http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Sang-Young Jo(조상영),Min-Seong Kim(김민성),Jun-Seok Yang(양준석),Jong-Bum Won(원종범),Sung-Hyun Han(한성현) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.
고온 환경 단조공정 자동화를 위한 수직다관절 로봇의 실시간 작업경로 제어에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),도기훈(Ki-Hoon Do),한성현(Sung-Hyun Han),하언태(Un-Tae Ha),심현섭(Hyun-Suk Shim),임창식(Chang-Sik Lim) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.1
This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.
고온 환경 단조 공정자동화를 위한 6축 수직다관절 로봇의 기구학 및 동특성 해석에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),구영목(Young-Mok Koo),원종범(Jong-Beom Won),강정석(Jeong-Seok Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.
조상영(Sang-Young Jo),정진우(Jin-Woo Jeong) 한국정보전자통신기술학회 2018 한국정보전자통신기술학회논문지 Vol.11 No.4
네트워크 인프라 환경과 센서 및 IoT 디바이스 기술의 발전에 따라 사용자나 건물, 환경에 대한 모니터링 및 이에 따른 상호작용 기술에 대한 연구 개발이 활발히 진행되고 있다. 특히, 사회적 약자인 노인, 장애인, 어린이들과 관련된 모니터링 기술에 대한 수요가 급증하고 있다. 본 연구에서는 IoT 케어 로봇 기반의 효율적인 병실 관리 시스템을 제안한다. IoT 디바이스와 클라우드 기반 플랫폼을 활용함으로써 보다 효율적이고 직관적으로 병실의 상태를 확인하고 제어할 수 있다. 본 연구에서는 ARTIK 디바이스와 ARTIK Cloud 플랫폼 기반의 프로토타입 구현을 통하여 제안하는 시스템의 활용 가능성을 확인하였으며, 센서 정보 수집 및 경고 상황 대응에 각각 약 600ms와 130ms가 소요되어 제안하는 시스템이 실시간으로 동작 가능함을 확인하였다. Recent advances in network infrastructures, sensors, and IoT devices have accelerated the research and development of monitoring and interaction technologies designed for people, buildings, and environments. In particular, there has been an increasing demand for monitoring technologies for vulnerable people such as the infirm, disabled, and children. In this paper, we propose an efficient hospital room management system based on IoT care robots. The status of hospital rooms can be monitored and controlled more efficiently and intuitively by utilizing IoT devices and a cloud platform. We demonstrated the feasibility of the proposed system through the implementation of a prototype based on ARTIK IoT devices and the ARTIK Cloud platform. We found that the proposed system requires approximately 600 ms and 130 ms to collect sensor data and respond to alerts, respectively, which demonstrates it can operate in real-time.
900L 냉장고 진공발포시스템 유압노즐의 최적 압력제어에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),구영목(Yeong-Mok Koo),양준석(Jun-Suk Yang),신행봉(Haeng-Bong Shin),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This study proposes a new approach to control the nozzle pressure of homogenizer in refrigerator foam system in the 900L class. Generally, dynamic characteristics of the hydraulic nozzle system is highly nonlinear due to uncertain parameters, and it is very difficult to control of hydraulic dynamics. Firstly, it has been performed to derive a real-time control algorithm based on the mathematical model of hydraulic cylinder, and to estimate the values of the unknown parameter in the hydraulic system. Secondly, the feedback controller was designed to implement the optimal pressure control of the hydraulic nozzle system. Finally the control performance was illustrated by simulation.
음성명령기반 26관절 보행로봇 실시간 작업동작제어에 관한 연구
조상영(Sang Young Jo),김민성(Min Sung Kim),양준석(Jun Suk Yang),구영목(Young Mok Koo),정양근(Yang Geun Jung),한성현(Sung Hyun Han) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.4
The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.
2족 보행로봇의 실시간 작업동작 생성을 위한 지능제어에 관한 연구
김민성(Min-Seong Kim),조상영(Sang-Young Jo),구영목(Young-Mok Koo),정양근(Yang-Gun Jeong),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.
Jun-Seok Yang(양준석),Young-Mok Koo(구영목),Sang-Young Jo(조상영),Jong-Bum Won(원종범),Jong-Dae Won(원종대),Sung-Hyun Han(한성현) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.
화자독립방식에 의한 음성인식 알고리즘 개발 및 실시간 실현에 관한 연구
정양근(Yang-geun Jung),조상영(Sang Young Jo),양준석(Jun Seok Yang),한성현(Sung Hyun Han) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
In this research, we proposed a new approach to implement the real-time motion control of biped robot based on voice command for unmanned FA. Voice is one of convenient methods to communicate between human and robots. To command a lot of robot task by voice, voice of the same number have to be able to be recognition voice is, the higher the time of recognition is. In this paper, a practical voice recognition system which can recognition a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. Given biped robots, each robot task is, classified and organized such that the number of robot tasks under each directory is net more than the maximum recognition number of the voice recognition processor so that robot tasks under each directory can be distinguished by the voice recognition command. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.