디지탈 신호처리기(TMS320C40)를 이용한 산업용 로봇의 퍼지제어기 설계 및 실시간 실현

한성현 한국공작기계학회 2001 한국공작기계학회지 Vol.10 No.2

전자부품 검사용 지능형 로봇 비젼 시스템 개발

한성현,김윤구,안종국,조창제 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-

Developed shape awareness technology and vision technology for slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1pixel as 3.7㎛×3.7㎛(0.1369×10^(-4)㎟) the accuracy to 10^(-4)㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.

생산자동화를 위한 밀링머신의 적응제어에 관한 연구

金錫灝,韓聖鉉 東義大學校産業技術開發硏究所 1988 産業技術硏究誌 Vol.2 No.-

This paper presents a application of the discrete time model reference adaptive control system (MRAC) to the metal cutting processes. The purpose of adaptive control is to maintain the cutting force at a desire level during milling inspite of variation of the depth of cut and other machine conditions. The metal cutting process in modeled as a first order process with unknown time constant and steady state gain. The design of the model reference adaptive control algorithm is basied on pole asignment. The experiment result shows that the model reference adaptive control algorithms can successfully maintain uniform force level under variation in depth of cutting. There are an incresing number of attempts to develop sophisticated control schimes for metal cutting processes. The definition of "adaptive control" in the engineering literature often implies feedback control in the control engineering literature. The objective of this paper is to show how rescent in the model reference adaptive control theory can be applied to matal cutting problem with milling machine. In general, over with range of operation conditions, this objective is difficult to achieve without adaptive control. In this paper, a discrete time MRAC algorithm is used in the synthesis of both the adaptation algorithm and the control structure.

적응제어기법에 의한 산업용 로봇의 정밀위치제어

한성현,Le Xuan Thu,김홍래,정인보 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-

In this paper, it is presented a new scheme of adaptive control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive control scheme is proved to be a efficient control technique for real-time control of robot system using Digital Signal Processors.

역모델을 이용한 로보트 매니퓰레이터의 견실한 독립 다변수 제어기 설계

韓聖鉉 慶南大學校 附設 工業技術硏究所 1993 硏究論文集 Vol.11 No.-

기존의 산업용 로보트 제어기는 작업중 고속운전이나 빈번한 부하변동 및 미지의 외란에 의해 역학적으로 나타나게 되는 각 관절간의 연성(coupling)및 파라미터 불확실성의 영향으로 로보트 제어기의 성능과 그 응용범위에 크게 제약을 받고 있으므로 이러한 기존의 산업용 로보트 제어기의 새로운 설계방법의 개선 및 성능향상을 위한 새로운 구조의 견실한 로보트 제어기를 설계한다. 로보트 제어기의 기본 구조는 극배치(pole placement) 방법에 의한 피이드백제어기와 역시스템(inverse system)을 이용한 피이드포워드제어기로 구성되는 독립다변수 제어기로 설계된다. 제안된 제어기는 매니퓰레이터의 관성파라미터의 불확실성 및 부하변동 등의 많은 외란에 대한 성능시험결과 기존의 로보트 제어기에 비하여 매우 향상된 견실성과 정밀성을 유지하였다. This paper proposes a new approach to the design of multivariable control schemes for assembly robot manipulator to achieve accuracy trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and a feedback controller. In this control scheme, the feedback controller is proportional-integral-derivative type and is designed to achieve the pole placement. The feedforward controller is the inverse of the linealized model of robot manipulator dynamics. The feedback controller ensures that each joint tracks any reference trajectry. The proposed robot controller scheme has a computationally efficient schemes for either off_line gain scheduling or on_line gain computation to account for variations in the linealized robot dynamic model due to changes in operating point. The simulation results demonstrate that the proposed control schemesperporms remarkably well for parameter uncertainties and load variations.

