• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.152-155
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• 1991

A solution to the problem of robot manipulator tracking of a smoothly moving object is given. It is shown that fuzzy prediction rule, fuzzy control can compensate the adverse effects of noise, time delay, unknown object trajectory, and robot modeling uncertainty. Simulations show that the fuzzy logic control results in acceptable precision,

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• 한국정밀공학회지
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• 제23권8호
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• pp.72-79
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• 2006

We measured grating pitch standards using optical diffractometry and analyzed measurement uncertainty. Grating pitch standards have been used widely as a magnification standard for a scanning electron microscope (SEM) and a scanning probe microscope (SPM). Thus, to establish the meter-traceability in nano-metrology using SPM and SEM, it is important to certify grating pitch standards accurately. The optical diffractometer consists of two laser sources, argon ion laser (488 nm) and He-Cd laser (325 nm), optics to make an incident beam, a precision rotary table and a quadrant photo-diode to detect the position of diffraction beam. The precision rotary table incorporates a calibrated angle encoder, enabling the precise and accurate measurement of diffraction angle. Applying the measured diffraction angle to the grating equation, the mean pitch of grating specimen can be obtained very accurately. The pitch and orthogonality of two-dimensional grating pitch standards were measured, and the measurement uncertainty was analyzed according to the Guide to the Expression of Uncertainty in Measurement. The expanded uncertainties (k = 2) in pitch measurement were less than 0.015 nm and 0.03 nm for the specimen with the nominal pitch of 300 nm and 1000 nm. In the case of orthogonality measurement, the expanded uncertainties were less than $0.006^{\circ}$. In the pitch measurement, the main uncertainty source was the variation of measured pitch values according to the diffraction order. The measurement results show that the optical diffractometry can be used as an effective calibration tool for grating pitch standards.

• 산업경영시스템학회지
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• 제43권4호
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• pp.178-189
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• 2020

The purpose of this study was to analyze structural relationships with regard to the effect of customer integration, which is a type of integration in the supply chain, and market orientation of supply chain on the resulting change in the supply chain and management performance. The results of analysis in this study are as follows: First, customer integration and market orientation had a positive effect on reducing the flexibility and uncertainty of SCM. The decreased flexibility and uncertainty of SCM had a positive effect on non-financial performance, which also had a positive effect on financial performance. Second, customer integration and market orientation had a positive effect on financial and non-financial performance indirectly by decreasing the flexibility and uncertainty of SCM. Third, the effect of customer integration and uncertainty of SCM on the flexibility of SCM changed depending on the position in the supply chain; the effect was larger in the distribution group. The implications based on the analysis results are as follows: It is expected that the ability to deal with market changes in the overall supply chain is improved by laying the foundation for cooperation through establishing information infrastructure, including sharing information with trade partners and integrating systems, and implementing customer integration based on these achievements. It is also necessary to consider the business types and characteristics of individual companies in establishing information infrastructure.

• 한국항행학회논문지
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• 제10권2호
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• pp.113-120
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• 2006

본 논문에서는 로봇 매니퓰레이터가 기준 궤적을 추종할 수 있도록 영상기반 강인제어기를 제안하였다. 카메라로부터 획득된 목표물의 특징점을 원하는 특징점 좌표로 로봇이 이동할 수 있도록 기준 궤적을 생성하고, 제어 입력에 포함되는 로봇 동역학부의 파라미터 불확실성을 보상하기 위한 강인제어기를 설계하였다. 또한 자코비안에 불확실성이 존재하는 경우 이를 보상하기 위한 제어 입력을 갖는 영상기반 강인제어기를 제안하였다. 시스템의 안정도는 Lyapunov 안정도 판별법을 이용하여 검증하였다. 5-링크 2 자유도의 로봇 매니퓰레이터를 대상으로 제안된 제어기를 적용한 모의실험과 실험을 통하여 제어 성능을 입증하였다.

• 한국의류학회지
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• 제31권12호
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• pp.1793-1802
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• 2007

본 연구는 소비자의 윤리의식이 패션복제품에 대한 소비자의 인식과 구매의도와의 관계를 살펴보았다. Forsyth(1980)의 Ethics Position Questionnaire(EPQ)를 이용하여 소비자의 윤리의식를 이상주의와 상대주의로 측정하여 연구에 사용하였다. 설문지법을 이용하여 대도시에 거주하는 대학생을(N=314)대상으로 조사한 결과, 약 66%가 패션복제품 구매경험이 있는 것으로 나타났다. 소비자의 복제품에 대한 인식은 경제적, 심리적, 기능적, 반품관련 불확실성 측면에서 살펴보았다. 소비자의 패션복제품 구매자와 비구매자간에 윤리의식 측면에서 유의한 차이는 없었으며, 일반적으로 패션복제품 구매경험자들은 복제품에 대해 경제적인 측면과 사회적인 측면에서 미경험자에 비해 긍정적으로 인식하고 있는 것으로 나타났다. 소비자 윤리의식 중에서 이상주의는 소비자의 패션복제품 인식과 유의한 관계가 없는 것으로 나타났으며, 상대주의는 반품관련 불확실성에서만 유의한 영향을 미치는 것으로 나타났다. 소비자들이 지각하는 복제품의 경제적, 심리적, 반품관련 불확실성이 복제품 구매의도에 유의한 영향을 미치는 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.540-545
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• 2004

This article describes the time delay control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, develops time delay control algorithm [1]. The developed control algorithm is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 동력기계공학회지
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• 제21권6호
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• pp.101-109
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• 2017

The pneumatic driving system has advantages such as high output power per weight and low heat generation rate. However, it is difficult to control the position because of its strong non-linearity such as large friction forces compared to driving force, and heat transfer characteristics that change during operation. Therefore, in order to achieve the control objectives, a robust controller should be designed considering modeling error and model uncertainty. In this paper, a sliding mode controller is designed to improve the position control performance of pneumatic cylinder driving system. Experimental results show that the designed controller achieves the designed control objectives even if the model of the cylinder driving system, such as the initial pressure inside the cylinder and the initial position of the piston is changed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1723-1728
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• 2005

This article describes the fuzzy control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, describes the design of the fuzzy controller, which does not require the computation time to optimize the distribution of cable tension. The developed controller is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.129.5-129
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• 2001

When a robot manipulator performs some task like grinding or assembling, not only the position control but also the force control of the tools connected to the robot must be controlled. But at this time We were received the uncertainty problems of system information for the force control, for example disturbance, senor resolution and measurement noise. Therefore we proposed fuzzy logic control method instead of existing control theory for the robot manipulator control, for example PID control method. In this paper, We proposed hybrid position/force control of robot manipulator using fuzzy logic control method. To show the validity of the proposed fuzzy controller, We compared fuzzy controller with conventional PID controller.