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Joono Cheong,SangJoo Kwon 대한기계학회 2006 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.20 No.8
This paper aims at presenting robustness analysis under the uncertainties of the time delay and plant parameters in symmetrically coupled dynamic systems connected through network having time delay. The delay-involved closed loop characteristic function is mathematically formulated, incorporated with active synchronization control. And the robust stability of the corresponding system is analyzed by investigating the formation of characteristic equation containing second-order terms of uncertainty variables representing delay and plant dynamics mismatches. For the two individual types of uncertainties, we elucidate details of how to compute the bounds and what they imply physically. To support the validity of the mathematical claims, numerical examples and simulations are presented.
Physically Based Collaborative Simulations under Ring-Like Network Configurations
Joono Cheong,Jongwoo Park,Niculescu, S.-I. IEEE 2009 IEEE computer graphics and applications Vol.29 No.4
<P>A state-synchronization method for physically based simulations provides equivalent visual scenes at remote sites on ring-like networks. The simulation runs independently on each participating site so that sites can immediately process and display any local user's action, allowing high responsiveness.</P>
Design of Hybrid Type Robotic Hand
Hyunhwan Jeong,Joono Cheong 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, we present a new robotic hand ‘KU hybrid HAND’ which can generate multiple modes of postures. Our hand has a hybrid mechanism realizing the two modes, which are human-like hand type and conventional robot hand type. It has four fingers, total 13 degrees of freedom(DOFs) by 13 actuators; the thumb has 4 DOFs and the three other fingers have three DOFs per each finger. We detail the design concept, kinematic analysis and functions of our hybrid robotic hand.
Robust Minimum-Time Control with Coarse/Fine Dual-Stage Mechanism
SangJoo Kwon,Joono Cheong 대한기계학회 2006 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.20 No.11
A robust minimum-time control (RMTC) strategy is addressed and it is extended to the dual-stage servo design. Rather than conventional switching type sub-optimal controls, it is a reference following control approach where the predetermined minimum-time trajectory (MTT) is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived. Then, the perturbation compensator to achieve robust tracking performance in spite of model uncertainty and external disturbance is suggested. The RMTC is also applied to the dual-stage positioner which consists of coarse actuator and fine one. To best utilize the actuation redundancy of the dual-stage mechanism, a null-motion controller to actively regulate the relative motion between the two stages is formulated. The performance of RMTC is validated through simulation and experiment.
Youngjin Choi,Joono Cheong,Hyungpil Moon IEEE 2010 IEEE/ASME transactions on mechatronics Vol.15 No.5
<P>This paper describes a new trajectory planning method for the output tracking control of linear flexible systems; this method computes the exact solution of the equilibrium manifold. We establish a system of differential equations by combining kinematic and dynamic constraints and reformulate them in a singularly perturbed dynamics to obtain the equilibrium manifold in the form of an infinite series, which is our planned trajectory. We show that for the desired output defined by exponential functions, the equilibrium manifold becomes a converging geometric series that has a succinct form of summation. In addition, the inverse torque, which is the feedforward command, is easily produced by using the computed exact equilibrium manifold. We validate the effectiveness of the proposed method through simulations and experimental studies using a single-link flexible arm.</P>
Analysis of collective behavior and grasp motion in human hand
Jongwoo Park,Joono Cheong 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper, we propose a method for analyzing and synthesizing human’s grasping motion and the corresponding collective behaviors in the human hand. We apply PCA technique for a dimension reduction and then Gaussian mixture model(GMM) in order to identify the grasp type and the associated object parameters for a given joint data set. We verify the validity of the analysis through simulation with human grasp data captured by a data glove.
Multi-Jointed Integrated Medical Instrument System for Single Port Access Laparoscopic Surgery
Hyunhwan Jeong,Joono Cheong,Sunil Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this paper,we present a new medical instrument system for the single port access laparoscopic surgery. Our instrument system makes that surgeon can control the instrument intuitively and has 6 degree of freedoms(DOFs), enough for single port access laparoscopic surgery. This multi-joint structure makes easy to avoid obstacle in laparoscopic surgery. We detail the design concept of our medical instrument system using the 3D design model and manufactured the hardware instrument system. To examine the effectiveness of the device, we obtain the work space of the device and check whether the stiffness of tendon-driven instrument system is enough for the operation.