• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.130-133
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of a physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing). This paper reports the interim results of the research of a system configuration that enhances the physical intimacy relationship in the symbiosis of the human and the robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1032-1035
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• 1996

While Ethernet and TCP/IP are the most widely used protocol, for Real-time system, it is not applicable because it doesn't guarantee the deterministic transmission time. Furthermore, the TCP acknowledgement scheme and sliding window algorithm enforce to collide packets. Although various Collision-Free CSMA protocol was presented, it is very difficult to implement in well known OS(UNIX, WilidowsNT) because we have to modify network kernel. This paper presents another transmission protocol based on modified UDP. The colliding probability can be minimized by avoiding successive packet transmission and decreasing competition duration. The proposed algorithm can be used for the soft real-time industrial automation network.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1157-1160
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• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1361-1365
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• 2005

This paper presents a high-frequency electronic ballast for HID lamps. A new fixed frequency dimming method with low EMI features is developed in this research. The proposed electronic ballast has the advantages of high power density, simple circuit and low EMI features. The circuit operating principle and design procedures are described in detail. A laboratory prototype was built and tested. The simulation and experimental waveforms verify the feasibility of the proposed scheme.

• 세라미스트
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• 제23권1호
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• pp.27-37
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• 2020

Recently, 4D printing technology has received considerable attention in various industries and research fields including soft robotics, tissue engineering, electronics. In 4D printing process, 3D printed object transforms itself into programmed structure by the input of external energy. Thus, this process requires not only smart materials, capable of changing their properties or features in response to external stimuli such as electricity, temperature, light, etc., but also smart structures, multi-material 3D printing, simulation and so on. In this review, the concept, technical elements and potential of 4d printing are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.167.2-167
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• 2001

This paper presents guidance and control laws which guarantee a minimum fuel consumption and have obustness against various disturbances during a terminal-landing phase on the lunar surface. The nonlinear robust tracking control system is designed to track the reference profiles, which are expressed by exponential functions. An adjustment law in the tracking controller is given in the form of the differential equations with respect to the controller´s variable gains. Computer simulations are performed to examine the tracking accuracy, the robustness in a thrust failure mode, and the vertical soft landing at a pre-assigned point on the lunar surface. The results of numerical simulation show the effectiveness of the present control law.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.49-49
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• 2000

Sensors are used to measure the states in need for control in a closed-loop system. Accuracy, reliability, stability of sensors are closely related to the controller performance. In case of sensor faults, they are detected by examining the sensor output values and the major values of the system. And then the types of the faults are recognized by the analysis of symptoms of faults. In this paper, a self-validating sensor is applied to the control of an aerodynamic plant system with the sensor fault problems in the potentiometer module for exact positioning to show the applicability. We propose a digital controller can provide a satisfactory loop performance even when the sensor faults occur.

• 세라미스트
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• 제22권1호
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• pp.4-16
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• 2019

Recently, wearable sensors have received considerable attention in a variety of research fields and industries as the importance of wearable healthcare systems, soft robotics and bio-integrated devices increased. However, expensive and complex processes are hindering the commercialization of wearable sensors. Nanoparticle presents some of solutions to these problems as its adjustable for processability and tunable properties. In this paper, the recent development of nanoparticle based pressure and strain sensors was reviewed, and a discussion on their strategies to overcome the conventional limitation and operating principles is presented.