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1.
Ig Mo Koo Tae Hun Kang Gia Loc Vo Tran Duc Trong Young Kuk Song Hyouk Ryeol Choi 《International Journal of Control, Automation and Systems》2009,7(4):577-584
In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple
and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction
mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose
a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method
is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial
Digitigrade for Natural Environment I).
Recommended by Editorial Board member Sangdeok Park under the direction of Editor Jae-Bok Song. This work was supported by
the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (KRF-2005-D00031).
Ig Mo Koo received the B.S. degree in Mechanical Engineering from Myongji University, Yongin, Korea, in 2003, the M.S. degree in Mechanical
Engineering from the Sungkyunkwan University, Suwon, Korea, in 2005, where he is currently working toward a Ph.D. degree in
Mechanical Engineering from Sungkyunkwan University. His research interests include artificial muscle actuators, haptics,
tactile display, biomimetics and quadruped walking robots systems.
Tae Hun Kang received the B.S., M.S., and Ph.D. degrees in Mechanical Engineering from Sungkyunkwan University, Korea, in 2000, 2002,
and 2006, respectively. His current research interests focus on biomimetics and quadruped walking robot.
Gia Loc Vo received the B.S degree in Mechanical Engineering form Ha Noi University of Technology in Vietnam 2003, the M.S. degree Mechanical
Engineering form Sungkyunkwan University, Suwon, Korea, in 2006, where he is currently working toward a Ph.D. degree in Mechanical
Engineering from Sungkyunkwan University. His research interests include legged locomotion, walking and climbing robot.
Tran Duc Trong received the B.S degree in Mechatronics from HoChiMinh City University of Technology in Vietnam in 2005, where he is currently
working toward a M.S. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include biological
inspired control and adaptive control of quadruped walking robot.
Young Kuk Song received the B.S. degree in Mechanical Engineering from Sungkyunkwan University, Suwon, Korea, in 2006, where he is currently
working toward a M.S. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include biomimetics,
hydraulic robotics system and quadruped walking robot.
Hyouk Ryeol Choi received the B.S. degree from Seoul National University, Seoul, Korea, in 1984, the M.S. degree from the Korea Advanced Technology
of Science and Technology (KAIST), Daejeon, Korea, in 1986, and the Ph.D. degree from the Pohang University of Science and
Technology (POSTECH), Pohang, Korea, in 1994. Since 1995, he has been with Sungkyunkwan University, Suwon, Korea, where he
is currently a Professor in the School of Mechanical Engineering. He was an Associate Engineer with LG Electronics Central
Research Laboratory, Seoul, Korea, from 1986 to 1989. From 1993 to 1995, he was with Kyoto University, Kyoto, Japan, as a
grantee of scholarship funds from the Japanese Educational Administry. He visited the Advanced Institute of Industrial Science
Technology (AIST), Tsukuba, Japan, as a JSPS Fellow from 1999 to 2000. He is now an Associate Editor in IEEE Transactions
on Robotics, Journal of Intelligent Service Robotics, International Journal of Control, Automation and Systems (IJCAS). His
interests includes dexterous mechanisms, field application of robots, and artificial muscle actua tors. 相似文献
2.
Tri Cong Phung Seung Hwa Ha Yong Seok Ihn Byung June Choi Sang Moo Lee Ja Choon Koo Hyouk Ryeol Choi 《International Journal of Control, Automation and Systems》2009,7(3):459-467
In micro-manipulations, force sensing devices play an important role in the control and the assembly of micro-objects. To
protect these micro-objects from damage, we must have the ability to detect the value of the minute amount of interactive
force (about a few μN) upon contact between the tip and the object. To detect this micro-force, we need an optimized design
of force sensor to increase the strain values at the positions we place sensing components. Stress concentration can effectively
amplify the strain values measured by the force sensors. This paper investigates the effect that the notches have on increasing
the strain values at the positions we attach the sensing elements. In addition, the optimal design with a flexible structure
improves the sensitivity of the sensor. An algorithm that can calculate both contact force and contact position on the sensor
tip is also mentioned. Besides, an optimal location of strain gauges will ensure the accuracy and stability of the measurement.
Finally, analysis and experiment are done to verify the proposed idea.
Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae-Bok Song. This research was supported
by the Ministry of Knowledge Economy and Korean Industrial Technology Foundation through the Human Resource Training Project
for Strategic Technology.
Tri Cong Phung received the B.S. degree in Mechanical Engineering from the HCM University of Technology, Vietnam in 2004 and the M.S. degree
in Mechanical Engineering from Sungkyunkwan University in 2007. He is currently working toward a Ph.D. degree in Intelligent
Robotics and Mechatronic System Laboratory (IRMS Lab), Mechanical Engineering from Sungkyunkwan University. His research interests
include dexterous manipulation and touch sensors.
Seung Hwa Ha received the B.S. degree in Korean University of Technology and Education, Korea in 2004. He received the M.S. degree in
Mechanical Engineering from Sungkyunkwan University in 2008. He is currently working in Samsung Electronic Co. Ltd. His research
interests are about strain gauge and high precision control.
Yong Seok Ihn received the B.S. degree in School of Mechanical Engineering from the Sungkyunkwan University, Korea in 2006. He received
the M.S. degree in Mechanical Engineering from the Sungkyunkwan University, in 2008. He is currently working toward a Ph.
D. degree in the Computer Aided Modeling & Simulation Laboratory (CAMAS Lab), School of Mechanical Engineering at the Sungkyunkwan
University in Korea. His research interests are precision mechatronics, dynamic system modeling, and control.
Byung June Choi received the B.S. degree in School of Mechanical Engineering from the Sungkyunkwan University, Korea in 2002. He received
the M.S. degree in Mechanical Engineer-ing from the Sungkyunkwan University, in 2005. He is currently working toward a Ph.D.
degree in the Intelligent Robotics and Mechatronic System Laboratory (IRMS Lab), School of Mechanical Engineering at the Sungkyunkwan
University in Korea. His research interests are mechanisms design, multi-robot system control, cooperation, path planning
and task allocation algorithm.
Sang Moo Lee was born in Seoul, Korea and educated in Seoul. He received the Ph.D. degree from the Seoul National University in Korea,
in 1999. He is currently a Principal Researcher of Division for Applied Robot Technology at Korean Institute of Industrial
Technology. His research interests include high-precision robot control, motion field network, and location system in outdoor
environment for robots.
Ja Choon Koo is an Associate Professor of School of Mechanical Engineering in Sungkyunkwan University in Korea. His major researches are
in the field of design, analysis, and control of dynamics systems, especially micro precision mechatronic systems and energy
transducers. He was an Advisory Engineer for IBM, San Jose, California, USA and a Staff Engineer for SISA, San Jose, CA, USA.
He received the Ph.D. and M.S. degrees from the University of Texas at Austin and the B.S. from Hanyang University, Seoul,
Korea.
