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적응-신경회로망 제어기법에 의한 로봇 매니퓰레이터의 견실제어
이우송(Woo-Song Lee),김윤구(Wn-Goo Kim),Le Xuan Thu,박세진(Se-Jin Park),노춘수(Chun-Su Roh),한성현(Sung-Hyun Han) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
In this paper, it is presented a new scheme of adaptive-neuro 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-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using Digital Signal Processors.
이우송(Woo-Song Lee),신창록(Chang-Rok Shin),안종국(Jong-Guk An),한성현(Sung-Hyun Han) 한국생산제조학회 2005 한국공작기계학회 추계학술대회논문집 Vol.2005 No.-
The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.
KPA rating 데이터 보정을 통한 성숙도 설문서(MQ) 선정 모델의 신뢰성 평가
김우송(Woo-Song Kim),이은서(Eun-Seo Lee),이경환(Kyung-Whan Lee) 한국정보과학회 2003 한국정보과학회 학술발표논문집 Vol.30 No.1B
소프트웨어 공학이 소프트웨어 시스템에 관한 방법론, 기술 및 툴 등의 유지보수와 개발에 중점을 두어 왔는데 최근에는 프로세스 개선과 프로세스 능력수준의 향상에 초점을 두는 방향으로 발전하면서 CMM 및 SPICE 활동이 증가하고 있다. 이와 같은 심사기법은 대규모의 회사에서 주로 시행되고 있어서 중소규모의 조직을 위한 간략한 심사기법의 도입이 요구되는 있는 상황이다. 본 논문에서 제시하는 심사기법은 CMM 심사를 위한 KPA 설문서의 rating 방법을 응용한 것으로서 SPICE 심사를 받은 국내 기업 중 일부 회사를 대상으로 하였다. 이 방법론에 대한 신뢰성의 평가는 아직 미흡한 상황이다. 이를 위해서 통계학적 접근방법을 도입하였는데 사용된 통계 기법은 상관계수를 통한 가설검정이다. 그 결과 성숙도 설문서(MQ) 선정모델의 적합성을 통계적 기법을 통해서 검증하였다.
인간과 로봇 협력작업을 위한 로봇 지능제어알고리즘 개발에 관한 연구
이우송(Woo-Song Lee),정양근(Yang-Guen Jung),박인만(In-Man Park),정종교(Jong-Gyu Jung),김희진(Hui-Jin Kim),김민성(Min-Seong Kim),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.4
This study proposed a new approach to develop an Intelligent control algorithm for cooperative working of human and robot based on voice recognition. In general case of speaker verification, Gaussian Mixture Model is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping based template matching techniques were presented for the voice recognition about several years ago. We converge these two different concepts in a single method and then implement in a real time voice recognition enough to make reference model to satisfy 95% of recognition performance. In this paper it was illustrated the reliability of voice recognition by simulation and experiments for humanoid robot with 18 joints.
이우송(Woo-Song Lee),심병균(Byoung-Kyun Shim),Nguyen Huu Cong,한성현(Sung-Hyun Han) 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
The purpose of this research is to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens of electronic parts for the performance verification, this development can 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 effort comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel as 37μm×37μm (0.1369×10-4㎟) the accuracy to 1.5×10-4mm minutely measuring is possible performance verification and trust ability through an experiment prove.
이우송(Woo-Song Lee),Nguyen Van Quyet,오세봉(Se-Bong Oh),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10
The purpose of this research is to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can 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 1 pixel as 37㎛x37㎛ (0.1369x10-4㎟) the accuracy to 1.5x10-4㎜ minutely measuring is possible performance verification and trust ability throu호 an experiment rove.
이우송(Woo-Song Lee),Nguyen Van Quyet,오세봉(Se-Bong Oh),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5
The purpose of this research is to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can 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 I pixel unit though measuring is possible I pixel as 37 ㎛×37 ㎛ (0.1369×10-4㎟) the accuracy to l.5× 10-4㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.