test object (a remotely operated vehicle (ROV)), and the wide-area motion measurement technology was implemented using an automatic tracking control system for a towing carriage.