우리나라 一部 農村地域社會에서 固産期 및 영아사망에 影響을 주는 要因에 關한 硏究 : Multiple Log-Linear Analysis를 적용하여

韓聖鉉 순천향대학교 1986 논문집 Vol.9 No.2

This study is attempted to identify the status of perinatal mortality(sum of still births and neonatal deaths) and infant mortality, and to identify the significant risk factors related to these mortality rate in recent Korean rural community by using a method of the rational analytic approach. The data for this study is a part of Soonchunhyang University's evaluation survey of "An Integrated Family Planning and Maternity/Infant Care Services" under the sponsorship of WHO. While the target group of the evaluation survey was upon all the 2267 eligible women of five Myuns in Seosan Country on August 1984, the concerning target cases of this study was gathered of 1522 birth cases produced by those eligible women from August 1st 1980 to July 30 1984. (Which period meant the time of intervention project of SCH University). In the first phase of this analysis, it was revealed that the status of perinatal mortality rate of this study group was 30 deaths per 1000 births and infant mortality rate was 33 per 1000 births. In the second phase of analysis, it was adopted six factors as risk factors, e.g. birth interval, education level of eligible women, experience of the still-birth and dead children, experience of difficult delivery, existence of chronic disease of eligible women and birth parity among various demographic, socio-economic, pregnancy history and medical variables by simple linear regression. And then perinatal and infant mortality was considered as response variables to attempt to apply the multiple log-linear analysis for this study. The result of this analysis showed the significant ordered interrelationships between mortality rate and above six variables in the order of firstly birth interval, experience of the still-birth and dead children and existence of chronic disease of eligible women.

뉴럴 네트워크를 이용한 로봇의 역 보정

한성현 慶南大學校 附設 工業技術硏究所 1998 硏究論文集 Vol.16 No.-

본 논문에서는 신경 회로만(neural network)을 사용하여 비교적 단순하면서도 정확하게 보정할 수 있는 로봇의 보정 방법을 제시하고자 한다. 본 논문에서 제안하는 보정기법은 기존의 모델링 보상의 4 단계를 측정 및 보상의 2단계로 실시한다. 보상할 인자로는 역 보정으로 기하학 및 비기하학적 오차 요인이 모두 포함되어 보상될 수 있도록 파이-시그마 신경 회로망을 사용하여 조인트 변수만으로 보상이 가능토록 한다. 제안된 로봇 보정방법의 신뢰성은 텍사스 인스트르먼트사(Texas Instrument Company)사의 제품인 TMS320C31 디지털 신호 처리기를 CPU로 내장된 4 자유도 SCARA로봇(SM5 모델) 및 6관절 수직다관절 로봇에 대한 시뮬레이션 및 실험을 통하여 검증한다. This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing untis in the hidden layer and product uint in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, The SCARA type direct drive robot (4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from ±3˚to±0.1˚.

공장자동화를 위한 로보트매니퓰레이트의 적응제어에 관한 연구

권성하,한성현 國立 昌原大學校 産業技術硏究所 1988 産技硏論文集 Vol.2 No.-

This study improve and implement the unitor vector adaptive model following control algorithm proposed by Balestrino and Coworkers. To evaluate improved algorithm, computer simulation are carried out and compared. The improved scheme is implemented in RHINO XR-Ⅱ robot system reconstructed partially to enable torque control, and the current drive linear DC servo amplifier is designed. The control program is written in assembly language and does some necessary computation on floating point numbers. This study offers the idears of development of adaptive control in a physical system and tested in experimental scale. Adaptive Model Following Control technique is applied to develop robotic manipulator control system, which can deal successfully with the complex dynamics of the manipulator.

여성근로자들의 자각적 호흡기 질환과 관련요인 분석

한성현,서승희,박재성 순천향대학교 기초과학연구소 2004 순천향자연과학연구 논문집 Vol.10 No.2

The objectives of this study is to explain the perceived respiratory disease of female workers and to identify the affecting factors on their perceived respiratory disease. By the results of this study will be provided for basic data to develop health promotion program and to prevent the respiratory disease among female workers. The size of samples was 1875 female workers under forty years old. The data were collected method to identify the affecting factors on their perceived respiratory disease was used multiple linear regression analysis. The results were as follows; The average score of perceived respiratory disease by Cornell medical Index(CMI) is 1.92±2.16 and prevalence rate of respiratory disease is 3.6%. The results by multiple regression analysis were as follows: The affecting factors on CMI of respiratory disease were smoking, stress, workplace accident, status of indoor air pollution, respiratory disease in family, age, working period of current job(R^(2)=0.111). Respiratory health problem of female workers related to personal health behavior, job stress, indoor air-pollution of working place. Therefore the most effective health education for charge of health behavior(smoking) should be considered and must be provided the opportunity for health promotion program in workplace. Also the affecting factors on health status were working environments(indoor air pollution). Therefore, the most safety for working environments should be considered for the female workers in workplace.

초음파 센서 및 음성인식 기반 자율주행로봇의 지능제어에 관한 연구

한성현,김윤구,Le Xuan Thu,신행봉,조창제 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-

In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.