• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2006년도 추계학술대회논문집
• /
• pp.422-427
• /
• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological(ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-Chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain, and theirtrackingerrorsareevaluated.

• 한국소음진동공학회논문집
• /
• 제16권12호
• /
• pp.1286-1293
• /
• 2006

This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
• /
• pp.255-258
• /
• 2003

TCP is taking over 95％ among the Internet traffics. Recently the demands of multimedia services in the Internet has been increasing. These multimedia services mostly need real-time deliverly, and then RTP has been a de facto to transmission protocol for these real-time multimedia services. RTP uses UDP as its underlying transport protocol, and thus it does not support any rate and congestion control. Thus, for fair use of the Internet bandwidth with TCP traffics. RTP also needs a rate control. One constraint of RTP is that the feedback information(delivered by, RTP's twin protocol, RTCP) is recommended to be sent no less than 5 seconds. In this paper, we propose a TCP-friendly RTP rate control which use only RTCP feedback information at every 5 seconds. The experiment results show that our proposed algorithm works. But, it is found that we need more time to test the effects of parameters and policies of the algorithms, which will be reported later.

• 항공우주시스템공학회지
• /
• 제10권1호
• /
• pp.29-34
• /
• 2016

Flutter wind-tunnel test is an expensive and complicated process. Also, the test model may has discrepancy in the structural characteristics when compared to those of the real model. "Dry Wind-Tunnel" (DWT) is an innovative testing system which consists of the ground vibration test (GVT) hardware system and software which computationally can be operated and feedback in real-time to yield rapidly the unsteady aerodynamic forces. In this paper, we study on the aerodynamic forces of DWT system to feedback in time domain. The aerodynamic forces in the reduced-frequency domain are approximated by Minimum-state approximation. And we present a state-space equation of the aerodynamic forces. With the two simulation model, we compare the results of the flutter analysis.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2540-2545
• /
• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.741-746
• /
• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• 한국멀티미디어학회논문지
• /
• 제21권11호
• /
• pp.1353-1361
• /
• 2018

With the availability of real-time educational data collection and analysis techniques, the education paradigm is shifting from educator-centric to data-driven lectures. However, most offline and online education frameworks collect students' feedback from question-answering data that can summarize their understanding but requires instructor's attention when students need additional help during lectures. This paper proposes a content restructure recommendation framework based on collected student feedback. We list the types of student feedback and implement a web-based framework that collects both implicit and explicit feedback for content restructuring. With a case study of four-week lectures with 50 students, we analyze the pattern of student feedback and quantitatively validate the effect of the proposed content restructuring measured by the level of student engagement.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.352-357
• /
• 1987

The Auto Tuning Controller is designed using Fuzzy set theory. And to verify its validity it is Applied to the Auto Tuner of hydraulic Control System. Fuzzy Tuning Procedures are written by linguistic model and translated into C language formation by preprocessor. Then it is executed with state feedback controller in real time, Fuzzy Logic Controller adjusts state feedback gain by proper tuning logic in each step to satisfy the desired maximum overshoot and settling time.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1981년도 하계 학술회의초록집
• /
• pp.146-153
• /
• 1981

A practical and robust control scheme is suggested for MIMO discrete time processes with real simple poles. This type of control scheme, having the advantages of both the adaptiveness and optimality, may be successfully applicable to structured dynamic controllers for plants whose parameters are slowly time-varying. The identification of the process parameters is under-taken in ARMA form and the optimization of the feedback gain matrix is performed in the state space representation with regard to a standard quadratic criterion.

• 컴퓨터교육학회논문지
• /
• 제14권5호
• /
• pp.71-79
• /
• 2011

본 논문은 학습자들이 언제 어디서나 상호작용이 가능하고 실시간 피드백이 가능한 협동학습을 지원하는 시스템을 구현하였다. 구현된 앱을 스마트폰에 설치함으로써 사이트에 접속할 필요 없이 사용자가 글을 올리면 즉시 볼 수 있고 그것에 대한 피드백을 실시간으로 할수 있는 소셜네트워크 서비스 시스템이다. 개발된 소셜네트워크 서비스 프로그램은 학습자의 과제해결을 위해 실시간 소통의 매개체로 사용하였으며, 실시간 상호작용과 피드백으로 인한 학업성취도와 학습 흥미도를 높일 수 있다. 또한 축적된 자료를 바탕으로 교수자가 학습자의 수준을 세밀하게 파악하여 학습자에게 실제적 도움을 줄 수 있다.