• 전기전자학회논문지
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• 제8권1호
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• pp.108-116
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• 2004

본 논문에서는 레이저를 이용한 이동 차량의 속도와 거리 측정 시스템을 설계하고 현장 실험을 통해 시스템을 검증하였다. 구현된 시스템은 크게 레이저모듈과 제어 및 속도 연산 모듈로 구성되어 있으며, 레이저 모듈은 레이저를 발사하고 수신하는 송수신부와 광학계 그리고 LDC(Laser Detection and Counter)로 이루어져 있고, 제어 및 속도 연산 모듈은 마이크로컨트롤러를 이용하여 레이저 모듈을 제어하기 위한 제어부와 레이저 모듈로부터 수집한 데이터를 이용하여 이동차량의 속도와 거리를 계산하는 속도 연산부로 이루어져 있다. 속도 연산을 위한 알고리즘은 레이저의 특성과 환경적인 요인을 고려해 개발하였다. 구현된 시스템은 도로상의 임의의 자동차를 대상으로 실험하였으며, 이를 통해 시스템의 안정성과 속도 알고리즘의 정확성을 검증하였다.

• 한국생산제조학회지
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• 제18권6호
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• pp.565-575
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• 2009

A forklift (also called a lift truck) is a powered industrial truck that is used to lift and transport materials. It has become an indispensable piece of equipment in manufacturing and warehousing operations. The modem forklift is equipped with automatic transmission to meet the requirement of loading and easy operation of the vehicle. This paper proposes the design of TECU(Transmission Electronic Control Unit) which is applied to PSD322-Axle transmission. Garofalo's control technique is generally used to the automatic transmission. We consider the work quality and market requirement that does not want to control engine throttle. This paper proposes new controller system which guarantees efficient speed changes with simple system. This new system does not control the engine throttle spontaneously. But it has the load of engine and vehicle as a maximum disturbance. The scope of the disturbance is limited to the stoll area of the torque converter. This paper proposes a ideal control commander that converges relative velocity of the input and ouput of a clutch into a zero. We design linear controller to execute the idea control commander. We applied the control algorithm to the forklift of PSD322-Axle type and the performance of this controller was verified.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.618-622
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• 2008

본 논문에서는 프랙탈 이론을 이용한 새로운 자동 작곡 알고리즘을 제안한다. 사용자는 L-System에서 시작 상태 및 생성 규칙들을 설정함으로써 다양한 프랙탈 형태를 정의 및 조정할 수 있다. 본 연구에서는 먼저 L-System과 확률을 이용하여 비대칭인 프랙탈 트리를 생성한다. 그리고 생성된 프랙탈 트리의 이미지를 기반으로 음악화 기법을 이용하여 음악을 생성한다. 본 논문에서는 다음 두 가지 방법을 소개한다. 첫째로, 이미지의 x축과 y축을 음의 크기와 음정으로 매핑하여 단선율 음악을 생성한다. 둘째로, 이미지의 x축과 y축을 시간과 음정으로 매핑하여 다성음악을 생성한다. 본 논문에서 제시하는 방법을 이용하여 사용자는 프랙탈의 재귀적인 특징이 반복성으로 나타나는 음악을 생성할 수 있으며, 프랙탈 트리의 모습을 음악적 구조로 갖는 음악을 생성할 수 있다.

• 한국항공우주학회지
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• 제50권10호
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• pp.709-716
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• 2022

본 논문에서는 IUS (Inertial Upper Stage)에 사용된 Gamma 유도 방식을 상단이 고체모터로 구성된 위성발사체 유도를 위해 적용해 보았다. 알고리듬의 수렴성 및 고체모터의 속도 오차 보상을 위해 RCS(Reaction Control System)가 최상단 연소 종료 후 작동하는 것으로 두었다. 알고리듬 계산 과정 중 최종 궤도 투입 오차 예측을 위한 적분과정을 Keplerian 궤적으로 단순화함으로써 수치 적분과정이 없도록 알고리듬을 구성하였다. 유도 알고리듬 평가를 위해 비공칭 비행 조건에 대한 3-DOF 컴퓨터 시뮬레이션을 수행해 주어진 상단 유도 방식은 개루프 명령을 적용한 경우 대비 궤도 투입 오차를 줄일 수 있음을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• 한국융합학회논문지
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• 제4권4호
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• pp.41-48
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• 2013

Observer design for system with unknown input was carried out. First, Kalman filter was considered to estimate system state with White noise. With the results of Kalman filter design, state observer, controller properties, including controllability and observability, and the Kalman filter structure and algorithm were also studied. Kalman filter algorithm was applied to Position and velocity measurement based on Kalman filter with white noise, and it was constructed and achieved by programming based on Matlab programming. Finally, observer for system with unknown input was constructed with the help of Gershgorin's disc theorem. With the designed observer, system states was constructed and applied to system with unknown input. By simulation results, estimation performance was verified. In this project, state feedback control theory, observer theory and relevant design procedure, as well as Kalman filter design were understood and used in practical application.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.454-457
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• 2002

This paper presents a new motion control for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. The proposed method was verified using MATLAB-based simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2211-2216
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• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• Journal of Ship and Ocean Technology
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• 제6권1호
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• pp.16-26
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• 2002

In this paper, a motion identification method using neural networks is applied to automatic ship berthing to overcome disturbance effects. Motion identification is used to estimate the effect of environmental disturbance. Two rule-based algorithms have been developed to over-come disturbance. The first rule based-algorithm was designed to overcome lateral disturbance when a ship's lateral speed is affected by it. The second rule-based algorithm was also designed to overcome longitudinal disturbance when a ship's angular velocity is changed by it. Finally, numerical simulations for automatic berthing are carried out, and the suggested control system is proved to be more practical under disturbance circumstances.