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Adaptive Accommodation Control Method for Complex Assembly
KANG, Sungchul,KIM, Munsang,PARK, Shinsuk Japan Society of Mechanical Engineers 2006 JSME international journal Mechanical systems, mac Vol.49 No.4
<P>Robotic systems have been used to automate assembly tasks in manufacturing and in teleoperation. Conventional robotic systems, however, have been ineffective in controlling contact force in multiple contact states of <I>complex assembly</I>that involves interactions between complex-shaped parts. Unlike robots, humans excel at complex assembly tasks by utilizing their intrinsic impedance, forces and torque sensation, and tactile contact clues. By examining the human behavior in assembling complex parts, this study proposes a novel geometry-independent control method for robotic assembly using adaptive accommodation (or damping) algorithm. Two important conditions for complex assembly, <I>target approachability</I> and <I>bounded contact force</I>, can be met by the proposed control scheme. It generates target approachable motion that leads the object to move closer to a desired target position, while contact force is kept under a predetermined value. Experimental results from complex assembly tests have confirmed the feasibility and applicability of the proposed method.</P>
Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications
Sungchul Kang,Mi-Hee Nam,Bong-Seok Kim 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.11
This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp natur-ally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.<br/>
Multlilevel multiuser detection system in a multi-cell MFSK/FH- CDMA envirionment
kang, Sungchul,Kohno, Ryuji 연세대학교 전자정보통신연구소 1998 전자 정보 통신 논문집 Vol.3 No.1
This paper proposes a multiuser detection system in a multi-cell M-ary Frequency Shift Keying(MFSK)/Frequency Hopping(FH)-Code Division Multiple Access(CDMA) environment, in which the channel model is an OR-channel and in the reverse link. We have propose a multiuser detection system in a single cell[2]. However, this system is not adequate to detect multiuser in a multi-cell environment. Therefore, we propose a multiuser detection system can delete inter0cell interference as well as intra-cell interference, receive the weakened desired signal and reject the false alarm Computer simulation shows the performance improvement.
레이저 다이오드를 이용한 정현파 위상변조 간섭에 의한 실시간 극미세 진동 측정에 관한 연구
강성철(Kang Sungchul),진상규(Jin Sangkyu),지철근(Chee Chulkeun) 한국조명·전기설비학회 1991 한국조명·전기설비학회 학술대회논문집 Vol.1991 No.-
A new signal processing system for real time displacement measurement in sinusoidal phase modulating interferometry is described. Although sinusoidal phase modulating interferometry is effective in measuring with high accuracy the displacement of an object, conventional signal processing takes along time. In this method, detection of the object"s displacement is easily achieved by sampling the interference signal at those times that satisfy certain conditions and by processing the sampled signals with electric circuits in real time. The delay time of this signal processing system is 〈 45㎲. Specially in this paper we describe all electronic circuit and optical system design.
생활계 폐합성수지 물질 재활용 제품의 생산시기별 품질 특성
강혜주 ( Kang Hye Ju ),신성철 ( Shin Sungchul ),강석표 ( Kang Suk Pyo ) 한국건축시공학회 2020 한국건축시공학회 학술발표대회 논문집 Vol.20 No.2
In order to expand the material recycling of waste plastics made of composite materials, it is necessary to develop the use of material recycling products and to secure their quality stability. In this paper, as a basic study to secure the stability of the quality of household waste plastic material recycling products, the quality characteristics of recycled materials according to the production period were compared and reviewed. In addition, the average tensile strength of the recycled products by production period for 4 months was 12.33 MPa, and the average density was 1.35 g/m3.