• 대한인간공학회지
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• 제6권2호
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• 로봇학회논문지
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• 제10권3호
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 유공압시스템학회논문집
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• 제4권3호
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• pp.13-21
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• 2007

A forklift is a motive machine powered by LPG, diesel engine or electric motors. The internal combustion engine type forklift is equipped with automatic transmission to meet the required drive load as well as the easy operation of the vehicle. This paper deals with the shift control and endurance test controller which is developed for the functional test of the newly designed automatic transmission on a dynamometer test bench. Its major function is to control the proportional solenoid currents, which is directly related to clutch pressures, for the given reference current trajectory during shift and sequential operation of shift schedule designed for the durability test at each gear. It also has the ability to monitor all the necessary test data through RS232 communication and log them to disk files. The current controller of embedded system is designed from the identified dynamics of solenoid coil and the current reference can be easily modified with a user interface software on PC so as to match the shift data by experiments.

• 한국광학회지
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• 제14권2호
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• pp.194-199
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• 2003

FCM(Fast moving least square reproducing kernel point collocation method) 방식의 simulation tool을 이용하여 전기장으로 구동되는 초소형 전자 렌즈의 구동 특성을 조사·분석하였다. Einzel 렌즈의 retarding mode와 accelerating mode구동에서 포텐셜 분포는 유사하지만, electric field strength는 서로 다른 방향을 갖게 되어 서로 다른 형태의 전자 궤적을 보인다. 동일한 working distance에서 accelerating mode로 구동되는 전자렌즈는 retarding mode로 구동되는 경우보다 매우 높은focusing 전압을 필요로 한다.

• 전력전자학회논문지
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• 제18권5호
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• pp.448-457
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• 2013

This paper proposes a control method under stand-alone operating mode for distributed-module type photovoltaic power conditioners. In conventional schemes, there are some problems of a controller saturation in the DC-link (or load) voltage controller when overly-heavy load, light load, and the generated PV power reduction occurs, as well as when a transition occurs from an overly-loaded to normal conditions. To overcome these problems, the proposed controller method switches the main control target from DC-link voltage to the maximum power point, which is closer to the stable operating point when it returns to normal operating conditions. For the analysis, a state-plane trajectory was given and the circuit analysis by PSIM simulation was done. For the verification, a prototype hardware with 110[W] and 50[W] dual photovoltaic modules has been implemented. From the results, it can be seen that PV power tracking is successfully done with the proposed method even under a stand-alone operation mode.

• 한국항공우주학회지
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• 제50권8호
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• pp.591-597
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• 2022

본 논문에서는 팔라우추적소 원격자료수신장비 링크버짓 결과를 예측하고 실제 신호수신레벨과 비교 분석하였다. 팔라우추적소는 발사 임무에 처음으로 참여하였으며, 지리적 특성상 비행시험 등 안테나 추적 및 신호 수신 성능에 대한 검증 시험에 어려움이 있어 발사체 궤도 및 자세각에 따른 송신 안테나 편파별 이득 값의 변화를 예측하여 보다 정확하게 링크버짓을 분석하였다. 분석결과는 팔라우추적소 신호 수신 가능 구간, 안테나 구동각도와 좌현/우현 편파 예상 수신레벨 분석에 활용되었고, 발사임무 운용 결과 안테나 실제 수신레벨은 링크버짓 결과와 유사함을 확인하였다.

• Journal of Korean Neurosurgical Society
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• 제66권2호
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• pp.183-189
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• 2023

Objective : The facial nerve trace on the ipsilateral side of the vestibular schwannoma was reconstructed by diffusion tensor imaging tractography to identify the adjacent relationship between the facial nerve and the tumor, and to improve the level of intraoperative facial nerve protection. Methods : The clinical data of 30 cases of unilateral vestibular schwannoma who underwent tumor resection via retrosigmoid approach were collected between January 2019 and December 2020. All cases underwent magnetic resonance imaging examination before operation. Diffusion tensor imaging and anatomical images were used to reconstruct the facial nerve track of the affected side, so as to predict the course of the nerve and its adjacent relationship with the tumor, to compare the actual trace of the facial nerve during operation, verify the degree of coincidence, and evaluate the nerve function (House-Brackmann grade) after surgery. Results : The facial nerve of 27 out of 30 cases could be displayed by diffusion tensor imaging tractography, and the tracking rate was 90% (27/30). The intraoperative locations of facial nerve shown in 25 cases were consistent with the preoperative reconstruction results. The coincidence rate was 92.6% (25/27). The facial nerves were located on the anterior middle part of the tumor in 14 cases, anterior upper part in eight cases, anterior lower part in seven cases, and superior polar in one case. Intraoperative facial nerve anatomy was preserved in 30 cases. Among the 30 patients, total resection was performed in 28 cases and subtotal resection in two cases. The facial nerve function was evaluated 2 weeks after operation, and the results showed grade I in 12 cases, grade II in 16 cases and grade III in two cases. Conclusion : Preoperative diffusion tensor imaging tractography can clearly show the trajectory and adjacent position of the facial nerve on the side of vestibular schwannoma, which is beneficial to accurately identify and effectively protect the facial nerve during the operation, and is worthy of clinical application and promotion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1999-2004
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• 2004

Collision avoidance for the aircraft can be stated as a problem of maintaining a safe distance between aircrafts in conflict. Optimal collision avoidance problem seeks to minimize the given cost function while simultaneously satisfying the constraints. The cost function can be a function of time or input. This paper addresses the trajectory time-optimization problem for collision avoidance of the unmanned aerial vehicles. The problem is difficult to handle, because it is a two points boundary value problem with dynamic environment. Some simplifying algorithms are used for application in on-line operation. Although there are more complicated problems, by prediction of conflict time and some assumptions, we changed a dynamic environment problem into a static one.

• 대한임베디드공학회논문지
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• 제12권2호
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• pp.105-112
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• 2017

To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.

• Journal of Platform Technology
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• 제6권3호
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• pp.23-30
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• 2018

동작 패턴 생성이란 로봇이 어떤 동작을 안정하게 수행하기 위해 미리 안정적인 동작 궤적을 계산해 내는 것을 말하며 자세 제어는 미리 생성된 동작 패턴을 이용하여 동작을 수행하는 도중 발생하는 외란을 제거하여 로봇의 자세를 안정 하게 만들어주는 것을 말한다. 본 논문에서는 수치적 방법이나 로봇의 상체 구조를 간략화하여 근사적으로 생성하는 기존의 보행 패턴 방법과는 다르게 범용적으로 사용 가능한 뉴럴네트워크 학습기법을 이용한 로봇의 동작패턴 생성방법에 대하여 연구한다.