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적응 제어 기법을 이용한 발목 근육 움직임의 안정적인 균형을 위한 모델링 및 제어
가춘식(Chun Sik Ga),신영재(young Jae shin),페르디난드(Ferdinand Tabligan) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11
The purpose of this study is the identification and control of ankle muscles in the stabilization of balance in quiet standing. The study consist of system identification based on the data of measured COM(center of mass) during quiet standing, and control by using adaptive control method based on the model. The result shows that it is possible to control stiffness exactly with the optimum parameters that is gotten by system identification. Precise modeling is difficult because the structure of the ankle muscle is a non-linear and multivariable system. But our model of stiffness control during quiet standing also suggests the possibility that the structure of the human body can be modeled by using advanced control method.
생산 흐름 분석을 통한 FAS라인의 최적 배치 설계에 관한 연구
가춘식(Chun Sik Ga),정진휘(Jinhwi Jung),장봉춘(Bong-Choon Jang),엄용균(Yong-Gyun Eom) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4
Many mid-sized companies in Korean automotive industry have attempted to solve the lack of human power, to control the quality of components, to improve the production rate, and to innovate the manufacturing line. The goals of this study are to analyze the production rate of an automotive component manufacturing line using simulation software, to construct a Flexible Automation Subassembly (FAS) system and to suggest an optimized layout design using FAS line. In this research, the simulation model for manufacturing line was developed and used the realistic data (production planning, component type, working order, process time, queue time, line rules, etc) of a medium sized company in Korean automotive industry. To complete this research, a simulation software 'ARENA' was used.
핵사포드 기계 공구의 재구성을 위한 발-배치 알고리즘 개발
유영순,가춘식 安東大學校 工業技術硏究所 2001 공업기술연구논문집 Vol.8 No.1
본 논문에서는 새로운 병렬구조를 갖는 기계장치의 하나인 핵사포드 기계 기구의 발-배치 알고리즘에 대하여 기술한다. 모듈 병렬운동 기계의 구성을 위한 도구로써 핵사포드 기계 기구의 발-배치를 위한 해석법을 정의하고 제안한다. 이동 플랫폼의 제안된 작업 영역과 다리 모듈의 이동 범위에 기초하여 이 프로그램이 원하는 작업영역을 제공하기 위한 각 발의 가장 적절한 위치를 결정하는 것을 제시된 실험을 통하여 확인할 수 있다. This paper presents an investigation of new reconfiguration used for enhancing the ability of hexapods to adapt to the workspace change and assisting them to integrate into the current manufacturing environment. As a utility to guide the reconfiguration of module PKMs, this defined and presented a construction method for Foot-Placement Space (FPS). Based on the desired workspace of the mobile platform and the range of motion of theleg modules, the program will provide information on the feasible locations for the feet of the legs so that the required workspace can be realized. Experimental results have shown to verify the effectiveness of the proposed algorithm.
유영순,가춘식,Ryu, Yeong-Soon,Ga, Chun-Sik 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.12
A novel approach is developed for avoidance of obstacles in unknown environment. This paper proposes a new way of intelligent autonomous wheelchairs for the handicapped to move safely and comfortably. It is the objective of this paper to develop delayed time fuzzy control algorithms to deal with various obstacles. This new algorithm gives the benefit of the collision free movement in real time and optimal path to the moving target. The computer simulations and the experiments are demonstrated to the effect of the suggested control method.
지연시간 퍼지제어기법을 적용한 자율주행 휠체어의 유연회피성 비교검토
유영순,가춘식 국립7개대학공동논문집간행위원회 2001 공업기술연구 Vol.1 No.-
A novel approach is developed for smooth avoidance of obstacles in unknown environment. This paper proposes a new way of intelligent autonomous wheelchairs for the handicapped to move safely and comfortably. It is the objective of this paper to develop delayed time fuzzy control algorithms to deal with randomly moving obstacles. This new algorithm gives the benefit of the collision free movement in real time and optimal path to the moving target. The computer simulations and the experiments are demonstrated to the effect of the suggested control method.
퍼지 제어 이론을 이용한 이동 로봇의 장애물 회피 알고리즘
유영순,가춘식 安東大學校 工業技術硏究所 2000 공업기술연구논문집 Vol.7 No.1
이 논문은 새로운 지연 시간 기법을 도입한 퍼지 논리 제어기를 개발하여 자율 이동 로봇이 미지의 환경에서 고정 및 이동 장애물을 회피하는 알고리즘을 제안한다. 이 논문에서는 실시간으로 임의로 변화하는 장애물 회피 문제를 해결하기 위하여 지연 시간 기법을 이용한 개선된 퍼지 제어 알고리즘을 개발하였다. 이러한 제어 방법은 정해진 목표점을 장애물과 부딪히지 않고 실시간으로 최적의 경로를 찾아 실시간으로 주행하도록 하는데 매우 유용하다. 컴퓨터 모의실험을 통해 장애물 회피에 있어서 제안한 제어기법의 유용성을 검증하였다. This paper presents a delayed time path planning method of the Autonomous Mobile Robot using fuzzy logic controller for avoidance of fixed and moving obstacles in unknown environment. It is the objective of this paper to develop fuzzy control algorithms using delayed time techniques to deal with moving obstacles randomly in real time. This control method gives the benefit of the collision free movement in real time and optimal path to the pre-settled goal. The computer simulations are demonstrated the effective of the suggested control method in obstacle avoidance.