• 한국산업융합학회 논문집
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• 제17권3호
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• pp.136-144
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of Advanced Marine Engineering and Technology
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• 제11권4호
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• pp.41-49
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• 1987

Recently microcomputers have come into wide use in the field of control. They are used not only as monitors and or controllers in various plant control systems but also for Computer Aided Design of control systems. In this paper, authors propose a method to design the reduced order observers for the higher order systems and have digital simulation of time responses of the optimal state feedback control system using the maximum principle. And the real time optimal state feedback control system for the third order plant which is realized by an anolog computer is constructed by means of a microcomputer, A/D converter and D/A converter. Time responses of the real time control system are compared with those obtained by the digital simulation and their well coincedence is confirmed.

• 한국기계가공학회지
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• 제12권1호
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• pp.35-42
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• 2013

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1680-1690
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• 2006

As a promising and novel manufacturing technology, laser aided direct metal deposition (DMD) process produces near-net-shape functional metal parts directly from 3-D CAD models by repeating laser cladding layer by layer. The key of the build-up mechanism is the effective control of powder delivery and laser power to be irradiated into the melt-pool. A feedback control system using two sets of optical height sensors is designed for monitoring the melt-pool and real-time control of deposition dimension. With the feedback height control system, the dimensions of part can be controlled within designed tolerance maintaining real time control of each layer thickness. Clad nugget shapes reveal that the feedback control can affect the nugget size and morphology of microstructure. The pore/void level can be controlled by utilizing pulsed-mode laser and proper design of deposition tool-path. With the present configuration of the control system, it is believed that more innovation of the DMD process is possible to the deposition of layers in 3-D slice.

• 전기전자학회논문지
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• 제23권4호
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• pp.1353-1359
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• 2019

It is presented in this paper that the static output feedback (SOF) pole-assignment problem of some linear time-invariant systems can be completely resolved by parametrization in real Grassmann space. For the real Grassmannian parametrization, the so-called Plucker matrix is utilized as a linear matrix formula formulated from the SOF variable's coefficients of a characteristic polynomial constrained in Grassmann space. It is found that the exact SOF pole assignability is determined by the linear independency of columns of Plucker sub-matrix and by full-rank of that sub-matrix. It is also presented that previous diverse pole-assignment methods and various computation algorithms of the real SOF gains for 2-input, 2-output, 4^th order systems are unified in a deterministic way within this real Grassmannian parametrization method.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2006년도 하계학술대회 논문집 Vol.7
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• pp.89-90
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• 2006

In this paper, the authors propose the RTDS (Real Time Digital Simulator) simulation method which puts a real HTS (High Temperature Superconducting) tape into the simulated voltage feedback system of HTS tape. To perform the RTDS based simulation, the voltage feedback system of HTS tape with hardware is designed and connected to the RTDS. This simulation method is the world first in order to obtain much better for installation of HTS power cable into a utility network.

• 대한전기학회논문지
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• 제43권2호
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• pp.259-267
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• 1994

This paper describes a current control of a single-phase PWM inverter. The proposed PWM inverter utilizes the instantaneous control method which is based on the real-time digital feedback control and the microprocessor-based deadbeat control. The deadbeat current controller is proposed to control the output current regardless of load component variations by the same method as voltage control. That is, in current control, with a very short sampling time and the successive feedback of the output current, the load current is mainly effected by the magnitude of load impedance rather than load component, the load current is mainly effected by the magnitude of load impedance rather than load component. Therefore, by treating the load as an impedance, the system's order is reduced and the instantaneous current control using the proposed deadeat controller is simplified.

• International Journal of Control, Automation, and Systems
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• 제3권2호
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• pp.195-201
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• 2005

This paper discusses the problem of positive real control for uncertain 2-D linear discrete time singular Roesser models (2-D SRM) with time-invariant norm-bounded parameter uncertainty. The purpose of this study is to design a state feedback controller such that the resulting closed-loop system is acceptable, jump modes free and stable, and achieves the extended strictly positive realness for all admissible uncertainties. A version of positive real lemma for the 2-D SRM is given in terms of linear matrix inequalities (LMIs). Based on the lemma, a sufficient condition for the solvability of the positive real control problem is derived in terms of bilinear matrix inequalities (BMIs) and an iterative procedure for solving the BMIs is proposed.

• 한국정보시스템학회지:정보시스템연구
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• 제26권4호
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• pp.1-15
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• 2017

Purpose Through the provision of real time performance information about who is contributing and who is not in Electronic Brainstorming, prior studies evidenced a significant performance gain. However, it has been observed that the quantity-based performance feedback alone does not have enough restrictiveness to guide the performance behavior throughout the idea generation session. We included the notion of goal setting into the process performance feedback mechanism in an effort to regulate performance behavior and to better understand why individuals in Electronic Brainstorming are not obtaining enough stimulation benefits in the group interaction process. Design/methodology/approach We had developed real-time visual process performance feedback and modified to include goal setting. This mechanism visually displays individuals' performances two-dimensionally (quality for each idea vertically and quantity of ideas horizontally along with their goals). As individuals' contributions accumulate, the mechanism reveals performance histories by connecting the sequence of ideas in a time-series format, telling stories of individuals' performances. Then, we compared the performance outcome from this study with the outcomes from two prior studies (i.e., Jung et al., 2010 and Jung, 2014). Findings The results showed that the inclusion of goal setting into the process performance feedback solved the issue in the previous study. That was the lower than expected magnitude of performance enhancement of process performance feedback when compared to that of quantity-based feedback. It appears that goals as a motivational technique provide standards for systematic self-evaluation, serving as a cue to regulate performance behavior by strengthening the linkage between effort and performance. Thus, goals seem to set up a self-fulfilling prophecy, preconditioning better performance. However, the outcome still showed that its performance magnitude is unsatisfactory because the outcome of this study turned out to be close to the outcome of just quantity-based performance feedback in Jung et al.'s (2010) study.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.