• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.175-183
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• 1996

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.438-441
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• 2002

Today, it is concentrating on automation and these appearance of industrial robot has been dealing flexibly with this field. If it is drilling through these industrial robot, it will be a high efficiency of the productivity. Therefore, electric drill is setting on articulated robot with six degree of freedom and the 5 face is drilling as the type of articulated robot by a machine object setting. This study was carried out to get the possibility about drilling as analyzing with experimental frequency, original vibration of robot and appearance of vibration when it is practical drilling.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.99-106
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• 2003

A new reconfigurable model following flight control method based on direct adaptive scheme is presented. Using the timescale separation principle, both the inner-loop and the outer-loop states are controlled simultaneously. For the timescale separation assumption to be satisfied, the inner-loop model dynamics is set to be fast whereas the outer-loop model dynamics is set to be relatively slow. The stability and convergence of the proposed control law is proved by Lyapunov theorem. One of the merits of the proposed reconfigurable controller is that the FDI process and the persistent input excitation are not necessary, which is suitable for the flight control system. To evaluate the reconfiguration performance of the proposed control method, numerical simulation is performed using six degree-of-freedom nonlinear dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.2-51
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• 2001

A vehicle driving simulator is a virtual reality device which makes a human being feel as if the one drives a vehicle actually. The driving simulator is effectively used for studying interaction of a driver-vehicle and developing the vehicle system of new concepts. The driving simulator consists of a motion platform, a motion controller, a visual and audio system, a vehicle dynamic analysis system, a vehicle operation system and etc. The vehicle dynamic analysis system supervises overall operation of the simulator and also simulates dynamic motion of a multi-body vehicle model in real-time. In this paper, the main procedures to develop the driving simulator are classified by 4 parts. First, a vehicle motion platform and a motion controller, which generates realistic motion using a six degree of freedom Stewart platform driven hydraulically. Secondly, a visual system generates high fidelity visual scenes which are displayed on a screen ...

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.216-217
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• 2005

This paper presents an integrated navagation control concept for underwater vehicles under high speed navigation circumstance. First of all, in order to control an underwater vehicle with respect to automatic navigation, an integrated navigation control method is suggested in view of synchronous control for course keeping, diving and depth control. An exact nonlinear model equation with six-degree-of-freedom is derived for control algorithm. To identify various hydrodynamic coefficients of the equation, an experimental approach is introduced and results are demonstrated for MANTA type model.

• Journal of the Ergonomics Society of Korea
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• v.16 no.1
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• pp.97-105
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• 1997

An aircraft simulator for ergonomics testing and pilot training was developed from the joint work Agency for Defense Development(ADD) and Daewoo Heavy Industry, LTD, in Korea at first time. It is basically to satisfy the requirements established by FAA-AC-120-40C ( 1995-JAN-26). The aircraft simulator will be used mainly for ergonomics testing and pilot training for basic trainer on ADD and Korea Air Force in near futrue. This simulator reproduces faithfully the cockpit and flight characteristics of the KTX-1 aircraft. It is one of the latest full flight simulators that have the CGI(computer graphic image) visual system and six degree of freedom motions system. Development efforts focused on user-oriented design approach for ergonomics testing and flight training of pilots. Main characteristics of each subsystem are described such as cockpit, instruments, control loading system, motion system, visual system, aural system, instructor operation station and aircraft simulation softwear.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.1
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• pp.74-89
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• 2012

An adaptive backstepping controller is designed for the automatic landing of a fixed-wing aircraft. The backstepping control scheme is adopted by using the nonlinear six degree-of-freedom dynamics of the aircraft during the landing phase. The adaptive law is integrated along with the backstepping controller in order to estimate the aircraft modeling errors as well as the external disturbance. The dynamic constraints of the states and the actuator inputs are taken into account in the parameter adaptation. This is done to prevent an aggressive adaptation and to provide reliable control commands. Numerical simulations were performed to verify the performance of the proposed control law for the landing of the aircraft with the presence of gust and actuator stuck.

• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Aerospace Engineering and Technology
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• v.2 no.2
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• pp.115-123
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• 2003

In this paper, in order to guarantee successful operation of KSR-III TVC actuator in the presence of excessive external disturbances, a relief valve is designed as a key component of the actuator. It is shown that the relief valve can resolve the stability problems which occur due to actuator failure in the presence of excessive disturbance torques on the actuator. Six degree-of-freedom simulation shows that relief valves with low operating pressure and low LOHM parameter may be better is stability and performance of the TVC actuator system.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.3 s.18
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• pp.140-148
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• 2004

Fault detection and isolation(FDI) and reconfigurable flight control system provide better survivability even though actuator faults occur. In this study, a new fault detection and isolation algorithm is proposed using fuzzy logic. When the FDI system detects the actuator fault, the fuzzy logic investigates the state variables to find which actuator has fault. Proposed fuzzy detection algorithm detect not only a single fault but also multiple faults. After detecting the fault, the reconfigurable flight control system begins operating for compensating the effects of the fault. A numerical simulation using six degree-of-freedom nonlinear aircraft model is performed to verity the performance of the proposed fault detection and isolation scheme.