• Proceedings of the KSME Conference
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• 2008.11a
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• pp.643-645
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• 2008

To obtain weight reduction and high performance, level set based topology optimization in magnetic fields is promising for the design of magnetic devices where the precise boundary shape and topological chanages are required. Level set function is introduced to represent ferromagnetic material boundaries and material properties of the magnetic reluctivity are determined. The optimization problem is formulated for maximizing the actuating force in a prescribed direction under limited usage of ferromagnetic material.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.163-169
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• 2021

In this paper, we implemented a deep learning-based automatic object tracking and handy motion control drone system and analyzed the performance of the proposed system. The drone system automatically detects and tracks targets by analyzing images obtained from the drone's camera using deep learning algorithms, consisting of the YOLO, the MobileNet, and the deepSORT. Such deep learning-based detection and tracking algorithms have both higher target detection accuracy and processing speed than the conventional color-based algorithm, the CAMShift. In addition, in order to facilitate the drone control by hand from the ground control station, we classified handy motions and generated flight control commands through motion recognition using the YOLO algorithm. It was confirmed that such a deep learning-based target tracking and drone handy motion control system stably track the target and can easily control the drone.

• Rapid Communication in Photoscience
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• v.1 no.2
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• pp.62-62
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• 2012

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.149-157
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• 2013

This paper describes a global path planning method and path optimization algorithm for autonomous mobile robot based on the virtual elastic force in a grid map environment. A goal of a path planning is information for a robot to go its goal point from start point by a effective way. The AStar algorithm is a well-known method for a grid based path planning. This paper suggest a path optimization method by a virtual elastic force and compare the algorithm with a orignal AStar method. The virtual elastic force makes a shorter and smoother path. It is a profitable algorithm to optimize a path in a grid environment.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.270-278
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• 2017

The electrical muscle stimulator (EMS) based human machine interface (HMI) free to mechanical constraint and muscle fatigue problems are proposed for force feedback in a virtual reality. The device was designed to provide force feedback up to 4.8 N and 2.6 N each to the thumb and forefingers. The main objective of the HMI is to make unnecessary mechanical structures to attach on the hand or fingers. It employs custom EMSs and an interface arranged in the forearm. In this work, major muscle groups such as extensor pollicis brevis (EPB), extensor indicis proprius (EIP), flexor pollicis longus (FPL) and flexor digitorum profundus (FDP) are selected for efficient force feedback and controlled individually. For this, a human muscular-skeletal analysis was performed and verified. The validity of the proposed multi-channel EMS based HMI was evaluated thorough various experiments with ten human subjects, interacting with a virtual environment.

• Structural Engineering and Mechanics
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• v.46 no.1
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• pp.53-73
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• 2013

Prediction of prestressed concrete girder integral abutment bridge (IAB) load effect requires understanding of the inherent uncertainties as it relates to thermal loading, time-dependent effects, bridge material properties and soil properties. In addition, complex inelastic and hysteretic behavior must be considered over an extended, 75-year bridge life. The present study establishes IAB displacement and internal force statistics based on available material property and soil property statistical models and Monte Carlo simulations. Numerical models within the simulation were developed to evaluate the 75-year bridge displacements and internal forces based on 2D numerical models that were calibrated against four field monitored IABs. The considered input uncertainties include both resistance and load variables. Material variables are: (1) concrete elastic modulus; (2) backfill stiffness; and (3) lateral pile soil stiffness. Thermal, time dependent, and soil loading variables are: (1) superstructure temperature fluctuation; (2) superstructure concrete thermal expansion coefficient; (3) superstructure temperature gradient; (4) concrete creep and shrinkage; (5) bridge construction timeline; and (6) backfill pressure on backwall and abutment. IAB displacement and internal force statistics were established for: (1) bridge axial force; (2) bridge bending moment; (3) pile lateral force; (4) pile moment; (5) pile head/abutment displacement; (6) compressive stress at the top fiber at the mid-span of the exterior span; and (7) tensile stress at the bottom fiber at the mid-span of the exterior span. These established IAB displacement and internal force statistics provide a basis for future reliability-based design criteria development.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.

• Korean Journal of Computational Design and Engineering
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• v.5 no.2
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• pp.175-183
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• 2000

Proposed in this paper is a model-bated AFA (automatic feedrate-adjustment) method for maintaining smooth cutting-loads (i.e., cutting-force) during 2D-profile milling. Before the cutting-force model was established, some assumptions were verified through a series of preliminary cutting experiments (The results found that the curving-force was independent of the cutting speed and the cutting action at the cutter bosom). From the data obtained during the main cutting experiments, a “chip-load/cutting-force model”representing the cutting-force as a function of the chip-load (i.e., effective cutting-depth) and a feedrate is proposed. Based on the model. an AFA scheme for maintaining smooth cutting-force by adjusting the feedrate (i.e., F-code) according to the changes in chip-load was proposed. To check the validity of the proposed AFA scheme. another set of cutting experiments was conducted by using feedrate-adjusted NC-data while monitoring the actual machining processes using an accelerometer. The experimental results showed that the proposed AFA-scheme was quite effective.