• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.824-832
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• 2011

An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.720-725
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• 2008

This paper proposes a system architecture for USN with a service robot to provide more active assisted living services for elderly persons by monitoring their mental and physical well-being with USN environments at home, hospital, or silver town. Sensors embedded in USN are used to detect preventive measures for chronic disease. Logged data are transferred to main controller of a service robot via wireless channel in which the analysis of data is performed. For the purpose of handling emergency situations, it needs real-time processing on gathering variety sensor data, routing algorithms for sensor nodes to a moving sink node and processing of logged data. This paper realized multi-hop sensor network to detect user movements with biometric data transmission and performed algorithms on Xenomai, a real-time embedded Linux. To leverage active sensing, a mobile robot is used of which task was implemented with a priority to process urgent data came from the sink-node. This software architecture is anticipated to integrate sensing, communication and computing with real-time manner. In order to verify the usefulness of a proposed system, the performance of data transferring and processing on a real-time OS with non real-time OS is also evaluated.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.1 no.1
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• pp.56-61
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• 2001

Activated sludge processes are broadly used in the biological wastewater treatment processes. The activated sludge processes are complex systems because of the many factors such as the variation of influent flowrate and ingredients, the complexity of biological reactions, and the various operation conditions. The main motivation o this research is to develop an intelligent control strategy for activated sludge process (ASP). ASP is a complex and nonlinear dynamic system owing to the characteristic of wastewater, the change in influent flowrate, weather conditions, and so on. The mathematical model of ASP also includes the uncertainty which is a ignored or unconsidered factor from process designers. The ASP model based on Matlabⓡ/Simulinkⓡ is developed in this paper. And the model performance is examined by IWA (International Water Association) and COST (European Cooperation in the filed of Scientific and Technical Research) data. The model tests derive steady-state results of 14 days. In this paper, fuzzy logic control approach is applied to handle DO concentrations. The fuzzy logic controller includes two inputs and one output to adjust air flowrate. The objective function for the optimization, in the implemented evolutionary strategy, is formed with focusing on improving the effluent quality and reducing the operating cost.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.2
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• pp.153-160
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• 2013

This research paper describes the development of battery charger with a variable output voltage capacity for charging the batteries used in electrical vehicles. The voltage and current accordingly is control via the buck converter that receives three phase current at primary side and fed to bridge rectifier which is comprised of full bridge converter and HFTR(High Frequency Transformer) for isolation and a square wave AC output. The transformer primary side is in series to divide certain charging current and the secondary side is comprised of six fix transformers so that they can generate certain amount of power and various output voltage through relay connection using 6 DC outputs. Moreover, all parallel connected full bridge serial resonant converter communicate together with upper(main) controller. The constructed structure is verified by conducting the test on PSIM as well as experimentally.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.96-103
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• 1998

With the advance of processing technology , so as to spare fuel, piston heads used in automobile reciprocating engine have complex 3-dimension, with respect to shape such as ovality, profile, eccentricity, offset, recess. Therefore, coming out of the existing process work used master cam. the process work is performed using a CNC lathe. For a precision processing, the processing work is need to make study of high speed feed gear synchronized with the rotative speed of main spindle. And then the high speed feeding system must maintain high dynamic stiffness, high speed and high positioning accuracy . In this paper, in order to achieve high speed cutting tool feeding. The linear brushless DC motor is used for satisfying this process work. The ball bush and turicite is used as the guidance of the feed gear system. Also linear encoders, digital servo amplifiers and controller are used for controlling driving motor. This paper presents the design and simulation of the new tool feed system for noncircular machining.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.892-896
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• 2001

Investigation is performed on the stability of nonlinear system under turbulent fluid motion modelled as white noise random process, which is a preliminary result in the course of research on the characteristic and nonlinear control of the stochastic system. Adopted physical model is beam-type structure with tip-mass and main base mass. The governing equation is derived via F-P-K approach in stochastic sense. By means of Gaussian Closure method infinite dynamic moment equations due to system nonlinearity is closed to finite one. At the best of authors' knowledge, it is the first trial to design nonlinear controller by using of sliding mode technique in stochastic domain and control performance and effect in stochastic domain is studied.

• Journal of Haehwa Medicine
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• v.11 no.1
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• pp.73-83
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• 2002

This thesis was written in order to help set groundwork of the mutuality between brain hormon and Shin-myung(神明) activity. 1. Shin-myung(神明) means all spritual functions, and Shin(神) represents thinking, myung(明) represents consciounsness. 2. As a origin of Shin-myung(神明) activity, in ancient times Heart(心) was regared as one, but since Chung-Dynasty(淸朝), Brain(腦) is regared as a main controller to manage Shin(神) in human body. 3. Shin-myung(神明) activity would should between Brain(腦) and Shin-Sin(心神) 4. Hormon is chemical substance to serve convey infomations and stimuiate them. In Present day Western medical science, make an attempt to understand Shin-myung(神明) activity of Brain(腦) as a activity of hormon doings. In conculusion, Shin-myung(神明) represent that Brain(腦) inculde Mind-Sprit(精神) activety, and it can be able by the function of brain hormon activety.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.10 no.1
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• pp.95-105
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• 2006

The speed of hard disk which is based on mechanical operation is more slow than processor. The growth of processor speed is rapid by semiconductor technology, but the growth of disk speed which is based on mechanical operation is not enough. Buffer cache in main memory and disk cache in disk controller have been used in computer system to solve the speed gap between processor and I/O subsystem. In this paper, an efficient buffer cache and disk cache management scheme was proposed to restrict duplicated disk block between buffer cache and disk cache. The performance of the proposed algorithm was evaluated by simulation.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2004.08a
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• pp.126-133
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• 2004

Lots of researches and applications on the automated overhead cranes in shops have been done for some decades, but a few successful results are reported. Integrated crane control systems designed by famous engineering companies are still expensive and are not satisfactory in view of maintenance and reliability. A more reasonable control system fit to requirements of manufacturing industries is suggested in the study. The new deigned system has superior capabilities for anti-sway of rope and position control. The controller for automated operations is composed of a Linux-based PC for non real-time control and a high-speed PLC for hard real-time control. Some algorithms required for coil yard operations as well as main control algorithms such as reference position generation, position control and anti-sway control have been designed and fully tested on the new crane simulator. The designed crane control system showed satisfactory performance on position control accuracy and anti-sway of rope. The maximum positional error is 8mm and the maximum sway error is 0.1 degrees. The suggested control strategies have been successfully applied to the 10-1 crane in No. 4 CGL of in the Kwangyang Steel Works and in commercial operation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.