Hyouk Ryeol Choi received the B.S. degree from Seoul National University, Seoul, Korea, in 1984, the M.S. degree from Korea Advanced Institute
of Science and Technology (KAIST), Daejon, Korea, in 1986, and the Ph.D. degree from Pohang University of Science and Technology
(POSTECH), Pohang, Korea, in 1994, all in Mechanical Engineering. From 1986 to 1989, he was an Associate Engineer at LG Electronics
Central Research Laboratory, Seoul. From 1993 to 1995, he was at Kyoto University, Kyoto, Japan, as a Grantee of scholarship
from the Japanese Educational Ministry. From 2000 to 2001, he visited Advanced Institute of Industrial Science Technology
(AIST), Tsukuba, Japan, as a Japan Society for the Promotion of Sciences (JSPS) Fellow. Since 1995, he has been with Sungkyunkwan
University, Suwon, Korea, where he is currently a Professor in the School of Mechanical Engineering. He is an Associate Editor
of the Journal of Intelligent Service Robotics and International Journal of Control, Automation and Systems (IJCAS), and IEEE
Transactions on Robotics. His current research interests include dexterous mechanism, field application of robots, and artificial
muscle actuators. 相似文献
3.
Seung Yeol Lee Yong Seok Lee Bum Seok Park Sang Heon Lee Chang Soo Han 《Autonomous Robots》2007,22(3):265-280
The objective of the study was to propose a MFR (Multipurpose Field Robot) in hazardous operation environments. This system
combines a basic system composed of a multi-DOF (Degree Of Freedom) manipulator and a mobile platform with an additional module
for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system,
it can be used in a various fields. In this study, we describe a prototype of construction robot which helps a human operator
handle easily construction materials in case of using the cooperation system on construction site. This study introduces an
additional module for construction and a robot control algorithm for a HRC (Human-Robot Cooperation). In addition, it proposes
a novel construction method to install construction materials with robot on construction site.
Seung Yeol Lee received the B.S. degree from the Department of Mechanical Engineering, Myungji University, Seoul, Korea in 2002, and the
M.S. degree from the Department of Mechatronics Engineering, Hanyang University, Seoul, Korea in 2005. He is a Ph.D. degree
candidate from the Department of Mechanical Engineering, Hanyang University, Seoul, Korea. From 2003, He is currently a visiting
researcher in the Research Institute of Technology, Construction Group at the Samsung Corporation, Korea conducting the design
and implementation of construction robot and automation system for construction project. His research interests include design,
control, and application of construction robots, field robotic systems and ergonomic design of robotic systems. He is a member
of the Korea Society of Mechanical Engineers, Architectural Institute of Korea, and Ergonomics Society of Korea.
Yong Seok Lee received the B.S. degree from the Department of Precision Mechanical Engineering, Kunsan national University, Kunsan, Korea
in 2002, and the M.S. degree from the Department of Precision Mechanical Engineering, Hanyang University, Seoul, Korea in
2005. Currently, he is the Post Master in Hanyang University, Korea. His major interests include design and kinematic/dynamic
analysis on multi-purpose field robots and service robots. He is a member of the Architectural Institute of Korea.
Bum Seok Park received the B.S. degree from the Department of Mechanical Engineering, Hanyang University, Ansan, Kyung-gi Do, Korea in
1993, and the M.S. degree from the Department of Mechatronics Engineering, Hanyang University, Seoul, Korea in 1998. He is
a Ph.D. from the Department of Mechatronics System Engineering, Hanyang University, Seoul, Korea From 2006. He is currently
the post-doctor in Hanyang University, Korea. His major interests include embedded robot control system on multi-purpose field
robot and service robot. He is a member of the Korea Society of Mechanical Engineers, Korean Society of Machine Tool Engineers.
Sang Heon Lee graduated with the B.S. degree in Precision Mechanical Engineering from Hanyang University, Seoul, Korea in 1992. He received
the M.S. degree in Precision Engineering from KAIST, Taejon, Korea in 1994 and the Ph.D. degree in Mechanical Engineering
from KAIST in 2001. Currently, he is a senior researcher in Samsung Corporation, Korea. His major interests include the kinematic/dynamic
analysis on multi-body system, application of field robots, and automation in construction.
ChangSoo Han received the B.S. degree from the Department of Mechanical Engineering, Seoul National University Technology, Seoul, Korea
in 1983, and the M.S. and Ph.D. degrees from the Department of Mechanical Engineering, University of Texas at Austin, in 1985
and 1989, respectively. From May 1988 to September 1989, he was a Research Assistant, Robotics Lab in Mechanical Engineering
about manufacturing of the high resolution micro manipulator module. In March 1990, he joined Hanyang University, Ansan, Kyungki-Do,
Korea as a Professor, Department of Mechanical Engineering. From March 1993 to February 1995, he was a Vice President, The
Research Institute of Engineering & Technology of the Hanyang University. From August 1996 to July 1997, he was a Visiting
Professor, Univ. of California at Berkeley. From September 1997 to February 1999, he was a Director, Hanyang Business Incubator.
In August 2000, he joined a Branch President, The Korean Society of Mechanical Engineers. In January 2002, he joined a Committee
Member, The Korean Society of Mechanical Engineers. From January 2001 to December 2001, he was an International Cooperation
Director, The Institute of Control, Automation and Systems, Korea. His research interests include design, control, and application
of robot, automation systems, and advanced vehicle. 相似文献
4.
Joon-Young Park Byung-Hak Cho Seung-Hyun Byun Jae-Kyung Lee 《International Journal of Control, Automation and Systems》2009,7(2):211-220
A new cleaning robot system for suspension insulator strings was developed to prevent a power failure, which can have severe
effects on the national industry and economy. Compared with existing cleaning robots using jets of water or water/air, this
robot mechanism is superior in insulation as it uses a porcelain-clamping method, and is more useful in mountainous or salt
damage areas by adopting a dry cleaning method without water. In addition, in order to increase its cleaning efficiency and
to prevent arc generation under live-line conditions, a set of mechanized brush bristles and a voltage-balancing contactor
are devised, respectively. Moreover, a manual device for its installation and removal is presented. We confirmed its effectiveness
through experiments.
Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song. This work was supported
by Electric Power Industry R&D Project performed by Ministry of Commerce, Industry and Energy in Korea.
Joon-Young Park received the B.S. degree in Electrical Engineering in 1995, and the M.S. and Ph.D. degrees in Mechanical Engineering from
Korea Advanced Institute of Science and Technology (KAIST) in 1997 and 2004, respectively. He is now a Senior Researcher at
the Strategic Technology Laboratory in Korea Electric Power Research Institute (KEPRI). His research interests include the
robust control of nonlinear systems, the optimum kinematic design of robot manipulators as well as robot systems for the electric
power industry.
Byung-Hak Cho received the B.S. degree in Electrical Engineering from Hanyang University, Seoul, Korea, in 1982, and the M.S. and Ph.D.
degrees in Nuclear Engineering from KAIST, Daejeon, Korea, in 1986 and 1996, respectively. He is now a Chief Researcher at
the Strategic Tech-nology Laboratory in KEPRI, Daejeon, Korea. His research interests include robot systems for the electric
power industry.
Seung-Hyun Byun received the B.S. degree in Electrical Engineering from Yonsei University, Seoul, Korea, in 1992, and the M.S. degree in
Electrical Engineering from KAIST, Daejeon, Korea, in 1994. He is now a Senior Researcher at the Power Generation Laboratory
in KEPRI, Daejeon, Korea. His research interests include control system design, signal processing and artificial intelligence.
