• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.7
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• pp.955-960
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• 2004

In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The Neural Network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.117-122
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• 1992

The fuzzy-neural hybrid control system utilizing the fuzzy-neural network(FNN) will be presented in this paper. The basic structure of the controller is the parallel combination of a conventional P-controller and a FNN. Such a combination can guarantee the stability of a plant at initial stage before the rules are completely created. And a method how to automatically tunning the parameters of the FNN will be proposed with error back-propagation(BP) algorithm. Finally the effectiveness of the proposed strategy will be verified by computer simulations using a two DOF robot manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1311-1318
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• 2015

This paper introduces a novel topology and an effective control strategy for a shunt hybrid power filter (SHPF) to simultaneously compensate harmonic currents and reactive power. The proposed SHPF topology is composed of an LC passive filter tuned to the 7^th harmonic frequency and a small-rated active filter connected in parallel with the inductor L_pf of the LC passive filter. Together with the SHPF topology, we also propose a control strategy, which consists of a proportional-integral (PI) controller for DC-link voltage regulation and a PI plus repetitive current controller, in order to compensate both the harmonic current and the reactive power without the need for additional hardware. Thanks to the effectiveness of the proposed control scheme, the supply current is sufficiently compensated to be sinusoidal and in-phase with the supply voltage, regardless of the distorted and phase lagging of the load current. The effectiveness of the proposed SHPF topology and control strategy is verified by simulated and experimental results.

• Transactions of The Korea Fluid Power Systems Society
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• v.4 no.2
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• pp.21-27
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• 2007

This paper deals with the issue of trajectory tracking control of a clamping cylinder for injection moulding machine, which is directly driven by speed controlled hydraulic pump in combination with AC servomotor. As a fundamental step prior to tracking controller design, feedback control system is developed by implementing a position control loop parallel with a system pressure control loop. A sliding mode controller combining velocity feedforward scheme is developed for enhancing the tracking performance. Consequently a significant reduction in tracking error is achieved for both position and pressure control applications.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.291-291
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• 2000

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. Driving Operation System acts as an interface between a driver and a driving simulator. This paper suggests the driving operation system for a driving simulator. This system consists of a controller, DC geared motor, MR brake, rotary encoders, steeping motor and bevel gear box. Reaction force and torque on the steering system were made by DC_Motor and MR_Brake. Reaction force and torque on the steering system were compare between real car and a driving simulator. The controller based on the 80C196KC micro processor that manage and transfer signal.

• Journal of the Korean Society of Industry Convergence
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• v.7 no.2
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• pp.207-213
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• 2004

This paper describes the development of Behind-Tape-Reader (BTR) type DNC system using CYBER 180-830 as a central computer and IBM PC-AT cell control computer and NC lathe with FANUC 5T NC controller. In this system, the connection between central computer and cell control computer is done via RS-232C serial interface board, and that between cell control computer and FANUC 5T controller is done via parallel interface board. The software consists of two module, central computer communication module for NC program downloading and status uploading, NC machine running module for NC operating.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.5
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• pp.55-61
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• 2010

When we design the control system used Programmable Logic Controller(PLC) by Sequential Function Chart(SFC), if we use a SFC, it is easy to know the sequential flow of control, to maintenance the controller and to describe a program. We program a SFC by a unique sequence, an alternative sequence and a parallel sequence. If we program a SFC by a alternative sequence, the memory size of a alternative sequence must be larger than the memory size of a unique sequence. Therefore this thesis show an efficient method to reduce a memory size and we confirmed its feasibility through actual example.