• 대한기계학회논문집A
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• 제37권12호
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• pp.1521-1527
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• 2013

본 논문에서는 마스터 조정자인 인간의 근육강도과 관절변위를 측정하여 슬레이브장치가 외부환경에 맞는 작업능력을 발휘할 수 있는 마스터/슬레이브 원격조정시스템을 제안한다. 외골격형 기구부와 경량의 관성센서를 사용하여 마스터 착용자의 편리성을 높였으며 인간의 근육과 동일한 운동특성을 가진 공압인공근육으로 슬레이브 기구장치를 구성하여 운동의 모사능력을 향상시켰다. 실험을 통해서 단순히 마스터의 위치정보만 전달하는 원격조정에 비해서 제안된 마스터는 인간 조정자가 근력의 세기를 조절함으로써 슬레이브에 작용하는 가반하중의 변화에 관계없이 균일한 제어성능을 가질 수 있었다.

• 인터넷정보학회논문지
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• 제21권3호
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• pp.21-28
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• 2020

Fireworks Algorithm (FWA) is a relatively novel swarm-based metaheuristic algorithm for global optimization. To solve the low-efficient local searching problem and convergence of the FWA, this paper presents a Variable Amplitude Coefficient Fireworks Algorithm with Uniform Local Search Operator (namely VACUFWA). Firstly, the explosive amplitude is used to adjust improving the convergence speed dynamically. Secondly, Uniform Local Search (ULS) enhances exploitation capability of the FWA. Finally, the ULS and Variable Amplitude Coefficient operator are used in the VACUFWA. The comprehensive experiment carried out on 13 benchmark functions. Its results indicate that the performance of VACUFWA is significantly improved compared with the FWA, Differential Evolution, and Particle Swarm Optimization.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1086-1092
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• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1096-1101
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• 2009

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.465-467
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• 1994

A VSC with Inertial COFB(Coordinate-Operator Feedback) is presented for chattering alleviation. Athought the conventional sliding mode controller has good properties of robustness for disturbances or parameter variations, fast response, and easy implementation, there exists an inevitable chattering problem which deteriorates the control performance of system. VSC using Inertial COFB has properties of bounded feedback gain, reduced chattering, and robustness for disturbances or parameter variations. The validity of the proposed method is demonstrated through computer simulation for a position control of BLDCM.

• 전기학회논문지
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• 제57권9호
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• pp.1636-1641
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• 2008

In this study, we introduce a new approach to Parallel Genetic Algorithms (PGA) which combines AHFCGA with crossover operator. As to crossover operators, we use three types of the crossover operators such as modified simple crossover(MSX), arithmetic crossover(AX), and Unimodal Normal Distribution Crossover(UNDX) for real coding. The AHFC model is given as an extended and adaptive version of HFC for parameter optimization. The migration topology of AHFC is composed of sub-populations(demes), the admission threshold levels, and admission buffer for the deme of each threshold level through succesive evolution process. In particular, UNDX is mean-centric crossover operator using multiple parents, and generates offsprings obeying a normal distribution around the center of parents. By using test functions having multimodality and/or epistasis, which are commonly used in the study of function parameter optimization, Experimental results show that AHFCGA can produce more preferable output performance result when compared to HFCGA and RCGA.

• 한국수학교육학회지시리즈B:순수및응용수학
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• 제21권2호
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• pp.129-139
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• 2014

In this paper, we present a detailed comparison of the performance of the numerical solvers such as the biconjugate gradient stabilized, operator splitting, and multigrid methods for solving the two-dimensional Black-Scholes equation. The equation is discretized by the finite difference method. The computational results demonstrate that the operator splitting method is fastest among these solvers with the same level of accuracy.

• Journal of Biosystems Engineering
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• 제20권2호
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• pp.117-126
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• 1995

High level of tractor noise may reduce operator's work performance and cause a hearing problem. This study was carried out to investigate the cab noise of a selected agricultural tractor. The noise was measured and analyzed in terms of sound and sound intensity levels. Form the results it was known that a structure-born noise was induced from the feet-rest and rear floor panel of the cab. The air-borne noise caused mainly by the engine was transmitted into the operator's position through the small openings of cab structures in the operator's lower front area.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 1995년도 추계학술발표회 및 정기총회
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• pp.0-0
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• 1995

Simulation tools are widely used for performance evaluation of newly proposed systems. However, many industrial simulation projects fail to attain the original goals ,especially when very complicated decision logics of the experienced operatorsare needed to be modeled. We propose a technique to overcome the oabstacles. In the proposed technique, complicated decision logics are not directly modeled but an interface for interactive input is provided in the model. While running the simulation model in concurrent animation mode, whenever operator's decisions are needed an interfce screen is displayed for operator's decisions. The operator then makes decisions using the information which is provided by the animation proces itself. This technique was successfully applied to an industrial simulation projects in which alternatives were evaluated for increasingthe color lot size of car print shop.

• 한국정보처리학회논문지
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• 제3권6호
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• pp.1607-1615
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• 1996

본 논문에서는 계산이 간단하면서 효과적으로 스케치 특징을 추출할수 있는 새로운 연산자 DBAH(differ-ence between arithmetic mean and harmonic mean) 를 제안하고,임계치를 자동으로 결정하는 퍼지 임계치 추론기를 제안한다. 제안한 연산자는 국부 밝기를 고려하며,매우 어두운 영역에서의 밝기변화에서는 낮은 출력을 나타내는 장점을 가진다. 또한 제안된 퍼지 임계치 추론기는 조작자의 개입 없이도 스케치 특징점을 매우 잘 검출한다.