• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.10a
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• pp.655-662
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• 1998

This paper is on the anlaysis for real-time software requirement . This method can be used for TNPIN(Timed Numerical Petri Net) as a easy communication means with a real-users. It is based on the RTTL(Real Time Temporal Logic) for correctness fo the system. TNPN is used to represent a behavior specification language, the validity of specified behaviors in TNPN is expressed in RTTL , and analyzed through the reachability graph. Thus , the requirement of between user and system is satisfied. By the example of shared track, the validity of the property of real-time (safetiness, responsiveness, liveness, priority) is verified. Also, this framework is give to connection with a object natually.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.365-368
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• 2005

The dynamic model was developed to analyze vibration acceleration and ride comfort during the operation of rubber-tired light rail vehicles. The ride comfort for standing passengers was analyzed in accordance with ISO 2631-1, UIC 513R, and CEN Draft prENV 12299 using this model. The result was applied to the detail design of Korean-standard, rubber-tired light rail vehicles, and the detail specifications related to ride comfort was determined based on this result. The ride comfort test was performed along the test track by using 2 car-train, and its result was compared with that of the ride comfort analysis, verifying the validity of the developed dynamic model. It was also verified whether or not the developed Korean-standardized, rubber-tired light rail vehicle met specified target specifications on ride comfort.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.487-490
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• 2002

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) fur port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe deriving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of them under developing.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1258-1259
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• 2011

LSMs are installed under girders along the long track. In order to improve the efficiency of the LSM, long stator LSM should be divided into the specified length and the propulsion inverters should have the system topology to generate high voltage and current for LSMs. This paper presents a system topology with two-step inverter in order to generate high voltage in inverter. A LSM propulsion system is developed and implemented in Maltab/Simulink. A system model of the two-step Inverter is applied to developed model. This paper demonstrates through simulation, advantages of multi-step inverter. The conclusions can serve the design of LSM propulsion system.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.598-603
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• 2005

In this study, an adaptive control scheme with a pre-specified $H_{\infty}$ property is proposed for the tracking control of linear induction motor (LIM) drive system. Under the influence of uncertainties and external disturbances, by using nonlinear decoupling and parameter tuner, the robust performance control problem is formulated as a nonlinear $H_{\infty}$ problem and solved by a quadratic storage function. This new design method is able to track the step and several periodic commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive $H_{\infty}$ controller.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.653-657
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• 2005

AGV is very useful equipment to transfer containers in automated container terminal. AGV must have Obstacle Detection System (ODS) for port automation. ODS needs the function to classify some specified object from background in acquired data. And it must be able to track classified moving objects. Finally, ODS could determine its next action for safe driving whether it should do emergency stop or speed down, or it should change its deriving lane. For these functions, ODS can have many different kinds of algorithm. In this paper, we present one of AGV to be used in automated container terminal.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.187-192
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• 2005

This paper presents the design of the Automatic Gain Control (AGC) system for the drive axis of a electro-magnetic driven cylinder gyroscope. The simulation and experimental results show that the designed AGC excites the cylinder at its natural frequency and maintains a specified amplitude of oscillations, and also track the natural frequency shifts due to temperature variations. The sensing performance of the AGC driven gyroscope is shown to be greatly improved compared to that of the open-loop driven one.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• International Journal of Automotive Technology
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• v.7 no.6
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• pp.703-714
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• 2006

The growing concern surrounding rollover incidences and consequences of Sports Utility Vehicles(SUV) have prompted to investigate the sensitivity of critical vehicle parameters on rollover. In this paper, dynamic rollover simulation of Sports Utility Vehicles is carried out using a validated nonlinear vehicle model in Matlab/Simulink. A standard model is considered and critical vehicle parameters like CG height, track width and wheel base are varied within chosen specified limits to study its influence on roll behavior during a Fishhook steering maneuver. A roll stability criterion based on Two Wheel Lift Off(TWLO) phenomenon is adopted for rollover propensity prediction. Further dynamic rollover characteristics of the vehicle are correlated with Static Stability Factor(SSF), Roll Stability Factor(RSF) and Two Wheel Lift Off Velocity(TWLV). These findings will be of immense help to SUV chassis designers to determine safety limits of critical vehicle parameters and minimize rollover incidences.