• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.69-77
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• 2009

In this study an ANFIS-based trajectory tracking motion control algorithm is proposed for autonomous garage and parallel parking of a model car. The ANFIS controller is trained off-line using data set which obtained by Mandani fuzzy inference system and thereby the processing time decreases almost in half. The controller with a steering delay compensator is tuned through simulations performed under MATLAB/Simulink environment. Experiments are carried out with the model car for garage and parallel parking. The experimental results show that the trajectory tracking performance is satisfactory under various initial and road conditions

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.87-99
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• 2005

We present in this paper the stabilization (tracking) with motion planning of the six independent configurations of a mini unmanned areal vehicle equipped with four streamlined rotors. Naturally, the yaw-dynamic can be stabilized without difficulties and independently of other motions. The remaining dynamics are linearly approximated around a small roll and pitch angles. It will be shown that the system presents a flat output that is likely to be useful in the motion generation problem. The tracking feedback controller is based on receding horizon point to point steering. The resulting controller involves the lift (collective) time derivative for what flatness and feedback linearization are used. Simulation tests are performed to progress in a region with approximatively ten-meter-buildings.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.333-334
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• 2018

This is a study on controlling a drone (DJI Mavic Air) with simple hand gesture using Leap Motion controller. Four component involve are MacBook, Leap Motion controller, Android device, and DJI Mavic Air. All of this component are connected through USB, Bluetooth, and Wi-Fi technology. The studies main purpose are to show that by controlling a drone through Leap Motion, drone amateur user can easily learn how to control a drone, and because of longer drone control range can be archived things such as search and rescue mission will be possible.

• Journal of the Semiconductor & Display Technology
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• v.21 no.4
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• pp.126-131
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• 2022

The number of joint disease patients is increasing every year. Currently, the most CPM(Continuous Passive Motion) equipment uses expensive imported equipment, and one CPM equipment is designed to be used only in one joint, medical personnel or hospitals who are the main users of the medical equipment need to have several types of CPMs for joint rehabilitation. To solve this problem, this paper designed a multifunctional joint medical equipment that enables rehabilitation of knee, shoulder, and elbow joints in one CPM equipment and includes general, intensive, and adaptive exercise functions for effective treatment according to the patient's condition. The patient's condition was diagnosed using a load cell and a current sensor. In this paper, effective rehabilitation methods were presented and high reliability and precision of medical equipment was confirmed through experiments using potentiometer, encoder, and PI controller.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.138-148
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• 1996

In moving structures such as robots and feeders of production lines, vibrations may not be ignored. Recently it becomes a big problem to control the vibration in a motion because moving structures are in higher speed, larger size and lighter weight. In this study a nonlinear system was model- led and identified by using neural networks and the vibration in motions was controlled actively by using a neural network controller. To investigate vilidity of this method, an experimental apparatus was made and tested. The model was composed of a DC servomotor, a carrier and a flexible plate. Its motion was measured by a gap sensor and an encoder. Trapezoidal, cycloid and trapecloid type trajectories were used in this exper- riment. Computer simulations and experiments weredone for each trajectory.

• ETRI Journal
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• v.46 no.2
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• pp.250-262
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• 2024

Air-writing recognition is relevant in areas such as natural human-computer interaction, augmented reality, and virtual reality. A trajectory is the most natural way to represent air writing. We analyze the recognition accuracy of words written in air considering five features, namely, writing direction, curvature, trajectory, orthocenter, and ellipsoid, as well as different parameters of a hidden Markov model classifier. Experiments were performed on two representative datasets, whose sample trajectories were collected using a Leap Motion Controller from a fingertip performing air writing. Dataset D₁ contains 840 English words from 21 classes, and dataset D₂ contains 1600 English words from 40 classes. A genetic algorithm was combined with a hidden Markov model classifier to obtain the best subset of features. Combination ftrajectory, orthocenter, writing direction, curvatureg provided the best feature set, achieving recognition accuracies on datasets D₁ and D₂ of 98.81% and 83.58%, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.260-260
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• 2000

In this work, we have developed a 2 degree of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two ac servo motors that drive the roll and pitch motion.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.59-66
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• 1997

A general procedure for a motion capture and mimic system has been delineated. Utilizing sensors operated in the magnetic fields, complicated and optimized movements are easily digitized to analyze and repreduce. The system consists of a motion capture module, a motion visualization module, a motion plan module, a motion mimic module, and a GUI module. Design concepts of the system are modular, open, and user friendly to ensure the overall system performance. Custom-built and/or off-the-shelf modules are ease- ly integrated into the system. With modifications, this procedure can be applied for complicated motion controls. This procedure is implemented on tracking a head and balancing a pole. A neural controller based on this control scheme dtilizing human motions can easily evolve from a small amount of learning data.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.40-47
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• 2004

This paper proposes a three-axis coupling controller designed to improve the contouring accuracy in machining of 3D nonlinear contours. The proposed coupling controller is based on an innovative 3D contour error model and a PID control law. The novel contour error model provides almost exact calculation of contour errors in real-time for arbitrary contours and can be integrated with any type of existing interpolator. In the proposed method, three axes of motion are coordinated by the proposed coupling controller along with a proportional controller for each axis. The proposed contour error model and coupling controller are evaluated through computer simulations. The simulation results show that the proposed 3-axis coupling controller with the new contour error model substantially can improve the contouring accuracy by order of magnitude compared with the existing uncoupled controllers in high-speed machining of nonlinear contours.

• Journal of KSNVE
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• v.8 no.3
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.