Jae-Kyung Lee received the B.S. degree in Electrical Engineering from Kyungpook National University, Daegu, Korea, in 2002, and M.S. the
degree in Electrical Engineering from KAIST, Daejeon, Korea, in 2004. He is now a Researcher at the Strategic Technology Laboratory
in KEPRI, Daejeon, Korea. His research interests include the development of high-performance robot control and hazardous robot
systems. 相似文献
5.
Mobile robot localization based on effective combination of vision and range sensors 总被引:2,自引:0,他引:2
Yong-Ju Lee Byung-Doo Yim Jae-Bok Song 《International Journal of Control, Automation and Systems》2009,7(1):97-104
Most localization algorithms are either range-based or vision-based, but the use of only one type of sensor cannot often ensure
successful localization. This paper proposes a particle filter-based localization method that combines the range information
obtained from a low-cost IR scanner with the SIFT-based visual information obtained from a monocular camera to robustly estimate
the robot pose. The rough estimation of the robot pose by the range sensor can be compensated by the visual information given
by the camera and the slow visual object recognition can be overcome by the frequent updates of the range information. Although
the bandwidths of the two sensors are different, they can be synchronized by using the encoder information of the mobile robot.
Therefore, all data from both sensors are used to estimate the robot pose without time delay and the samples used for estimating
the robot pose converge faster than those from either range-based or vision-based localization. This paper also suggests a
method for evaluating the state of localization based on the normalized probability of a vision sensor model. Various experiments
show that the proposed algorithm can reliably estimate the robot pose in various indoor environments and can recover the robot
pose upon incorrect localization.
Recommended by Editorial Board member Sooyong Lee under the direction of Editor Hyun Seok Yang. This research was conducted
by the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge
Economy of Korea.
Yong-Ju Lee received the B.S. degree in Mechanical Engineering from Korea University in 2004. He is now a Student for Ph.D. of Mechanical
Engineering from Korea University. His research interests include mobile robotics.
Byung-Doo Yim received the B.S. degree in Control and Instrumentation Engineering from Seoul National University of Technology in 2005.
Also, he received the M.S. degree in Mechatroncis Engineering from Korea University in 2007. His research interests include
mobile robotics.
Jae-Bok Song received the B.S. and M.S. degrees in Mechanical Engineering from Seoul National University in 1983 and 1985, respectively.
Also, he received the Ph.D. degree in Mechanical Engineering from MIT in 1992. He is currently a Professor of Mechanical Engineering,
Korea University, where he is also the Director of the Intelligent Robotics Laboratory from 1993. His current research interests
lie mainly in mobile robotics, safe robot arms, and design/control of intelligent robotic systems. 相似文献
6.
Jun Ho Lee Cong Lin Hoon Lim Jang Myung Lee 《International Journal of Control, Automation and Systems》2009,7(3):429-435
This paper presents a sliding mode control method for wheeled mobile robots. Because of the nonlinear and nonholonomic properties,
it is difficult to establish an appropriate model of the mobile robot system for trajectory tracking. A robust control law
which is called sliding mode control is proposed for asymptotically stabilizing the mobile robot to a desired trajectory.
The posture of the mobile robot (including the position and heading direction) is presented and the kinematics equations are
established in the two-dimensional coordinates. According to the kinematics equations, the controller is designed to find
an acceptable control law so that the tracking error will approximate 0 as the time approaches infinity with an initial error.
The RFID sensor space is used to estimate the real posture of the mobile robot. Simulation and experiment demonstrate the
efficacy of the proposed system for robust tracking of mobile robots.
Recommended by Sooyong Lee under the direction of Editor Jae-Bok Song. This work was supported by the Korea Science and Engineering
(KOSEF) grant funded by the Korea government (MOST) (No. R01-2007-000-10171-0).
Jun Ho Lee received the M.S degree in Mechanical Engineering from Pusan National University. His research interests include factory
automation and sliding mode control.
Cong Lin received the B.S. degree in Electrical Engineering from Jilin University and the M.S degree in Electrical Engineering from
Pusan National University. His research interests include neural network and sliding mode control.
Hoon Lim is currently a M.S student in Electrical Engineering of Pusan National University. His research interests include mobile
manipulator and sliding mode control.
Jang Myung Lee received the B.S. and M.S degrees in Electronics Engineering from Seoul National University, Korea. He received the Ph.D.
degree in Computer from the University of Southern California, Los Angeles. Now, he is a Professor in Pusan National University.
His research interests include integrated manufacturing systems and intelligent control. 相似文献
7.
Goon-Ho Choi Kiheon Park Joon-Hong Jung 《International Journal of Control, Automation and Systems》2009,7(2):193-202
We obtain an optimal H
2 decoupling controller for rectangular plants in a standard two-degree-of-freedom controller configuration model. The class
of all stabilizing and decoupling loop controllers is parameterized in terms of free diagonal parameter matrices. We determined
the optimal decoupling controller from these free parameters. Inner-outer factorization and the Khatri-Rao product expression
for the vector operation to a diagonal matrix are the key steps in obtaining the H
2 optimal solution. We provide a compact set of assumptions to assure the existence of the optimal solution.
Recommended by Editorial Board member Jietae Lee under the direction of Editor Young Il Lee.
Goon-Ho Choi received the B.S. and M.S. degrees in Electrical Engineering and the Ph.D. degree in Control Engineering from Sungkyunkwan
University, Suwon, Korea, on February 1993, 1995 and 1999, respectively. From 1999 to 2005, he worked as a Senior Engineer
in the research and development area of Han-Mi Semiconductor Co. Ltd, Hanool Robotics Co., and Dasa Robot Co. Ltd, respectively.
Since 2006, he has been a lecturer in the School of Mechanical Engineering, at Korea University of Technology and Education,
Chungnam, Korea. His research interests include robust optimal control, robotics, motion control, sequence control, and the
human-machine interface of an automated machine.
Kiheon Park received the B.S. and M.S. degrees in Electrical Engineering from Seoul National University, Korea in 1978 and 1980, respectively,
and the Ph.D. degree in System Engineering from Polytechnic University, NY, in 1987. From 1980 to 1983, he served in the Korean
Navy as a Full-time Instructor at the Naval Academy. He was the recipient of a Korea Electric Association Scholarship from
1983 to 1986. From 1988 to 1990, he worked for the Electronic and Telecommunication Research Institute (ETRI), Daejeon, Korea,
where he was involved in a factory automation project. Since March 1990, he has been with the School of Information and Communication
Engineering at Sungkyunkwan University, Suwon, Korea, where he is currently a Professor. His research interests include linear
multivariable control, decoupling controller design, vibration control and networked control systems.
Joon-Hong Jung received the B.S. and M.S. degrees in Electrical Engineering from Sungkyunkwan University, Suwon, Korea, in 1996 and 1998,
respectively, and the Ph.D. degree in Electrical and Computer Engineering from Sungkyunkwan University, Suwon, Korea, in 2005.
From 2007 to 2008, he was a Visiting Professor at Sungkyunkwan University. Since 2005, he has been with the R&D Department
at Korea Electric Power Data Network Co., Ltd., where he is currently a Staff Researcher. His research interests include network-based
control system, robust control, and power system monitoring and diagnosis. 相似文献
8.
