• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.107-113
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• 1997

In this paper, an interfacing method to control rehabilitation assitance system with bio-signal is proposed. Controlling with EMG signals method has certain advantage on signal-collecting, but has some drawbacks in the function resolution of EMG signals because data-processing process is not efficient. To improve function-resolution and to increase the efficiency of EMG signal interfacing with rehabilitation assistance system, Multi-layer Perception which is highly effective with static signal and hidden-Markov model for dynamic signal resolving are fused together. In proposed method. The direction and average speed of the rehabilitation assitance system are controlled by the trajectory control and estimation of the moving direction result from the fused model. From the experiment, proposed GMM and 2-level MLP hybrid-classifier yielded 8.6% perception-error rate, improving function resolution. New acceleration control method constructed with 3 nested linear filter produced continuous acceleration paths without the information of destination point. Thus, the mass output caused by non- continuous acceleration-deceleration was eliminated. In the simulation, the necessary calculation, in the case of multiplication, was reduced by 11.54%.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.182-182
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• 2000

This paper proposes a self tuning fuzzy inference method by the genetic algorithm in the fuzzy-sliding mode control for a robot. Using this method, the number of inference rules and the shape of membership functions are optimized without an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. And, it is guaranteed that the selected solution become the global optimal solution by optimizing the Akaike's information criterion. The trajectory trucking experiment of the polishing robot system shows that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the proposed fuzzy-sliding model controller provides reliable tracking performance during the polishing process.

• 한국항해항만학회지
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• 제33권9호
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.

• 로봇학회논문지
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• 제16권3호
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2036-2041
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• 2005

The underwater multi-agent technology has many potential for the various activities related to ocean development/conservation in the near future. For example, in such fields as water pollution investigation, aquaculture control, or coral reef research, we feel a growing need for a system that realizes underwater continuous monitoring in the wide rang e. In this case, the target monitoring area will be sliced planar hierarchically toward the depth as monitoring layers, and many AUVs arranged on each layer track the given trajectory and gather various environmental information continuously, with communicating each other in the layer or with other layers. To realize those systems we need to develop AUV multi-agent technologies. So we are now building basic systems for basin experiment for the development of AUV multi-agent behavior. We must experience many situations and problems to be solved for the development of its elemental technologies by using real systems as well as our computer simulations. In this paper we introduce our concept of the experiment in the near future and the hardware/software design of our two types of handy AUVs and ultrasound ranging/communication system for that experiment. One AUV is designed using a 17inches-diameter glass sphere with DOS/V and RT-Linux based subsystems, which is intended to use not only in the basin but also in the calm real sea. The other AUV is designed for the basin experiment using a 7inches-diameter acrylic sphere with low-cost embedded system with SH-2 based subsystems. The basin experiment to verify the basic AUV facilities and ultrasound ranging for position detection was carried out.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1812-1815
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• 1997

This paper treats the estimation of human impedance and their application to collaboration work robot. Initially, we performa an experiment at whcich teh human becomes a slave and the robot behaves like a master having F/T sensor on its end. the human impedance expressed interms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the positiion data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• 한국정밀공학회지
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• 제16권10호
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• pp.132-140
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• 1999

This paper treats the estimation of human impedance and their application to human-robot collaboration work. Initially, we perform an experiment at which the human becomes a slave and the robot behaves like a master having F/T sensor on its end. The human impedance expressed in terms of mass, damping, and stiffness properties are estimated based on the force data measured by F/T sensor and the commanded position data of the robot. To show the effectiveness of the estimated human impedance, we perform the second experiment at which the roles of the human and the robot are reversed. It is shown that the robot using the estimated human impedance follows the trajectory commanded by human very smoothly.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.113-118
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• 2005

Robots today have wider application fields than they ever have before. They need to work close to humans and fluid and compliable motions are expected of them. This requires redundant degrees of freedom for completing specific task. And conventional motion teaching method cannot be applied to redundant link structures. In this paper, the authors present a proficient, cost-effective and intuitive method for motion teaching. New software to apply this method to a humanoid is also presented. This new method utilizes current sensors to determine which joints to rotate. The experiment shown in this paper is a case of closed link where arms cannot move independently due to the restrictions in between the hands. After the input of several passing points of motion trajectory, the curve fitting is performed by the developed software. This software can insert new points, delete erroneous points and modify existing points. The developed motion teaching method is applied to the Kumdo robot, which is developed by the authors.

• Journal of Power Electronics
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• 제18권1호
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• pp.147-159
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• 2018

In this paper, the voltage tracking control of a conventional DC-DC boost converter affected by unknown, time-varying circuit parameter perturbations is investigated. Based on the fundamental property of incremental passivity, a passivity based control law is designed. Then, to obtain a better disturbance rejection property, two generalized proportional integral (GPI) observers are employed to estimate the time-varying uncertainties in the output voltage and inductor current channels, and the estimated values are applied as feedforward compensation. Moreover, the global trajectory tracking performance of a system with disturbances is ensured under the composite controller. Finally, simulation and experiment studies are provided to demonstrate the feasibility and effectiveness of the proposed method. The results show that the proposed controller delivers a promising disturbance rejection capability as well as a good nominal tracking performance.