• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1077-1081
• /
• 2003

In this paper, experimental studies of force tracking control for the crack sealing robot are presented. Crack sealing robot is built to detect, track and seal the crack on the pavement. Before sealing, crack must be detected by a laser sensor and a camera sensor, then cleaned for a better sealing job. In order to maintain contact with the ground force control is required to brush all dirt in the crack out for preparing sealing cracks with tars. Impedance control algorithm is presented to regulate a specified desired force. Experimental studies of the proposed force control algorithm are conducted under unknown environment stiffness and location. Performances of force control algorithm are stable and excellent.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2481-2485
• /
• 2003

In this paper novel concept of real reality robot game controlled by a mobile server robot is proposed. Real reality robot game means that two real robots controlled by two human operator through the internet are playing a boxing game. The mobile server robot captures playing images of the boxing game and send them to GUI on the screen of human operators’ PC. The human operator can login to boxing game from any computer in any place if he/she is permitted. Remote control of boxing robot by a motion capture system through network is implemented. Successful motion control of a boxing robot remotely controlled by a motion capture system through network can be achieved.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2502-2507
• /
• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.609-615
• /
• 2003

There were many papers on the bilateral teleoperation system. But a few papers dealt with the controller design method in the presence of uncertainties, disturbances and measurement noises. In this paper, we propose a robust controller design framework in teleoperation, which can overcome the compensation problem that will be defined. To prove the effectiveness of the method of proposed design, comparative simulation with the existing four channel design method was performed

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.898-902
• /
• 2003

For linear descriptor systems, we consider the $H_{INFTY}$ controller design problem via output feedback. Both static output feedback and dynamic one are discussed. First, in the case of static output feedback, we reduce our control problem to solving a bilinear matrix inequality (BMI) with respect to the controller coefficient matrix, a Lyapunov matrix and a matrix related to the descriptor matrix. Under a matching condition between the descriptor matrix and the measured output matrix (or the control input matrix), we propose setting the Lyapunov matrix in the BMI as being block diagonal appropriately so that the BMI is reduced to LMIs. For fixed-order dynamic $H_{INFTY}$ output feedback, we formulate the control problem equivalently as the one of static output feedback design, and thus the same approach can be applied.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1933-1938
• /
• 2003

A covariance matrix is a tool that expresses odometry uncertainty of the wheeled mobile robot. The covariance matrix is a key factor in various localization algorithms such as Kalman filter, topological matching and so on. However it is not easy to acquire an accurate covariance matrix because we do not know the real states of the robot. Up to the authors knowledge, there seems to be no established result on the covariance matrix estimation for the odometry. In this paper, we propose a new method which can estimate the covariance matrix from empirical data. It is based on the PC-method and shows a good estimation ability. The experimental results validate the performance of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.46-51
• /
• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• International Journal of Control, Automation, and Systems
• /
• 제5권6호
• /
• pp.681-690
• /
• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2016년도 전력전자학술대회 논문집
• /
• pp.517-518
• /
• 2016

In this paper, a novel 6/5 switched reluctance motor (SRM) with segmental rotor is proposed for vehicle cooling fan application. Unlike conventional SRMs, the proposed motor adopts hybrid stator poles and segmental rotor structures, thereby making the motor operate in short flux paths and parts of the flux paths magnetically isolated between the phases. Therefore, compared with conventional SRMs, the proposed structure could improve the output torque density and reduce the core loss, thereby improving the electric utilization of the motor. To verify the proposed structure, the performance of the proposed structure is evaluated. Meanwhile, a conventional 12/8 SRM which has been used for vehicle cooling fan application is also evaluated. Finally, the effectiveness of the proposed SRM is demonstrated by the simulation and experimental results.

• 반도체디스플레이기술학회지
• /
• 제14권1호
• /
• pp.39-43
• /
• 2015

This paper is to derive information about the optimal shape of the pack has a minimum temperature range of a Li-ion battery equipped with a module. We selected the shape of the pack in order to reduce the temperature deviation between the batteries as a variable. And we derived the experimental points with a minimum of DOE by D-optimal. We analyzed the temperature and the flow within the battery pack by using a numerical analysis verified in previous studies. We derive the equation for the temperature variation in the objective function using the RSM and performed optimization. As a result, it was confirmed that with the variation in the $1.706e-4^{\circ}C$ when to apply an optimized shape.