• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.540-543
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• 1997

In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate the cumulative location error which exists when relative sensor like encoder is used to locate the position of mobile robot. The effectiveness of the proposed control scheme is shown through computer simulation.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.4
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• pp.191-202
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• 2013

A control structure that makes possible the integration of a kinematic controller and a fuzzy logic (FL) deadzone compensator for mobile robots is presented. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is implemented on a mobile robot to show its efficacy.

• Proceedings of the KIEE Conference
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• 1990.11a
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• pp.421-424
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• 1990

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic systems is presented. In the learning control structure, tracking and feedforward input converge globally and asymptotically as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of length of trajectories, it may be achieved with only system trajectories of small duration. In addition, these learning control schemes are expected to be effectively applicable to time-varying parametric systems as well as time-invariant systems, for the parameter estimation is performed at each fixed time along the iteration. Finally, no usage of acceleration signal and no in version of estimated inertia matrix in the parameter estimator makes these learning control schemes more feasible.

• Journal of Korea Multimedia Society
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• v.19 no.5
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• pp.797-807
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• 2016

The discussion in this paper aims to introduce an approach to detect drowsiness with Android based smartphones using the OpenCV platform tools. OpenCV for Android actually provides powerful tools for real-time body's parts tracking. We discuss here about the maximization of the accuracy in real-time eye tracking. Then we try to develop an approach for detecting eye blink by analyzing the structure and color variations of human eyes. Finally, we introduce a time variable to capture drowsiness.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.83-86
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• 2004

With the proliferation of smart devices, applications under ubiquitous environment must provide transparent access to computer resources. However, existing u-Logistics systems can not properly react on such requirements, because the status information of objects is input only in fixed milestones by system's operators. In this paper, we introduce an event notification service suitable for u-Logistics environment. The system is based on RFID infrastructure and provides real-time tracking by combining the event of objects with location information received from GPS satellites. The system also provides a graphical user interface based on a state/transition approach, making it easy that clients facilitate definition of profile, and uses XML structure to more easily represent and exchange events.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.69-72
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• 1996

In this paper robust tracking control scheme using the new three-segment nonlinear sliding mode technique for nonlinear rigid robotic manipulator is developed. Sliding mode consists of three segments, the promotional acceleration segment, the constant velocity segment and the deceleration segment using terminal sliding mode. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the new three-segment nonlinear sliding mode technique together with a few useful structural properties of rigid robotic manipulator. The efficiency of the proposed method for the tracking has been demonstrated by simulations for two-link robot manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.882-889
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• 2014

This paper deals with a filterbank based on the IMM (Interacting Multiple Model) that combines data from a sensor and uses them selectively depending on a level of maneuver. Furthermore, within the maneuver interval, the existing IMM filter has disadvantages such as unnecessary target estimation errors caused by using a constant velocity model and an increase of computation load because of a fixed structure. On the other hand, the proposed IMM filterbank overcomes these disadvantages by using three model groups and designs a filterbank to cope with a wideband-maneuvering target. The performances of the IMM filterbank was evaluated through comparison with the existing IMM via computer simulations. The results show good performances for a wideband-maneuvering target.

• Journal of the Korea Institute of Building Construction
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• v.6 no.1 s.19
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• pp.67-72
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• 2006

There are a lot of problem about waterproofing membrane coating for concrete deck of bridge and waterproofing sheets for concrete of deck of bridge because it couldn't confirm waterproofing's defeat after construction. These problems make a waterproofing material damage and condrete deck of bridge damage. So It needs a lot of money for repair work and reinforcement work. Therefor the structure slab of using waterproofing material protect invasion of water. Also, Concrete deck of bridge need a endurance permeability for the reduction repair payment. In this study, An experimental study on the quality standardization test method waterproofing layer on working of live load.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.42-52
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• 1992

가변구조 제어시스템(variable structure control system)을 위해 제안된 기존의 대부분 슬라이딩 서피스 (sliding surface)는 주어진 초기조건과 무관하게 설계되었으며, 서피스 계수 또는 임의로 설정되었다. 이러한 서피스를 갖는 제어시스템은 슬라이딩 운동이 일어나기 전까지 외란등에 매우 민감하며 또한 느린 추적시간 (tracking time)을 초래한다. 이러한 단점을 극복하기 위해 본 연구에서는 임의로 주어진 초기조건을 항상지나 며 시간에 따라 기울기 및 절편이 변하는 새로운 슬라이딩 서피스를 설계하였다. 이 서피스와 연계된 제어시스 템의 슬라이딩 모드(sliding mode) 존재성을 증명하였고, 서피스의 움직임 절차를 상세히 기술하였다. 2차 선형 시스템과 2자유도계 로봇의 추적제어를 통해 제안된 방법의 효율성과 우수성을 입증하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.637-643
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• 2006

Generally, the tracking performance of optical disk drive(ODD) system can be improved using a disturbance observer(DOB). However, a DOB is not easily applied in an ODD system because an additional microprocessor, such as a digital signal processor(DSP), is needed. This paper shows how a DOB system can be replaced by the error-based modified disturbance observer(EM-DOB) when two mathematical conditions are satisfied. Due to the simplified structure of EM-DOB, the algorithm is easily implemented as an analog circuit, which is suitable for the ODD servo system. Additionally, in these algorithms, disturbances rejection performances can be tuned as Q filter parameters. Similar to a DOB system, three design guidelines of a Q filter can be applied. Experimental results of DOB and EM-DOB are evaluated under forced disturbances.