• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.670-673
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• 1999

In this paper, we present a robust motion controller based on Adaptive-Fuzzy technique is proposed that multifunctional vehicle(MVR) for two DOF mobile robot can perform detailed inspection of physical conditions of sewage pipes as well as can effectively repair the damaged portions of the inner walls. The main difficulties in controlling this multifunctional robot vehicles lie in the fact that vehicles usually have three degrees of freedom in position and orientation in spite of having only two degrees of freedom for motion control in tracking mode. Decomposition of error between the reference posture and the current posture makes control of speed and steering possible. The Gyro compass part and Inclonometer of the robot is configured in order to realize position of robot. The proposed Adaptive-Fuzzy motion controller has two main characteristics: The one guarantees that the MVR follows the reference trajectory; the other one compensates the dynamics of the MVR. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.626-630
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.5
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• pp.448-457
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• 2013

This paper proposes a control method under stand-alone operating mode for distributed-module type photovoltaic power conditioners. In conventional schemes, there are some problems of a controller saturation in the DC-link (or load) voltage controller when overly-heavy load, light load, and the generated PV power reduction occurs, as well as when a transition occurs from an overly-loaded to normal conditions. To overcome these problems, the proposed controller method switches the main control target from DC-link voltage to the maximum power point, which is closer to the stable operating point when it returns to normal operating conditions. For the analysis, a state-plane trajectory was given and the circuit analysis by PSIM simulation was done. For the verification, a prototype hardware with 110[W] and 50[W] dual photovoltaic modules has been implemented. From the results, it can be seen that PV power tracking is successfully done with the proposed method even under a stand-alone operation mode.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.472-477
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• 2023

In this paper, we proposes the use of Model Predictive Control (MPC) techniques to enable quadcopter drones to effectively follow paths and maintain flight safety even under dynamic external environments and disturbances. Through simulations conducted in MATLAB/Simulink, the performance of two controllers, PID and MPC, is compared in flight scenarios with disturbances. The proposed design method shows that the MPC controller, when compared to the PID controller, exhibits a difference in the Mean Squared Error between the intended flight path and the actual path of the quadcopter drone. This difference is 0.2 in performance under no disturbance, and it increases to 0.8 under disturbance, demonstrating the improved path following accuracy of the MPC controller.

• Journal of Power System Engineering
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• v.15 no.1
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• pp.72-77
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• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane). This paper introduces a new guide line position measurement method using a camera for the RTGC which plays a important role in the harbor area. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as trajectory to follow is obtained, the position of RTGC is calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guideline. This system consists of a camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the camera, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, high accurate standard deviations were found as 0.98 pixel of the displacement and 0.24 degree of the angle, including robustness against lighting fluctuation and cracks of the guide line also.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.5
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• pp.1070-1075
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• 2013

In this research, we describe a security robot system and ongoing research results to control human's wrong direction in order to forbid human to enter security zone. Proposed robot system surveils a security area with equipped laserscanner sensor usually. When it detect walking human who is for the area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto an scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Journal of the Korean Association of Geographic Information Studies
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• v.8 no.1
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• pp.23-39
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• 2005

As developing satellite communication, the tracking range of the moving objects which move in local area is expanded to the whole world. However previous logistics management system is able to monitor freight which transporting in local area using mobile communication system. In this paper, we propose the reefer container management system that manages the location information and other related information such as temperature, humidity of container using the satellite system. The proposed system consists of three parts; data collector, satellite communication manager, reefer container information manager. And the proposed system uses the moving object index for managing the trajectory of container and tracing the location of container or vessel that is transporting the container, and supports various services such as reefer container and vessel tracking, container control and container statistics to logistic companies like shipper and forwarding agent. And the system can be increasing the quality of container transportation service to the shipper, and it makes the efficient management of reefer container to the shipping company.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.698-707
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• 2017

This paper deals with predictive control methods of mobile robots for reference trajectory tracking control. Predictive control methods using predictive model are known as effective schemes that minimize the future errors between the reference trajectories and system states; however, the amount of real-time computation for the predictive control are huge so that their applications were limited to slow dynamic systems such as chemical processing plants. Lately with high computing power due to advanced computer technologies, the predictive control methods have been applied to fast systems such as mobile robots. These predictive controllers have some control parameters related to control performance. But these parameters have not been optimized. In this paper we employed the genetic algorithm to optimize the control parameters of the predictive controller for mobile robots. The improved performances of the proposed control method are demonstrated by the computer simulation studies.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.