All mobile bases suffer from localization errors. Previous approaches to accommodate for localization errors either use external
sensors such as lasers or sonars, or use internal sensors like encoders. An encoder’s information is integrated to derive
the robot’s position; this is called odometry. A combination of external and internal sensors will ultimately solve the localization
error problem, but this paper focuses only on processing the odometry information. We solve the localization problem by forming
a new odometry error model for the synchro-drive robot then use a novel procedure to accurately estimate the error parameters
of the odometry error model. This new procedure drives the robot through a known path and then uses the shape of the resulting
path to estimate the model parameters. Experimental results validate that the proposed method precisely estimates the error
parameters and that the derived odometry error model of the synchro-drive robot is correct.
Nakju Lett Doh received his BS, his MS, and his Ph.D. degree in Mechanical Engineering from Pohang University of Science and Technology
(POSTECH), KOREA, in 1998, 2000, and 2005, respectively. Since then, he is a senior researcher in Intellgient Robot Reserarch
Division, Electronics and Telecommunications Research Institute (ETRI), KOREA. He received the glod prize in Intelligent Robot
Contest hosted by Northern KyoungSang Province at 2000 and the gold prize in Humantech Thesis Competition hosted by Samsung
Electronics at 2005. In 2003, he got the best student paper award in IEEE International Conference on Robotics and Automation
held in Taiwan. His research interests are the localization and navigation of mobile robots and ubiquitous robotic space for
intelligent robot navigation.
Howie Choset is an Associate Professor of Robotics at Carnegie Mellon University where he conducts research in motion planning and design
of serpentine mechanisms, coverage path planning for de-mining and painting, mobile robot sensor based exploration of unknown
spaces, and education with robotics. In 1997, the National Science Foundation awarded Choset its Career Award to develop motion
planning strategies for arbitrarily shaped objects. In 1999, the Office of Naval Research started supporting Choset through
its Young Investigator Program to develop strategies to search for land and sea mines. Recently, the MIT Technology Review
elected Choset as one of its top 100 innovators in the world under 35. Choset directs the Undergraduate Robotics Minor at
Carnegie Mellon and teaches an overview course on Robotics which uses series of custom developed Lego Labs to complement the
course work. Professor Choset’s students have won best paper awards at the RIA in 1999 and ICRA in 2003. Finally, Choset is
a member of an urban search and rescue response team using robots with the Center for Robot Assisted Search and Rescue. Now,
he is active in extending the mechanism design and path planning work to medical mechatronics.
Wan Kyun Chung received his BS degree in Mechanical Design from Seoul National University in 1981, his MS degree in Mechanical Engineering
from KAIST in 1983, and his Ph.D. in Production Engineering from KAIST in 1987. He is Professor in the school of Mechanical
Engineering, POSTECH (he joined the faculty in 1987). In 1988, he was a visiting professor at the Robotics Institute of Carnegie-Mellon
University. In 1995 he was a visiting scholar at the university of California, Berkeley. His research interests include the
localization and navigation for mobile robots, underwater robots and development of robust controller for precision motion
control. He is a director of National Research Laboratory for Intelligent Mobile Robot Navigation. He is serving as an Associate
Editor for IEEE Tr. on Robotics, international editorial board for Advanced Robotics. 相似文献
9.
Jungyun Bae Gon-Woo Kim Sooyong Lee 《International Journal of Control, Automation and Systems》2009,7(2):233-241
Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such
tasks lies in their ability to intelligently and efficiently search in an environment. This paper introduced an algorithm
for robots that explore the environment so that they can measure physical properties (dust in this paper). While the robot is moving, it measures the amount of dust and registers the value in the corresponding grid
cell. At first, the robot moves from local maximum to local minimum, then to another local maximum, and repeats. To reach
the local maximum or minimum, the robot simply follows the gradient which is estimated using perturbation/correlation. By
introducing the probability of each grid cell, and considering the probability distribution, the robot doesn’t have to visit
all the grid cells in the environment while still providing fast and efficient sensing. Robust estimation of the gradient
using perturbation/correlation, which is very effective when an analytical solution is not available, is described. To verify
the effectiveness of perturbation/correlation based estimation, the simulation results of gradient estimation which were compared
to three other numerical methods are presented. The proposed algorithm was performed by the simulation and the comparison
of exploration results according to the gradient estimation method is shown.
Recommended by Editor Jae-Bok Song. This work was supported by the IT R&D program of MKE/IITA [2008-F-045-01, Development
of Obstacle Detection and Indoor Localization System for the Blind] and also by the Korea Science and Engineering Foundation
(KOSEF) grant funded by the Korea government (MEST) (NO. R01-2007-000-20977-0).
Jungyun Bae received the B.S. and M.S degrees from Hongik University in Seoul, Korea, in 2003 and 2005, respectively. She worked for
one year for Division of Applied Robot Technology of Korea Institute of Industrial Technology (KITECH) in Ansan, Korea. Presently,
she is pursuing a Ph.D. in the Department of Mechanical Engineering in Texas A&M University. Her interested research areas
are Mobile Robotics and Intelligence Robots.
Gon Woo Kim received the B.S. degree in Electrical Engineering from Chung-Ang University, Korea in 2000, and the M.S. and Ph.D. degrees
in the School of Electrical Engineering from Seoul National University in 2002 and 2006, respectively. Since 2008, he has
been with Wonkwang University, where he is currently an Assistant Professor of Division of Electrical Electronic and Information
Engineering. He worked as a Researcher with Korea Institute of Industrial Technology (KITECH) from 2006 to 2008. His research
interests include mobile robotics, sensor fusion/integration, map building, and SLAM.
Sooyong Lee received the B.S. and M.S. degrees in Mechanical Engineering from Seoul National University, Seoul, Korea in 1989, and 1991,
respectively, and the Ph.D. degree from MIT, Cambridge, MA, in 1996. He worked as a Senior Research Scientist at KIST and
then as an Assistant Professor in the Department of Mechanical Engineering at Texas A&M University. He joined Hongik University,
Seoul, Korea in 2003 and is currently an Associate Professor in the Mechanical and System Design Engineering Department. His
current research includes mobile robot localization and navigation, and active sensing. 相似文献
10.
Soonyong Park Mignon Park Sung-Kee Park 《International Journal of Control, Automation and Systems》2009,7(4):598-614
This paper presents new object-spatial layout-route based hybrid map representation and global localization approaches using
a stereo camera. By representing objects as high-level features in a map, a robot can deal more effectively with different
contexts such as dynamic environments, human-robot interaction, and semantic information. However, the use of objects alone
for map representation has inherent problems. For example, it is difficult to represent empty spaces for robot navigation,
and objects are limited to readily recognizable things. One way to overcome these problems is to develop a hybrid map that
includes objects and the spatial layout of a local space. The map developed in this research has a hybrid structure that combines
a global topological map and a local hybrid map. The topological map represents the spatial relationships between local spaces.
The local hybrid map combines the spatial layout of the local space with the objects found in that space. Based on the proposed
map, we suggest a novel coarse-to-fine global localization method that uses object recognition, point cloud fitting and probabilistic
scan matching. This approach can accurately estimate robot pose with respect to the correct local space.
Recommended by Editor Jae-Bok Song. This research was performed for the Intelligent Robotics Development Program, one of the
21st Century Frontier R&D Programs funded by the Ministry of Knowledge Economy of Korea.
