• Journal of KIISE:Computing Practices and Letters
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• v.7 no.5
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• pp.467-474
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• 2001

When user wants to animate more than one character, some unexpected motion animation like a collision between characters may occur. Therefore, this problem must be resolved using a proper control mechanism. Therefore, this problem must be resolved using a proper control mechanism. This paper proposes an agent-based system that controls the motion animation of the character for representing animation scenario reflecting user\`s intention. This system provides a method that coordinates a type of motion and avoids collision between characters according to the moving path of a character in three-dimensional space. Agent communicates with others for motion synchronization. Agent is extended into several intelligent agents that coordinate character\`s motion. Agent system enables not only an intended motion animation, but also the scheduling of motion to an entire character animation. It designs automata model using Petri-net analysis tool for the agent\`s interaction as a method that passes the agent\`s information and infers the current state of agents. We implement this agent system to control the motion of character using agent technology and show an example of controlling the motion of human character model to prove the possiblity of motion control.

• Journal of Ocean Engineering and Technology
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• v.19 no.3
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• pp.66-73
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• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.

• Journal of Korea Multimedia Society
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• v.13 no.2
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• pp.179-184
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• 2010

The automatic control and motion control technology including the sensor network technology are important in the ubiquitous environment to make human life easy. In the industrial site and living environment, the demand for the motion control technology and position control technology which are faster and more precise is increasing. Especially, demand for the PC based motion control system is mounting in order to keep up with the improved GUI environment and ever-changing industrial site. This research is focused to develop the Highly Efficient 2-axis Step Motion Control System which can be variously applied in the industrial site on the basis of the LabVIEW - graphic code programming language - with user interface, using the NI PXI-7352 controller and the NI step motor in which it provides the high reliability and the precise motion control.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.434-441
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• 2004

In this paper, an exoskeleton-type motion capturing system is designed and implemented. The device is designed to have 12 degree-of-freedom entirely to represent human arm motions. Forward and inverse kinematics of the device are analyzed to make sure of its singular positions. With the designed model parameters, simulation studies are conducted to verify that the designed motion capturing system is effective to represent human motions within the workspace. As a counterpart of the exoskeleton system, a mobile robot is built to follow human motion restrictively. Experimental studies of teleoperation from the exoskeleton device to control the mobile robot are carried out to show feasible application of wireless man-machine interface.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1064-1069
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• 2015

Control Moment Gyro (CMG) has been used as an indirect actuator of a single-wheel robot system GYROBO, developed at Chungnam National University. The flip motion of the gimbal system produces the gyroscopic motion onto the body system while the body motion also produces the gyroscopic motion onto the gimbal system inversely. In this paper, the intuitive equation of the inverse gyroscopic effect is derived as the direct relation between the rate of the body system and the rate of the gimbal system. Experiments on the inverse gyroscopic effect under the chaotically generated disturbance are conducted. Experimental data are approximated by a linear equation using the least square method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.466-471
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• 1994

To make a dynamic system a given desired motion trajectory, a new feedback error learning scheme is proposed which is based on the repeatability of dynamic system motion. This method is composed of feedforward and feedback control laws. A benefit of this control scheme is that the input pattern that generates the desired motion can be formed without estimating the physical parameters of system dynamics. The numerical simulations show the good performance of the proposed scheme

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.243-247
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• 1996

A general procedure for motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complicated and optimized movements are easily digitized to analyze and reproduce. The system consists of a motion capture module, a motion visualization module, a motion plan module, a motion mimic module, and a GUI module. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. This procedure is being implemented on a virtual cyber cube. and an inverted pendulum. With modifications, this procedure can applied for complicated motion controls.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.449-454
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• 1994

The Stewart Platform is one example of a motion simulator which generater 6DOF motion in space by six actuators in parallel. The presented control methrol of 6DOF motion simulator is generally classified into two types, one is SISO and the other is MIMO control type. The SISO control can't compensate for external load variation and different dynamic behavior of 6DOF motion, trerefore this type don's control motion precisely. On the other hand, the MIMO control compensates for a interference of 6DOF motion because MIMO controller is designed with 6DOF motion simulator synamics. But MIMO control of motion simulator has a complexity of 6DOF displacement feedback, because in oder to obtain feedback value we must solve the forward kinematics using measurement of cylinder length or design a state estimator, unless measurement of 6DOF displacement is possible. In this paper, a multivariable controller using H .inf. optimal control theory is designed to consider a interference of 6DOF motion and to obtain robust,precise control of system. Also in order to solve the mentioned problem of MIMO control, this paper presents a modified MIMO control model which control 6DOF motion by using feedback of measurement od cylinder length.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.496-499
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• 1997

This paper describes the operating software of a motion system developed for a driving simulator, consisting of a six degree of freedom Stewart platform driven hydraulically. The drive logic, consisting of an washout algorithm, inverse kinematic analysis, and a control algorithm, has been developed and applied for creating high fidelity motion cues. The basic environment of the operating software is based on LabVIEW 4.0 and DLL modules compiled by Fortran.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.186-193
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• 2017

KOSMOS is Korea Open Source MOtion System which is developed based on general purpose hardware and open source software. It is aiming at IEC 61131-3 standard. Real-time ethernet has several advantages for motion control system and distributed control system. So, considering this advantages, KOSMOS has the network interface made up of Real-time ethernet, EtherCAT. In this paper, we explain the KOSMOS platform, the performance for real-time task and show the real case applying KOSMOS platform in manipulator control system.