• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.44-47
• /
• 1996

Bang-bang control law provides the optimal solution for a minimum-time control problem, but ignores the intermediate path except for the initial and final points. In this paper, a near minimum-time suboptimal fuzzy logic controller is introduced that can control the intermediate path. A dynamic model for a system is established using the average dynamics method of linearization. System model is continuously updated over the control time periods. This makes it suitable for high speed or variable payload applications. Bang-bang control theory is modified and used to derive the preliminary control law. A fuzzy logic algorithm is then applied to adjust and find the best solution. The solution will provide the suboptimal minimum-time control law which can avoid obstacles in the workspace.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.1 no.2
• /
• pp.134-143
• /
• 1993

The trajectory planning for the manipulator installed on "the automatic pothole repair vehicle" is discussed and the final surface of the patched pot hole is simulated in this work. The relationship between the accumulation data of the mixture with and without the movement of the manipulator is identified to utilize the latter data for the calculation of the former one. Based on this relationship, the method to calculate the accumulation of the mixture when the manipulator changes the speed and the direction is also introduced. The trajectory is determined to make the final surface smooth under the condition that the pothole is cut to hexahedron before patching and only the spacing and the shifting of the manipulator is controllable. Final surface is simulated by the computer to prove the adequacy of the determined trajectory.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.314-319
• /
• 2002

The Automation and Control Group at the University of Brasilia is developing an automatic welding station based on an industrial robot and a controllable welding machine. Several techniques were applied in order to improve the quality of the welding joints. This paper deals with the implementation of a laser-based computer vision system to guide the robotic manipulator during the welding process. Currently the robot is taught to follow a prescribed trajectory which is recorded a repeated over and over relying on the repeatability specification from the robot manufacturer. The objective of the computer vision system is monitoring the actual trajectory followed by the welding torch and to evaluate deviations from the desired trajectory. The position errors then being transfer to a control algorithm in order to actuate the robotic manipulator and cancel the trajectory errors. The computer vision systems consists of a CCD camera attached to the welding torch, a laser emitting diode circuit, a PC computer-based frame grabber card, and a computer vision algorithm. The laser circuit establishes a sharp luminous reference line which images are captured through the video camera. The raw image data is then digitized and stored in the frame grabber card for further processing using specifically written algorithms. These image-processing algorithms give the actual welding path, the relative position between the pieces and the required corrections. Two case studies are considered: the first is the joining of two flat metal pieces; and the second is concerned with joining a cylindrical-shape piece to a flat surface. An implementation of this computer vision system using parallel computer processing is being studied.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.550-554
• /
• 1992

In this paper the issue of convergence rate is introduced for a learning control scheme we have developed and applied for tracking of unknown linear systems. A sufficient condition under which the output trajectory converges exponentially fast is obtained using the controllability grammian of controllable linear systems. Under the same condition it is also shown that the learning control input converges exponentially with the same rate as the rate of output convergence. A numerical example with computer simulation results is presented to show the feasibility of the scheme.

• Knowledge Management Research
• /
• v.14 no.5
• /
• pp.1-14
• /
• 2013

This paper is aimed at investigating the factors to grow the new technology based firm(NTBF), K-MAC. NTBFs need an environment in which novelty is encouraged, employees find work meaningful and controllable, learning is incorporated into work, ideas and process improvements are implemented and a balanced focus of the internal and external to the company is fostered. With collaboration between industry and academia, Lynda Aiman-Smith made an instrument of VIQ(Value Innovation Quotient), which is consist of 9 factors, 33 items. VIQ Results can help the company to develop a better understanding of the organization's culture, and its formal subgroups. That is to identify subcultures in the organization, to diagnose potential problems or inhibitors of innovation, to identify organizational strengths for innovation and set a quantitative baseline. Using the VIQ,K-MAC analysed the subculture of innovation potential capability. K-MAC organized the COP(community of practice) with the young employees' participation and try to solve the real problem in the working place. This paper explained the diverse growing trajectory through the TPM concept and suggest for the future strategy.