• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.5
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• pp.889-898
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• 2021

Currently, due to the demographic cliff phenomenon in Republic of Korea, A serious defense vacuum could occur due to the lack of South Korean military's personal strength. As a result, The South Korean military has a possibility to implement the polices the prepare for military provocations and preemptive strikes by the North Korean military while resolving the South Korean defense vacuum caused by the shrinking population. It seems like that the only way for the South Korean military to solve the shortage of personal strength due to the population decline is to reduce the number of Mechanized Units(MU) other than, infantry and automate, and autonomous driving the weapons system of the Mechanized Units(MU). In this paper, we propose the use of the virtual autonomous driving of the self propelled artillery K-9's in self selection of the position and occupation of position and self positioning in the position. At the same time in this paper, the self propelled artillery K-9 model robot is used to simulate and the explain about the operation method, necessity and feasibility in the self propelled artillery K-9. In addition, this paper predicted the problems that would arise if the South Korean military deployed autonomous driving self propelled K-9, in real combat.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.191-192
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• 2008

도금 산업 분야에 이용되는 펄스 정류기의 경우 정밀한 도금을 위해 큰 용량에 오버슈트가 전혀 없는 아주 빠른 시스템 응답 특성을 요구한다. 이러한 특성을 만족시키기 위한 방안으로 ITAE로 성능지수를 이용한 PID 제어기 설계 방범을 시스템에 적용하여 PID 제기의 $K_D$, $K_P$, $K_I$을 찾는 과정을 알아보며, 선택된 제어 요소에 따라 시스템의 응답특성이 어떻게 변화되는지 모의실험을 통해 살펴본다.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.40-44
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• 2013

The ball-shaped mobile robot, so called ballbot has single point contact on ground and low energy consumption in motion because of the reduced friction. In this paper, a new ballbot is presented, which has omnidirectional mobile platform inside of it as a driving system. Thus the ballbat has omnidirectional mobility without nonholonomic constraints. Kinematics and inverse kinematics of the ballbat is derived also in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.203-206
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• 1997

DC servo motors are widely used in many industrial fields as actuator of robot and driving power motors of electrical vehicle. Usually in the speed control systems, of motors, speed sensors are required and this fact results in the increased price and operating cost and the limited application of the motors. In this paper, a new speed control method for DC servo motor is proposed. In the scheme, the rotational speed is estimated by the measurement values of the armature voltage and current, instead of measurement by sensor. Optimal control theory is applied to design of the controller in construction of real system. This paper also report on the results of experiments to prove the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.634-640
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• 2011

When a servo position controller of a robot or a driving units is composed of a PID controller, servomechanism which is modelled is composed of current, velocity and position control loops. After this model is simulated, the technique operating gain of each controller is suggested. The model consists of current, velocity and position controllers from the inside to the outside gradually. Also, to combine velocity and position controllers with 2 order system, simulation is performed after current controllers are composed, which are able for current loop to work ideally. If a current controller is treated with constant, it is possible for velocity and position controller to consist of controller into 2 order system. The technique is verified by applying T-company servo motor which is much more applied to current, velocity and position controller robots.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.3
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• pp.153-163
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• 2016

Local feature extraction methods for images and videos are widely applied in the fields of image understanding and computer vision. However, robust features are detected differently when using the latest feature detectors and descriptors because of diverse image environments. This paper analyzes various feature extraction methods by summarizing algorithms, specifying properties, and comparing performance. We analyze eight feature extraction methods. The performance of feature extraction in various image environments is compared and evaluated. As a result, the feature detectors and descriptors can be used adaptively for image sequences captured under various image environments. Also, the evaluation of feature detectors and descriptors can be applied to driving assistance systems, closed circuit televisions (CCTVs), robot vision, etc.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.2062-2072
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• 1994

This paper presents the development of a fuzzy controller for driving camera pan/tilt device so that the camera's viewing direction can automatically track a moving object. To achieve computational efficiency a non-contact type displacement follower is used as a feedback sensor instead of a vision camera. The displacement follower, however, is extremely sensitive to object's lighting condition and results in unstable response at high speed. To this end, a fuzzy controller is developed in such a way to provide stable tracking performance at high speed where the sensory signal is subjected to intermittant disturbances of large magnitude. The test result shows stable tracking response even for high speed and non-uniform lighting condition. The resulting camera autotracking system can be adopted as an effective tool for visual transfer in the context of teleoperation and autonomous robotics.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.582-584
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• 1994

A sinusoidal rotatory chair system using a self-tuning and following control by a fuzzy was designed to evaluate the vestibular function and to apply to a robot driving power system. The experimental results by the sinusoidal rotatory chair system were pretty good and whitch had smaller then ${\pm}210$ pulse error on the ${\pm}810^{\circ}$ sinusoidal rotation at 0.12 Hz by using a 850W DC servo motor. As a results, the sinusoidal rotatory chair system may be useful to evaluate the vestibular function in the field of medicine, and it can be used to robotics or a numerical control system (NC) on the industry if the the obtained control method and the system are adapted for a channel.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.