• Proceedings of the Korean Society of Computer Information Conference
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• 2016.07a
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• pp.207-208
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• 2016

본 논문에서는 아두이노와 블루투스 모듈이 결합된 블루이노2 보드를 활용한 컨트롤러를 제작하였다. 컨트롤러는 버튼, 아날로그 조이스틱, 자이로 센서로 구성되어 있으며 각 부품의 데이터 값을 블루투스로 전송하면 유니티 엔진을 이용하여 제작된 게임이 작동되는 것이다. 컨트롤러와 함께 구글 카드보드를 이용한 스마트폰으로 가상현실 게임을 체험 할 수 있게 된다.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2001.05a
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• pp.42-47
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• 2001

가상현실 기술은 이제 컴퓨터가 생성한 환경과 사용자간의 자유로운 상호작용을 수행할 수 있도록 하는 것이 중요하게 되었다. 이러한 상호작용을 위해서는 시각 제시기뿐만 아니라 사용자가 가상환경에서 물리적인 힘을 느낄 수 있도록 하는 것이 중요하다. 본 논문은 가상환경에서 사용자에게 운동감을 제시할 수 있는 기기들의 소프트웨어적인 아키텍처를 제안하고, 또한 이러한 기기들을 연결하는 데 있어서 가상환경과 통합될 수 있도록 가상환경 서보와 힘 피드백 제시기간의 통신규약을 제시한다.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1735_1736
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• 2009

This paper discusses about a robust servo system applying PID control to PMSM. The system has robustness by Sliding Mode Controller. A novel sliding surface is defined by virtual state. This sliding surface has nominal dynamics of an original PID control system. So Sliding Mode Control(SMC) technique can be used with PID controller. Its design is based on the augmented system whose dynamics have a higher order than that of the original system. The reaching phase is removed by using an initial virtual state whitch makes the initial sliding function equal to zero.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.915-917
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• 1999

In this paper, a novel sliding surface is proposed by introducing a virtual state. This sliding surface has nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is combined with the $H_{\infty}$ controller. Its design is based on the augument system whose dynamics have one higher order than that of the original system. The reaching phase is removed by setting an initial virtual state which makes the initial switching function equal to zero.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.04a
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• pp.173-176
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• 2003

Microdisplay with transmissive to realize the virtual display con make the large screen with small devices, so virtual image realization technology have been developed by using 0.24" microdisplay panel. We developed microdisplay controller with using Kopin panel. microdisplay will be used in several telecommunication terminal which can transfor text message and still/moving images.

• Journal of Power Electronics
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• v.16 no.1
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• pp.18-26
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• 2016

This paper proposes a compensation algorithm for reducing a specific ripple component on synchronous reference frame phase locked loop (SRF-PLL) in grid-tied single-phase inverters. In general, SRF-PLL, which is based on all-pass filter to generate virtual voltage, is widely used to estimate the grid phase angle in a single-phase system. In reality, the estimated grid phase angle might be distorted because the phase difference between actual and virtual voltages is not 90 degrees. That is, the phase error is caused by the difference between cut-off frequency of all-pass filter and grid frequency under grid frequency variation. Therefore, the effects on phase angle and output current attributed to the phase error are mathematically analyzed in this paper. In addition, the proportional resonant (PR) controller is adapted to reduce the effects of phase error. The validity of the proposed algorithm is verified through several simulations and experiments.

• Journal of Drive and Control
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• v.11 no.2
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• pp.9-15
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• 2014

This paper deals with the issue of force synchronizing control for the clamping servomechanism of injection molding machines. Prior to the controller design, a virtual design model has been developed for the clamping mechanism with hydraulic systems. Then, a synchronizing controller is designed and combined with an adaptive feedforward control in order to accommodate the mismatches between the real plant and the linear model plant used. As a disturbance, the leakage due to the ring gap with relative motion in the cylinder has been introduced. From the robust force tracking simulations, it is shown that a significant reduction in the force synchronizing error is achieved through the use of a proposed control scheme.

• Journal of the Semiconductor & Display Technology
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• v.18 no.4
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• pp.116-119
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• 2019

User interface/experience and realistic game manipulation play an important role in virtual reality first-person-shooting game. This paper presents an intuitive hands-free interface of gaming interaction scheme for FPS based on user's gesture recognition and VR controller. We focus on conventional interface of VR FPS interaction, and design the player interaction wearing head mounted display with two motion controllers; leap motion to handle low-level physics interaction and VIVE tracker to control movement of the player joints in the VR world. The FPS prototype system shows that the design interface helps to enjoy playing immersive FPS and gives players a new gaming experience.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.