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RISS 인기검색어
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- 저자 : 김석윤(Seuk-Yun Kim) (검색결과 4 건)
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양지혁(Ji-Hyuk Yang),김석윤(Seuk-Yun Kim),이영삼(Young Sam Lee),권오규(Oh-Kyu Kwon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.4
This paper proposes an equipment and an algorithm for modeling the magnetic force of electromagnets in magnetic levitation systems. We assume that the magnetic force model is represented in terms of a 2D lookup table. The 2D lookup table is constructed by applying noncausal filtering and interpolation to data measured by the proposed modeling equipment. The proposed modeling equipment is designed such that it can measure the magnetic force exerted on the levitation object while it changes the voltage applied to the electromagnet and position of the levitation object. The algorithm of making a 2D lookup table has two stages. The data measured by the proposed modeling equipment is smoothed by a noncausal filter and then the 2D lookup table is obtained by interpolating filtered data. The proposed modeling method has advantages of time-saving, model consistency, and chance of automation for mass production. We show the validity of proposed method through control experiments.
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김원식(Won-Sik Kim),김석윤(Seuk-Yun Kim),이영삼(Young-Sam Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.2
In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.
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Matlab과 USB DAQ 장치를 이용한 Rapid Control Prototyping System 개발
이영삼(Young-Sam Lee),양지혁(Ji-Hyuk Yang),김석윤(Seuk-Yun Kim),김원식(Won-Sik Kim),권오규(Oh-Kyu Kwon) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.10
In this paper, we propose a new and cost-effective RCP (Rapid Control Prototyping) system based on Matlab/Simulink and a DAQ (Data Acquisition) unit with the high speed USB communication interface. The proposed RCP system has a feature that a computer on which Simulink is running acts as a realtime controller and a DAQ unit performs data acquisition, transmission of the data to and from a computer, and the application of control data received from the computer. For its implementation, we develop 10 communication blocks each of which is constructed by using S-function. In order to increase the data communication speed and thus to reduce the sampling period of the overall control system, we propose to use a batch transfer strategy through the USB interface. The proposed RCP system has several advantages over existing methods such as good maintainability, portability due to the USB interface, low cost, and no necessity for C-code generation even though it can only be applied to control systems with moderate sampling rates. It is expected that the proposed RCP system can be useful in teaching control-related topics to undergraduate and graduate students.
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양지혁(Ji-Hyuk Yang),이상용(Sang-Yong Lee),김석윤(Seuk-Yun Kim),이영삼(Young Sam Lee),권오규(Oh-Kyu Kwon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.
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