Soonyong Park received the B.S. and M.S. degrees from the Department of Mechanical Engineering, Kyunghee University, Seoul, Korea, in 2001
and 2003, respectively. He is currently working toward the Ph.D. degree in the Department of Electrical and Electronic Engineering,
Yonsei University, Seoul, Korea. Since 2001, he has been a student researcher in the Center for Cognitive Robotics Research,
Korea Institute of Science and Technology (KIST), Seoul, Korea. His research interests include mobile robot navigation and
computer vision.
Mignon Park received the B.S. and M.S. degrees in Electronics from Yonsei University, Seoul, Korea, in 1973 and 1977, respectively. He
received the Ph.D. degree in University of Tokyo, Japan, 1982. He was a researcher with the Institute of Biomedical Engineering,
University of Tokyo, Japan, from 1972 to 1982, as well as at the Massachusetts Institute of Technology, Cambridge, and the
University of California Berkeley, in 1982. He was a visiting researcher in Robotics Division, Mechanical Engineering Laboratory,
Ministry of International Trade and Industry, Tsukuba, Japan, from 1986 to 1987. He has been a Professor in the Department
of Electrical and Electronic Engineering in Yonsei University, since 1982. His research interests include fuzzy control and
application, robotics, and fuzzy biomedical system.
Sung-Kee Park is a principal research scientist for Korea Institute of Science and Technology (KIST). He received the B.S. and M.S. degrees
in Mechanical Design and Production Engineering from Seoul National University, Seoul, Korea, in 1987 and 1989, respectively.
He received the Ph.D. degree (2000) from Korea Advanced Institue of Science and Technology (KAIST), Korea, in the area of
computer vision. Since then, he has been working for the center for cognitive robotics research at KIST. During his period
at KIST, he held a visiting position at the Robotics Institute of Carnegie Mellon University in 2005, where he did research
on object recognition. His recent work has been on cognitive visual processing, object recognition, visual navigation, and
human-robot interaction. 相似文献
11.
Sangbum Park Youngjoon Han Hernsoo Hahn 《International Journal of Control, Automation and Systems》2009,7(1):75-84
This paper presents a new balance control scheme for a biped robot. Instead of using dynamic sensors to measure the pose of
a biped robot, this paper uses only the visual information of a specific reference object in the workspace. The zero moment
point (ZMP) of the biped robot can be calculated from the robot’s pose, which is measured from the reference object image
acquired by a CCD camera on the robot’s head. For balance control of the biped robot a servo controller uses an error between
the reference ZMP and the current ZMP, estimated by Kalman filter. The efficiency of the proposed algorithm has been proven
by the experiments performed on both flat and uneven floors with unknown thin obstacles.
Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Jae-Bok Song. This work was supported by
the Korea Research Foundation Grant funded by the Korean Government (MOEHRD). This research was supported by the MKE(The Ministry
of Knowledge Economy), Korea, under the ITRC (Information Technology Research Center) support program supervised by the IITA(Institute
for Information Technology Advancement) (IITA-2008-C1090-0803-0006).
Sangbum Park received the B.S. and M.S. degrees from Electronic Engineering of Soongsil University, Seoul, Korea, in 2004 and 2006 respectively.
He has been with School of Electronic Engineering, Soongsil University since 2006, where he is currently pursuing a Ph.D.
His current research interests include biped walking robot, robotics vision.
Youngjoon Han received the B.S., M.S. and Ph.D. degrees in Electronic Engineering from Soongsil University, Seoul, Korea, in 1996, 1998,
and 2003, respectively. He is currently an Assistant Professor in the School of Electornic Engineering at Soongsil University.
His research interests include robot vision system, and visual servo control.
Hernsoo Hahn received the B.S. and M.S. degrees in Electronic Engineering at Soongsil University and Younsei University, Korea in 1982
and 1983 respectively. He received the Ph.D. degree in Computer Engineering from University of Southern California in 1991,
and became an Assistant Professor at the School Electroncis Engneering in Soongsil University in 1992. Currently, he is a
Professor. His research interests include application of vision sensors to mobile robots and measurement systems. 相似文献
12.
This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor
cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments.
This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment.
We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct
features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed
integration scheme.
Woojin Chung was born in Seoul, Korea, in 1970. He received the B.S. at the department of mechanical design and production engineering,
Seoul National University in 1993. He received the M.S. degree in 1995 and Ph.D degree in 1998 at the department of Mechano-Informatics,
the University of Tokyo. He was a senior research scientist at the Korea Institute of Science and Technology from 1998 to
2005. He joined the department of mechanical engineering, Korea University in 2005 as an assistant professor. He received
an excellent paper award from the Robotics Society of Japan in 1996 and a best transactions paper award from the IEEE robotics
and automation society in 2002. His research interests include the design and control of nonholonomic underactuated mechanical
systems, trailer system design and control, mobile robot navigation, a dexterous robot hand and a system integration of intelligent
robots. He is a member of the IEEE, the robotics society of Japan, the institute of control, automation and systems engineers
and the Korea robotics society.
Gunhee Kim received the B.S. and M.S. degrees at the department of mechanical engineering, Korea Advanced Institute of Science and Technology
(KAIST), Korea, in 1999 and 2001, respectively. He was a research scientist in Intelligent Robotics Research Center, at Korea
Institute of Science and Technology (KIST), Korea, from 2001 to 2006. Currently, he is a graduate student in the Robotics
Institute, Carnegie Mellon University. His research interests include computer vision, artificial intelligence, mobile robot
navigation, and discrete event systems. He is a member of the IEEE.
Munsang Kim received the B.S. and M.S degree in Mechanical Engineering from the Seoul National University in 1980 and 1982 respectively
and the Dr.-Ing. degree in Robotics from the Technical University of Berlin, Germany in 1987. Since 1987 he has been working
as a research scientist at Korea Institute of Science and Technology. He has led the Intelligent Robotics Research Center
since 2000 and became the director of the “Intelligent Robot—The Frontier 21 Program” since Oct. 2003. His current research
interests are design and control of novel mobile manipulation systems, haptic device design and control, and sensor application
to intelligent robots. 相似文献
13.
Many networked human-machine interface systems have a distributed structure for certain purposes such as more computational
power, tele-presence, collaboration, and portability. However, network delays are inevitable in the distributed structure,
and often make sensory information delivered behind time to the user. In the literature, the effect of network delays on the
quality of information presentation has been considered with respect to task performances in most cases. In this paper, we
pay attention to a more stringent criterion, namely whether perceptual artifacts caused by network delays are perceptible by the user. We examined minimum perceptible
visual and/or haptic rendering delays by measuring their discrimination thresholds between normal and delayed virtual environments
with and without a task, and report the results in this paper. We also provide a simple guideline for determining whether
active delay compensation algorithms are required in a networked human-machine interface system by comparing representative
network delays to the measured discrimination thresholds.
Recommended by Guest Editor Phill Kyu Rhee. This work was supported in parts by a grant R01-2006-000-10808-0 and a NRL grant
R0A-2008-000-20087-0 both from KOSEF and by a ITRC support program C1090-0804-0002 from IITA, all funded by the Korea government.
