• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.69.2-69
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes.

• 로봇학회논문지
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• 제17권1호
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• pp.16-24
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• 2022

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

• 한국전기전자재료학회논문지
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• 제25권1호
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• pp.76-83
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• 2012

In a real-time indoor place recognition system using image features detection, specific markers included in input image should be detected exactly and quickly. However because the same markers in image are shown up differently depending to movement, direction and angle of camera, it is required a method to solve such problems. This paper proposes a technique to extract the features of object without regard to change of the object scale. To support real-time operation, it adopts SURF(Speeded up Robust Features) which enables fast feature detection. Another feature of this system is the user mark designation which makes possible for user to designate marks from input image for location detection in advance. Unlike to use hardware marks, the feature above has an advantage that the designated marks can be used without any manipulation to recognize location in input image.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.759-763
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.866-872
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• 2014

The purpose of this paper was to find an effective method for measuring electromagnetic torque produced by a brushless DC motor with single-phase current sensing in real-time. A torque equation is derived from the theory of brushless DC motor. This equation is then validated experimentally with a motor dynamometer. A computer algorithm is also proposed to implement the electromagnetic torque estimation equation in real-time. Electromagnetic torque is a linear function of phase current. Estimating the electromagnetic torque in real-time using single-phase current is not appropriate with existing equations, however, because of the rectangular alternating-pulse nature of the excitation current. With some mathematical manipulation to the existing equations, the equation derived in this paper overcame this limitation. The equation developed is simple and so it is computationally efficient, and it takes only motor torque constant and single-phase current to evaluate the electromagnetic torque; no other parameters such as winding resistances, inductances are needed. The equation derived is limited to the three-phase brushless DC motor. It can, however, easily be extended to the multiphase brushless DC motor with the technique described in this paper.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• 국제학술발표논문집
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• The 3th International Conference on Construction Engineering and Project Management
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• pp.1134-1139
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• 2009

Haul routes for earthmoving operation need to be carefully selected because the decision on the haul routes could make a significant difference in the project's cost and time. This paper proposes a decision support system for improving productivity of earthmoving operation that helps construction managers choose the best haul routes of trucks based on time slots. Also, a methodology for optimal selection of haul routes considering traffic conditions and topographic conditions of the routes is explained. Raster data model is used to find an available shortest path based on cost weighted distance. A system was developed on a geographic information system environment for efficient database management and easy manipulation of graphical data. A real-world case study was conducted to verify the applicability of the proposed system.

• 한국정보통신학회논문지
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• 제17권5호
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• pp.1239-1244
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• 2013

임상 의료 분야에서 질병 진단 및 치료를 위해서는 분자 수준(프로틴, DNA 등)의 크기 뿐만 아니라, 세포 수준에 대한 분석이 필요하다. 많은 경우 실험 샘플이 시간에 따라 변질되기 때문에 정확한 분석을 위해서는 빠른 분석과 실시간 데이터가 필요하다. 본 연구에서는 나노 마이크로 크기의 세포내 단백질이나 DNA의 변화 과정 등을 촬영할 수 있는 3차원 형광 관측 장치를 제작하고 이로부터 얻은 형광 이미지를 실시간 통합 관리 및 분석하기 위한 서버 클라이언트 기반의 형광 이미지 분석 시스템을 구축하였다. 시스템은 형광 관측 장치와 소프트웨어 그리고 형광 이미지를 실시간으로 분석할 수 있는 모바일 프로그램으로 구성된다. 개발된 시스템은 의료인이 시공간의 제약 없이 응급환자의 샘플에서 획득한 형광이미지를 실시간으로 전송받아 분석 및 진단을 내릴 수 있도록 해 주므로 유비쿼터스 헬스 구현에 활용할 수 있다.

• Journal of International Society for Simulation Surgery
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• 제2권1호
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• pp.7-9
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• 2015

Purpose In the many face-related application such as head pose estimation, 3D face modeling, facial appearance manipulation, the robust and fast facial feature extraction is necessary. We present the facial feature extraction method based on shape regression and feature selection for real-time facial feature extraction. Materials and Methods The facial features are initialized by statistical shape model and then the shape of facial features are deformed iteratively according to the texture pattern which is selected on the feature pool. Results We obtain fast and robust facial feature extraction result with error less than 4% and processing time less than 12 ms. The alignment error is measured by average of ratio of pixel difference to inter-ocular distance. Conclusion The accuracy and processing time of the method is enough to apply facial feature based application and can be used on the face beautification or 3D face modeling.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.537-539
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• 2016

최근 드론, 무인 정찰선 등 무인 기술에 대한 관심이 크게 늘었다. 무인 보트는 사람이 직접 탑승하지 않고 무선 전파로 조종이 가능한 보트를 말한다. 무인 보트는 미 해군에서 처음 개발하여 군사용으로 사용되고 있다. 최근에는 취미용, 농약 살포용, 수상 레저용, 탐사용 등 다양한 방면으로 사용이 확대 되었다. 위의 다양한 무인 보트의 역할 중 탐사용 무인 보트의 경우 사람의 시각에 들어오지 않는 사각지대와 같은 곳을 탐사할 수 없다는 장점이 있다. 본 논문에서는 사각지대와 같은 곳도 탐사가 가능한, 실시간 스트리밍을 지원하는 무인 보트를 Raspberry Pi를 이용하여 구현 했다. 수신기의 신호를 입력받아 송신기로 무인 보트의 조작이 가능하고, 스마트폰의 핫스팟 기능을 이용한 Paspberry Pi와 스마트폰의 네트워크 연결, 이를 통해 Raspberry Pi의 Motion을 이용한 실시간 스트리밍이 가능한 무인 보트이다.