• 한국자동차공학회논문집
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• 제8권4호
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• pp.130-140
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• 2000

In this paper the reference model following control(RMFC) scheme through the optimal control theory is investigated for the independent rear wheel steering(IRWS) vehicle. RMFC vehicle follows the dynamic performance of a virtual vehicle as a reference model deisgned in the controller. Linear vehicle model of two degres-of-freedom is used to derive control scheme which is applied to full vehicle for evaluating handling performances. And 4WS vehicle through RMFC is compared to the conventional 2WS vehicle and 4WS vehicle in the J-turn test. The RMFC logic is also extended to IRWS vehicle, IRWS with RMFC shows not only the excellent handling performance but salso some advantages in terms of the directional stability and responsiveness from the simulation results.

• 한국전자거래학회지
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• 제1권1호
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• pp.227-247
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• 1996

Presented in this paper is a control model for developing virtual factory simulator, which is being operated under the distributed environment. The control model consists of production activity plan and information flows. To incorporate elements of the characteristics of the distributed control system, we suggested a collaboration model. This model is working under the client/server architecture, and also designed for cooperative-distributed shop control(CDSC) system in order to exploit several advantages of client/server architecture. Collaboration among each agent(or client) is done through negotiation and task sharing. Based on a contract net model, the CDSC system has three kinds of agents-order agent, resource agent, and communication forwarding agent. Each agent performs shop scheduling and control through negotiation on contract net. No node in CDSC system can have authority over other node. A bidding scheme is employed far negotiation between order agent and resource agents. The CDSC system can support re-negotiation among resource agents and an algorithm for re-negotiation is also developed. Experimental results are shown to advocate the effectiveness of the CDSC system for CIM environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.38.4-38
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• 2001

In this paper, a novel model following sliding mode control is proposed by using a novel sliding mode with virtual state. This sliding surface has nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is combined with the optimal controller. Its design is based on the argument system whose dynamics have one higher order than that of the original system. The reaching phase is eliminated by using an initial virtual state that makes the initial sliding function equal to zero.

• 한국CDE학회논문집
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• 제18권1호
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• pp.21-27
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• 2013

Presented in the paper is a log data based modeling method for effective construction of a virtual plant model which can be used for the virtual PLC (Programmable Logic Controller) simulation. For the PLC simulation, the corresponding virtual plant, consisting of virtual devices, is required to interact with the input and output symbols of a PLC. In other words, the behavior of a virtual device should be the same as that of the real device. Conventionally, the DEVS (Discrete Event Systems Specifications) formalism has been used to represent the behavior a virtual device. The modeling using DEVS formalism, however, requires in-depth knowledge in the simulation area, as well as the significant amount of time and efforts. One of the key ideas of the proposed method is to generate a plant model based on the log data obtained from the production system. The proposed method is very intuitive, and it can be used to generate the full behavior model of a virtual device. The proposed approach was applied to an AGV (Automated Guided Vehicle).

• 한국CDE학회논문집
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• 제20권3호
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• pp.298-311
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• 2015

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.746-753
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• 2008

본 논문에서는 원격 제어 시스템에 있어 조작자와 기계사이의 시각적 또는 근육지각운동의 연결에 있어서 조작자의 안정된 작업환경을 확보하기 위해 가상 모델을 이용하고, 또한 가변 시간 지연의 추정 및 예측 기법을 적용함으로써 원격조작의 실현성을 향상시키기 위한 방법을 제시하고 있다. 원격제어시스템에서의 실현성 향상을 위해 가상 모델을 설계하고, 가상의 모델이 원격의 로봇과 시간적으로 동일한 움직임을 할 수 있도록 구성함으로서 조작자는 원격의 로봇을 가상의 모델을 통해 조작할 수 있도록 시스템을 구성하였다. 시뮬레이션과 실험을 통하여 원격조작으로 가상의 모델을 제어함으로써 원격의 로봇을 제어하고, 가상의 모델을 통해 원격의 로봇의 실시간 제어에 가능성을 제시하였다.

• International journal of advanced smart convergence
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• 제3권1호
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• pp.11-14
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• 2014

We have been designing human interactions for some learning support system or education system. The design is based on a symbol grounding model. The model is applicable to many learning domains using virtual reality technology. The design policy is simple and compact. In order to realize the policy we use/reuse some devices from the viewpoint of virtual reality. This paper introduces basic ideas and explains several example cases based on the idea.

• 한국정밀공학회지
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• 제13권8호
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• pp.128-138
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• 1996

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

• 한국안전학회지
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• 제21권4호
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• pp.25-32
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• 2006

LonWorks over IP(LonWorks-IP) virtual device network(VDN) is an integrated form of LonWorks device network and IP data network. In especially real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. The time delay in servo control on LonWorks-IP based VDN has highly stochastic nature. LonWorks-IP based VDN induced transmission delay deteriorates the performance and stability of the real-time distributed control system and can't give an effective preventive and predictive maintenance. In order to guarantee the stability and performance of the system, and give an effective preventive and predictive maintenance, LonWorks-IP based VDN induced time-varying uncertain time delay needs to be predicted and compensated. In this paper new Pill control scheme based on Smith predictor, disturbance observer and band pass filter is proposed and tested through computer simulation about position control of DC servo motor. It is shown that how can the proposed control scheme be designed to minimize the effects of uncertain varying time delay and model uncertainties. The validity of the proposed control scheme is compared and demonstrated with the comparison of internal model controllers(IMC) based on Smith predictor with and without disturbance observer.

• 동력기계공학회지
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• 제15권2호
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• pp.19-24
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• 2011

In this study, a control method of MR(magneto-rheological) damper for a cruise bus is investigated. A virtual dynamic damper and a sky-hook algorithm are employed to control the damping characteristics of MR damper. Coefficients for a virtual dynamic damper are determined through the parameter identification. A quarter car model of a cruise bus is established by using ADAMS/Car program for the computer simulation. Sine wave excitation and random excitation are used to compare the controlled MR damper with the passive damper. From the simulation results, the performance of MR damper with a virtual dynamic damper is better than that of the passive damper.