In Lee is a Ph.D student in Computer Science and Engineering at POSTECH, of Korea. He received the B.S. degree in Information and
Communication Engineering from Sungkyunkwan University in 2006. His research interests include haptics, virtual reality, and
human-computer interaction.
Seungmoon Choi is an Assistant Professor in Computer Science and engineering at POSTECH, Korea. He received the B.S. and M.S. degrees in
Control and Instrumentation Engineering from Seoul National University in 1995 and 1997, respectively, and the Ph.D. degree
in Electrical and Computer Engineering from Purdue University in 2003. His research areas include haptics, virtual reality,
data perceptualization, and applied perception. 相似文献
14.
Ha Ryong Song Moon Gu Jeon Tae Sun Choi Vladimir Shin 《International Journal of Control, Automation and Systems》2009,7(4):651-658
New fusion predictors for linear dynamic systems with different types of observations are proposed. The fusion predictors
are formed by summation of the local Kalman filters/predictors with matrix weights depending only on time instants. The relationship
between fusion predictors is established. Then, the accuracy and computational efficiency of the fusion predictors are demonstrated
on the first-order Markov process and the GMTI model with multisensor environment.
Recommended by Editorial Board member Lucy Y. Pao under the direction of Editor Young Il Lee. This work was partially supported
by the Korea Science and Engineering Foundation (KOSEF) grant funded by the Korean government (MOST), No. R01-2007-000-20227-0
and the Center for Distributed Sensor Network at GIST.
Ha-Ryong Song received the B.S. degree in Control and Instrumentation Engineering from the Chosun University, Korea, in 2006, the M.S.
degree in School of Information and Mechatronics from the Gwangju Institute of Science and Technology, Korea, in 2007. He
is currently a Ph.D. candidate in Gwangju Institute of Science and Technology. His research interests include estimation,
target tracking systems, data fusion, nonlinear filtering.
Moon-Gu Jeon received the B.S. degree in architectural engineering from the Korea University, Korea in 1988. He then received both the
M.S. and Ph.D. degrees in computer science and scientific computation from the University of Minnesota in 1999 and 2001, respectively.
Currently, he is an Associate Professor at the School of Information and Mechatronics of the Gwangju Institute of Science
and Technology (GIST). His current research interests are in machine learning and pattern recognition and evolutionary computation.
Tae-Sun Choi received the B.S. degree in Electrical Engineering from the Seoul National University, Seoul, Korea, in 1976, the M.S. degree
in Electrical Engineering from the Korea Advanced Institute of Science and Technology, Seoul, Korea, in 1979, and the Ph.D.
degree in Electrical Engineering from the State University of New York at Stony Brook, in 1993. He is currently a Professor
in the School of Information and Mechatronics at Gwangju Institute of Science and Technology, Korea. His research interests
include image processing, machine/robot vision, and visual communications.
Vladimir Shin received the B.Sc. and M.Sc. degrees in Applied Mathematics from Moscow State Aviation Institute, in 1977 and 1979, respectively.
In 1985 he received the Ph.D. degree in Mathematics at the Institute of Control Science, Russian Academy of Sciences, Moscow.
He is currently an Associate Professor at Gwangju Institute of Science and Technology, South Korea. His research interests
include estimation, filtering, tracking, data fusion, stochastic control, identification, and other multidimensional data
processing methods. 相似文献
15.
Quang Sang Nguyen Seok Heo Hoon Cheol Park Nam Seo Goo Taesam Kang Kwang Joon Yoon Seung Sik Lee 《International Journal of Control, Automation and Systems》2009,7(2):267-272
In this paper, we have introduced a prototype of a fish robot driven by unimorph piezoceramic actuators. To improve the swimming
performance of the fish robot in terms of tail-beat angle, swimming speed, and thrust force, we used four light-weight piezo-composite
actuators (LIPCAs) instead of the two LIPCAs used in the previous model. We also developed a new actuation mechanism consisting
of links and gears. Performance tests of the fish robot were conducted in water at various tail-beat frequencies to measure
the tail-beat angle, swimming speed, and thrust force. The tail-beat angle was significantly better than that of the previous
model. The best tail-beat frequency of the fish robot was 1.4 Hz and the maximum thrust force was 0.0048 N. A miniaturized
power supply, which was developed to excite the LIPCAs, was installed inside the fish robot body for free swimming. The maximum
free-swimming speed was 3.2 cm/s.
Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song. This work was supported
by the Korea Research Foundation under grant KRF-2004-005-D00045.
Quang Sang Nguyen received the BS (2001) and MS (2006) from Hochiminh City University of Technology, Vietnam. Formerly an assistant lecturer
of Naval Architect and Marine Engineering, Hochiminh City University of Technology, Vietnam (2001-2006), he is currently a
Ph.D. student at the Department of Advanced Technology Fusion, Konkuk University. His specialty is biomimetic system design
and smart material application.
Seok Heo received the B.S., M.S. and Ph.D. degrees in Mechanical Engineering from Dongguk University in 1998, 2000, and 2003, Respectively.
Currently he is a Research Professor at the Artificial Muscle Researcch Center, Konkuk University, Seoul, Korea. His research
interests include biomimetics, vibration analysis, system design and control, and smart materials and structures.
Hoon Cheol Park received the B.S. (1985) and M.S. (1987) from Seoul National University in Seoul, Korea and Ph.D. (1994) from the University
of Maryland at College Park, MD, USA. He joined the Department of Aerospace Engineering, Konkuk University in Seoul, Korea,
in 1995, and he is currently a Professor in the Department of Advanced Technology Fusion. His professional experience includes
Kia Motors (1986–1988) and Korea Aerospace Research Institute (1994–1995). His specialty is finite element analysis and his
recent research has focused on biomimetics.
Nam Seo Goo graduated with honors in 1990 from the Department of Aeronautics Engineering of Seoul National University, and he got a masters
degree and Ph.D. from the Department of Aerospace Engineering at the same university in 1992 and 1996, respectively. His Ph.D.
thesis was on the structural dynamics of aerospace systems. As soon as he obtained the Ph.D. he entered the Agency for Defense
development as a senior researcher. In 2002, after four years of service, he joined the Department of Aerospace Engineering
at Konkuk University, Seoul, Korea, where he is currently serving as an Associate Professor of the Department of Advanced
Technology Fusion. His current research interests include structural dynamics of small systems, smart structures and materials,
and MEMS applications.
Taesam Kang is a Professor of the Department of Aerospace and Information System Engineering, Konkuk University. He received the B.S.,
M.S. and Ph.D. degrees from Seoul National University in 1986, 1988 and 1992, respectively. His current research areas are
robust control theories and the application of those theories with regard to flight control, development of micro-aerial vehicles
and fish robots.
Kwang Joon Yoon was awarded the BS (1981) and M.S. (1983) in Aeronautics Engineering from Seoul National University and Ph.D. (1990) in Aeronautics
and Astronautics Engineering from Purdue. Since 1991 he has been a Professor at Konkuk University in Korea, where he is currently
a Professor of Aerospace Engineering, the Director of the National Research Laboratory for Active Structures and Materials,
the Director of the Artificial Muscle Research Center, and the Director of the Smart Robot Center. His current research interests
include smart structures and materials, micro-aerial vehicles, and insect-mimetic micro-robot systems.
