• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.182-187
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• 2000

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for similar model of fifth cell among the twelve cell for automatic test and assemblig in S company.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.96-101
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• 2000

In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

• 한국지능시스템학회논문지
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• 제9권5호
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• pp.496-508
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• 1999

Fuzzy System which are based on membership functions and rules can control nonlinear uncertain complex systems well. However Fuzzy logic controller(FLC) has problems; It is difficult to design the stable FLC and FLC depends mainly on individual experience. Although FLC can be designed using the error back-propagation algorithm it takes long time to converge into global optimal parameters. Well-developed linear system theory should not be replaced by FLC but instead it should be suitably used with FLC. A new methodology is introduced for designing THEN-PART membership functions of FLC based on its well-tuned state feedback controller. A example of inverted pendulum is given for demonstration of the robustness of proposed methodology.

• 한국지능시스템학회논문지
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• 제15권3호
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• pp.318-323
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• 2005

본 논문에서는 불확실성을 포함한 연속시간 비선형 동적 시스템에 대한 퍼지 모델 기반 제어기의 지능형 디지털 재설계를 위한 조직적인 방법을 제안한다. 불확실 비선형 시스템을 표현하기 위해 연속시간 불확실 TS 퍼지 모델이 구성된다. 그리고, 안정화와 추적을 위한 퍼지 모델 기반 제어기 설계를 위해 PDC 기법이 이용된다. 마지막으로, 설계된 연속시간 제어기는 지능형 디지털 재설계 기법을 이용함으로써 이산시간 제어기로 전환됨을 증명하는 방법을 제안한다. 이 새로운 설계 기법은 퍼지 모델 기반 제어 이론과 불확실성을 가진 비선형 동적 시스템에 대한 진보된 디지털 재설계 기법의 통합을 위한 조직적이고, 효과적인 틀을 제공한다 마지막으로, 단일 링크 유연 로봇 시스템의 모의 실험을 이용해 개발된 설계 방법의 효용성과 실행 가능성을 입증한다.

• 한국지능시스템학회논문지
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• 제13권6호
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• pp.667-672
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• 2003

본 논문에서는 불확실성을 포함한 연속시간 비선형 동적 시스템에 대한 퍼지 모델 기반 제어기의 지능형 디지털 재설계를 위한 조직적인 방법을 제안한다. 불확실 비선형 시스템을 표현하기 위해 연속시간 불확실 TS 퍼지 모델이 구성되었다. 안정화와 추적을 위한 퍼지 모델 기반 제어기 설계를 위해 EPDC 기법이 이용되었다. 설계된 연속시간 제어기는 지능형 디지털 재설계 기법을 이용함으로써 이산시간 제어기로 전환되었다. 이 새로운 설계 기법은 퍼지 모델 기반 제어 이론과 불확실성을 가진 비선형 동적 시스템에 대한 진보된 디지털 재설계 기법의 통합을 위한 조직적이고, 효과적인 틀을 제공한다. 마지막으로, 단일 링크 유연 로봇 시스템의 모의 실험을 이용해 개발된 설계 방법의 효용성과 실행 가능성을 입증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1565-1570
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• 2003

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

• Smart Structures and Systems
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• 제25권4호
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• pp.401-408
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• 2020

This paper deals with the problem of global stabilization for a class of nonlinear control systems. An effective approach is proposed for controlling the system interaction of structures through a combination of parallel distributed compensation (PDC) intelligent controllers and fuzzy observers. An efficient approximate inference algorithm using expectation propagation and a Bayesian additive model is developed which allows us to predict the total number of control systems, thereby contributing to a more adaptive trajectory for the closed-loop system and that of its corresponding model. The closed-loop fuzzy system can be made as close as desired, so that the behavior of the closed-loop system can be rigorously predicted by establishing that of the closed-loop fuzzy system.

• 한국정밀공학회지
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• 제19권10호
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• pp.178-186
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• 2002

In this study, the steering control system for UCT (unmanned container transporter) was developed using MR (Magnetoresistive) sensors. The MR and magnet sensors are used for the lane detecting system. The robust control theory is used for the design of the steering controller to reduce the uncertainties of the road. The performance of the robust steering controller is compared in simulations and tests using the existing PD controller of the UCT.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.227-237
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• 1997

Autonomous Underwater Vehicles(AUVs) have become an important tool for various purposes in subsea: inspection, recovery, construction, etc., and the development of autonomous control system is luglay desirable- thete zffe many problems associated with designing the control system for AUV due to unknown underwater envimn-Tnent, the possibility of subsystem failures, and unpredictable changes in the dynamics of the vehicle. In this paper, an autonomous control system based on the intelligent control theory to enhance operation efficiency of the ALTV is presented. The control system has a hierarchical structure which consists of mission planning level, mission control level, navigation level, and execution level. The performance of the control system is investigated by computer simulation. The results show that the proposed control system can be applied successfully to the AUV in spite of the possibility of failures in the vehicle and the collision hazard in the sea environment.

• 대한산업공학회지
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• 제25권2호
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• pp.150-161
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• 1999

This paper deals with the design and development of a real-time integrated communication architecture for heterarchical SFCS(Shop Floor Control System). In autonomous agent-based heterarchical SFCS, each functional unit of parts and resources is equipped with an intelligent controller (agent) that acts as the representative of the entity. The controllers communicate and negotiate with other controllers on a real-time basis through message passing and bidding protocol to achieve mutual agreements for task sharing. ICPL(Integrated Communication Protocol and Language) is proposed for this purpose. ICPL is a language and a protocol for supporting communication among intelligent controllers. Based on the speech act theory, this paper proposes a semantic description for ICPL that associates the description of the cognitive states of controllers with the use of language primitives (message_type). Semantics for the basic set of ICPL messages is described. Eventually, an ICPL-based communication architecture can provide the implementation of the distributed and heterarchical SFCS, and makes the intelligent controller transparent to the negotiation problem.