Seung Sik Lee received the B.S. (1996) and M.S. (1998) in Civil Engineering from Hongik University in Seoul, Korea and Ph.D. (2003) in
Civil Engineering from Georgia Institute of Technology, GA, USA. Currently he is a Senior Researcher at Korea Institute of
Marine Science & Technology Promotion. 相似文献
16.
Daewon Lee H. Jin Kim Shankar Sastry 《International Journal of Control, Automation and Systems》2009,7(3):419-428
This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization
controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty.
The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account
for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude.
The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty
such as ground effects.
Recommended by Editorial Board member Hyo-Choong Bang under the direction of Editor Hyun Seok Yang. This work was supported
by the Korea Research Foundation Grant (MOEHRD) KRF-2005-204-D00002, the Korea Science and Engineering Foundation(KOSEF) grant
funded by the Korea government(MOST) R0A-2007-000-10017-0 and Engineering Research Institute at Seoul National University.
Daewon Lee received the B.S. degree in Mechanical and Aerospace Engineering from Seoul National University (SNU), Seoul, Korea, in 2005,
where he is currently working toward a Ph.D. degree in Mechanical and Aerospace Engineering. He has been a member of the UAV
research team at SNU since 2005. His research interests include applications of nonlinear control and vision-based control
of UAV.
H. Jin Kim received the B.S. degree from Korea Advanced Institute of Technology (KAIST) in 1995, and the M.S. and Ph.D. degrees in Mechanical
Engineering from University of California, Berkeley in 1999 and 2001, respectively. From 2002–2004, she was a Postdoctoral
Researcher and Lecturer in Electrical Engineering and Computer Science (EECS), University of California, Berkeley (UC Berkeley).
From 2004–2009, she was an Assistant Professor in the School of in Mechanical and Aerospace Engineering at Seoul National
University (SNU), Seoul, Korea, where she is currently an Associate Professor. Her research interests include applications
of nonlinear control theory and artificial intelligence for robotics, motion planning algorithms.
Shankar Sastry received the B.Tech. degree from the Indian Institute of Technology, Bombay, in 1977, and the M.S. degree in EECS, the M.A.
degree in mathematics, and the Ph.D. degree in EECS from UC Berkeley, in 1979, 1980, and 1981, respectively. He is currently
Dean of the College of Engineering at UC Berkeley. He was formerly the Director of the Center for Information Technology Research
in the Interest of Society (CITRIS). He served as Chair of the EECS Department from January, 2001 through June 2004. In 2000,
he served as Director of the Information Technology Office at DARPA. From 1996 to 1999, he was the Director of the Electronics
Research Laboratory at Berkeley (an organized research unit on the Berkeley campus conducting research in computer sciences
and all aspects of electrical engineering). He is the NEC Distinguished Professor of Electrical Engineering and Computer Sciences
and holds faculty appointments in the Departments of Bioengineering, EECS and Mechanical Engineering. Prior to joining the
EECS faculty in 1983 he was a Professor with the Massachusetts Institute of Technology (MIT), Cambridge. He is a member of
the National Academy of Engineering and Fellow of the IEEE. 相似文献
17.
In-Kyu Choi Jong-An Kim Chang-Ki Jeong Joo-Hee Woo Ji-Young Choi Gihun Son 《International Journal of Control, Automation and Systems》2009,7(1):67-73
A digital turbine control system (TCS) has been developed for retrofitting an old analog TCS in a nuclear power plant. The
developed TCS, which controls the speed of a turbine and the power load of a generator, is based on a triple modular redundant
structure to ensure the system reliability. In addition, a turbine simulator has been developed to verify the perfection of
the TCS prior to its actual installation. The simulator is composed of a graphic editor, a component model builder, and a
system simulation solver. The tested TCS has been successfully applied to a CANDU type nuclear power plant. This paper describes
major features of the developed TCS and the turbine simulator including thermal-hydraulic models. Also, the simulation result
in a laboratory is compared with the pre startup simulation and the actual operation result.
Recommended by Editor Hyun Seok Yang.
In-Kyu Choi was born in Jeonjoo, Korea in 1967. He obtained his Master’s degree in Electrical Engineering from Chungnam National University
in 2004. His research interests include control in power plant machines such as boilers, drums, turbines, and generators.
He is now a Senior Member of the KEPCO Research Institute.
Jong-An Kim received the B.S. degree in Electronic Engineering from Won-Kwang University, Ik-San, Korea in 1985. He joined the Korea
Electric Power Corporation (KEPCO) in 1976, and has mainly worked in the control systems engineering areas of power plants.
He is now a Principal Engineer in the Korea Electric Power Research Institute (KEPRI) and his research interests include the
design of power plant control systems as well as new technology development.
Chang-Ki Jeong was born in Daejeon, Korea in 1956. He obtained his Master’s degree in Electrical Engineering from Daejeon Industry College
in 1998. His research interests include control in power plant machines such as boilers, drums, turbines, and generators.
He is a Principal Member of the KEPCO Research Institute.
Joo-Hee Woo was born in Sangjoo, Korea in 1970. He obtained his Master’s degree in Electrical Engineering from Kyungbook National University
in 1995. His research interests include control in power plant machines such as boilers, drums, turbines, and generators.
He is now a Senior Member of the KEPCO Research Institute.
Ji-Young Choi received the B.S. degree in Mechanical Engineering from Sogang University in 2005. He is a graduate student of the Department
of Mechanical Engineering at Sogang University in Seoul, Korea. Choi’s research interests are in the areas of heat transfer,
PEM fuel cells, and microfluidics.
Gihun Son received the B.S. and M.S. degrees in Mechanical Engineering from Seoul National University in 1986 and 1988, respectively.
He obtained the Ph.D. degree in Mechanical Engineering from UCLA in 1996. Dr. Son is currently a Professor in the Department
of Mechanical Engineering at Sogang University in Seoul, Korea. His research interests are in the areas of multiphase dynamics,
heat transfer, and power system simulation. 相似文献
18.
In this paper, we propose a new topology called theDual Torus Network (DTN) which is constructed by adding interleaved edges to a torus. The DTN has many advantages over meshes and tori such as better
extendibility, smaller diameter, higher bisection width, and robust link connectivity. The most important property of the
DTN is that it can be partitioned into sub-tori of different sizes. This is not possible for mesh and torus-based systems.
The DTN is investigated with respect to allocation, embedding, and fault-tolerant embedding. It is shown that the sub-torus
allocation problem in the DTN reduces to the sub-mesh allocation problem in the torus. With respect to embedding, it is shown
that a topology that can be embedded into a mesh with dilation δ can also be embedded into the DTN with less dilation. In
fault-tolerant embedding, a fault-tolerant embedding method based on rotation, column insertion, and column skip is proposed.
This method can embed any rectangular grid into its optimal square DTN when the number of faulty nodes is fewer than the number
of unused nodes. In conclusion, the DTN is a scalable topology well-suited for massively parallel computation.
Sang-Ho Chae, M.S.: He received the B.S. in the Computer Science and Engineering from the Pohang University of Science and Technology (POSTECH)
in 1994, and the M.E. in 1996. Since 1996, he works as an Associate Research Engineer in the Central R&D Center of the SK
Telecom Co. Ltd. He took part in developing SK Telecom Short Message Server whose subscribers are now over 3.5 million and
Advanced Paging System in which he designed and implemented high availability concepts. His research interests are the Fault
Tolerance, Parallel Processing, and Parallel Topolgies.
Jong Kim, Ph.D.: He received the B.S. degree in Electronic Engineering from Hanyang University, Seoul, Korea, in 1981, the M.S. degree in
Computer Science from the Korea Advanced Institute of Science and Technology, Seoul, Korea, in 1983, and the Ph.D. degree
in Computer Engineering from Pennsylvania State University, U.S.A., in 1991. He is currently an Associate Professor in the
Department of Computer Science and Engineering, Pohang University of Science and Technology, Pohang, Korea. Prior to this
appointment, he was a research fellow in the Real-Time Computing Laboratory of the Department of Electrical Engineering and
Computer Science at the University of Michigan from 1991 to 1992. From 1983 to 1986, he was a System Engineer in the Korea
Securities Computer Corporation, Seoul, Korea. His major areas of interest are Fault-Tolerant Computing, Performance Evaluation,
and Parallel and Distributed Computing.
Sung Je Hong, Ph.D.: He received the B.S. degree in Electronics Engineering from Seoul National University, Korea, in 1973, the M.S. degree in
Computer Science from Iowa State University, Ames, U.S.A., in 1979, and the Ph.D. degree in Computer Science from the University
of Illinois, Urbana, U.S.A., in 1983. He is currently a Professor in the Department of Computer Science and Engineering, Pohang
University of Science and Technology, Pohang, Korea. From 1983 to 1989, he was a staff member of Corporate Research and Development,
General Electric Company, Schenectady, NY, U.S.A. From 1975 to 1976, he was with Oriental Computer Engineering, Korea, as
a Logic Design Engineer. His current research interest includes VLSI Design, CAD Algorithms, Testing, and Parallel Processing.
Sunggu Lee, Ph.D.: He received the B.S.E.E. degree with highest distinction from the University of Kansas, Lawrence, in 1985 and the M.S.E.
and Ph.D. degrees from the University of Michigan, Ann Arbor, in 1987 and 1990, respectively. He is currently an Associate
Professor in the Department of Electronic and Electrical Engineering at the Pohang University of Science and Technology (POSTECH),
Pohang, Korea. Prior to this appointment, he was an Associate Professor in the Department of Electrical Engineering at the
University of Delaware in Newark, Delaware, U.S.A. From June 1997 to July 1998, he spent one year as a Visiting Scientist
at the IBM T. J. Watson Research Center. His research interests are in Parallel, Distributed, and Fault-Tolerant Computing.
Currently, his main research focus is on the high-level and low-level aspects of Inter-Processor Communications for Parallel
Computers. 相似文献
19.
Myeong Eon Jang Jihong Lee 《International Journal of Control, Automation and Systems》2009,7(2):253-265
In this paper, we present the analysis of grasp stability for multi-fingered robot hands that is based on translational and
rotational acceleration convex polytopes. The aim of the grasp stability analysis is to find the resistance forces and moments
of robot hands that can withstand the external disturbance forces and moments applied on objects. We calculate the resistance
forces and moments respectively which are considered the properties of objects and robots. Therefore, the resistance forces
and moments depend on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the
mass of objects, the grasp position, the friction coefficients between the object surface and the end-effectors of robot fingers.
We produce the critical resistance force and moment which are absolutely stable about external disturbances in all directions,
the global resistance force and moment which are whole grasp capability of robot hands, and the weighted resistance forces
and moments which can be properly used by controlling two indices according to the importance of robot hands. The effectiveness
of this method is verified with simulation examples.
Recommended by Editorial Board member Hyoukryeol Choi under the direction of Editor Jae-Bok Song.
Myeong Eon Jang received the B.S. and M.S. degrees in Mechanical Engineering from Chonnam National University, Gwangju, Korea in 1987 and
1990, the Ph.D. degree in the Department of Mechatronics Engineering at Chungnam National University, Daejeon, Korea in 2009,
respectively. Since 1993, he has been a Researcher in the Agency for Defense Development (ADD), Daejeon, Korea. His research
interests include robotics and intelligent control.
Jihong Lee received the B.S. degree in Electronics Engineering from Seoul National University, Korea in 1983, and the M.S. and Ph.D.
degrees from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1985 and 1991, respectively,
all in Electrical and Electronics Engineering. Since 2004, he has been a Professor in the Mechatronics Engineering Department
of Chungnam National University, Daejeon, Korea. His research interests include robotics, intelligent control, multi-robot
localization and path planning. 相似文献
20.
Oscillation amplitude-controlled resonant accelerometer design using a reference tracking automatic gain control 总被引:1,自引:0,他引:1
Sangkyung Sung Chang Joo Kim Jungkeun Park Young Jae Lee Joon Goo Park 《International Journal of Control, Automation and Systems》2009,7(2):203-210
In this paper, it is presented a novel approach for the self-sustained resonant accelerometer design, which takes advantages
of an automatic gain control in achieving stabilized oscillation dynamics. Through the proposed system modeling and loop transformation,
the feedback controller is designed to maintain uniform oscillation amplitude under dynamic input accelerations. The fabrication
process for the mechanical structure is illustrated in brief. Computer simulation and experimental results show the feasibility
of the proposed accelerometer design, which is applicable to a control grade inertial sense system.
Recommended by Editorial Board member Dong Hwan Kim under the direction of Editor Hyun Seok Yang. This work was supported
by the BK21 Project ST·IT Fusion Engineering program in Konkuk University, 2008. This work was supported by the Korea Foundation
for International Cooperation of Science & Technology(KICOS) through a grant provided by the Korean Ministry of Education,
Science & Technology(MEST) in 2008 (No. K20601000001). Authors also thank to Dr. B.-L. Lee for the help in structure manufacturing.
Sangkyung Sung is an Assistant Professor of the Department of Aerospace Engineering at Konkuk University, Korea. He received the M.S and
Ph.D. degrees in Electrical Engineering from Seoul National University in 1998 and 2003, respectively. His research interests
include inertial sensors, avionic system hardware, navigation filter, and intelligent vehicle systems.
Chang-Joo Kim is an Assistant Professor of the Department of Aerospace Engineering at Konkuk University, Korea. He received the Ph.D. degree
in Aeronautical Engineering from Seoul National University in 1991. His research interests include nonlinear optimal control,
helicopter flight mechanics, and helicopter system design.
Young Jae Lee is a Professor of the Department of Aerospace Engineering at Konkuk University, Korea. He received the Ph.D. degree in Aerospace
Engineering from the University of Texas at Austin in 1990. His research interests include integrity monitoring of GNSS signal,
GBAS, RTK, attitude determination, orbit determination, and GNSS related engineering problems.
Jungkeun Park is an Assistant Professor of the Department of Aerospace Engineering at Konkuk University. Dr. Park received the Ph.D. in
Electrical Engineering and Computer Science from the Seoul National University in 2004. His current research interests include
embedded real-time systems design, real-time operating systems, distributed embedded real-time systems and multimedia systems.
Joon Goo Park is an Assistant Professor of the Department of Electronic Engineering at Gyung Book National University, Korea. He received
the Ph.D. degree in School of Electrical Engineering from Seoul National University in 2001. His research interests include
mobile navigation and adaptive control. 相似文献