학습목표 및 개요:

기계정보공학부의 정보응용전공에서 필요로 되어지는 기초분야를 전반적으로 다룬다. 여러가지 전기전자관련 계측장비 및 실험실습장비들에 대하여 소개한 후, 전기전자 및 디지털 시스템의 기초를 이론 및 실험실습을 통하여 공부한다. 그리고, 하드웨어시스템 특히 로봇 시스템을 다루기 위한 소프트웨어 (C 언어)프로그램에 대하여도 간략히 소개한 후 실험을 통하여 구현하여 보도록 한다.

담당교수: 유 지환, F401, T: 560-1250

주교재:C가 미는 로보트 I, 신정환, Ohm사, 2005

참고도서:

• 전기전자공학개론, 이적식 외, SciTech, 2003
• Digital Design, Mano, Prentice Hall, 2002

평가방법:

• 중간 30%
• 기말 40%
• 출석 10%
• 과제 20%
• 설문 0%

수업내용 & Download: 보고서 작성 예-Part I Sample, Part II Sample

• 과년도 중간고사 문제지: 2005 2006 2007 2008
• 과년도 기말고사 문제지: 2005 2006 2007 2008

PART I: 기초전자소자 응용 및 실습

• 1 week : 실험장비 개요 및 사용법
• 2 week : 기본전자요소 및 측정
• 3 week : 트랜지스터와 다이오드
• 4 week : 교류
• 5 week : 커패시터; StopWatch Program
• 6 week : 인덕터
• 7 week : IC개요 및 실습

Part II: C응용 및 실습

• 1 week: C언어 기초
• 2 week: 데이터 형
  • ASC.pdf
  • ASTHREE.pdf
  • CONDIP.pdf
  • ELSE.pdf
  • switch.pdf
• 3 week: 분기제어 및 루프제어
  • POINT.pdf
  • PTROP.pdf
  • STCOPY.pdf
  • SUNJUK.pdf
  • FUNCPO.pdf
  • test3.pdf
• 4 week: 배열
  • [실습예제]
• 5 week: 함수와 기억부류
  • [실습예제]

Part III: 햄스터 로봇 실습

• Term Project:미로 예제

학습목표 및 개요:

마이크로 프로세서 및 마이크로 컨트롤러의 개념 및 기능에 대하여 소개하고, 요즘들어 많은 주목을 받고 있는 8-bit RISC 구조를 가지고 있는 AVR 마이크로컨트롤러에 대하여 공부한다. 특히, 고성능을 가진 ATmega128을 대상으로 마이크로 컨트롤러의 구조를 이해하고, 여러가지 실험실습을 통하여 응용력을 향상한다.

담당교수: 유 지환, F401, T: 560-1250

주교재:AVR ATmega128 마스터, 윤덕용, Ohm 사, 2005 마이크로프로세서, 권장우 외, SciTech, 2001

참고도서:

• IAR EWAVR 컴파일러를 이용한 AVR ATmega128 마이크로컨트롤러, 송봉길, 성안당, 2005

평가방법:

• 과제 90%
• 출석 10%

수업내용 & Download:

• Software:
  • AVR Studio (v.4.17)
  • WIN AVR (v.090306)
• Driver:
  • ISP Driver(for win7)
  • ISP Driver(for win xp)
• chap. 1: 마이크로프로세서 개요 실습: Ex 1-1 / Ex 1-2
• chap. 2: ATMega128 개요 / AVR 개요 / 참조
• chap. 3: 병렬I/O포트 실습: Ex 2
• chap. 4: 인터럽트 실습: Ex 3
• chap. 5: 타이머카운터 실습: Ex 4
• chap. 6: 타이머카운터2 실습: Ex 5
• chap. 7: 외부 인터페이스 실습: Ex 6(LCD) / my_header.h / lcd.h
• 2009-10-29 수정본 입니다.
• chap. 8: USART 실습: Ex 7(USART)
• chap. 9: AD 컨버터 실습: Ex 8
• chap. 10: 실습: Ex 9(RC 서보 모터) / Multi RC
• chap. 11: 실습: Ex 10(DC 모터) / Encorder / Ref. Code

학습목표 및 개요:

디지털과 논리회로의 기본개념과 논리회로를 구현하는 기본 gate (AND/OR/NOT/NAND/NOR)의 원리를 배우고 , 실험을 통해서 실무에서 사용가능 한 지식을 습득한다. 또한 플립플롭을 사용하여 제어시스템을 구성하는 데 필수적인 각종 interface 회로(연산회로/계수회로/복호기/멀티플렉스 등)를 구성하고 동작원리를 학습한다. 이와 같은 회로를 하나의 집적화 된 chip(FPGA/CPLD)에 구현하는데 필요한 vhdl 및 장비사용법을 습득한다.

담당교수: 유 지환, F401, T: 560-1250

주교재:

• Digital Design, by M.Morris Mano, Prentice Hall, 2002
• HBE-COMBOⅡ,(주)한백전자 기술연구소,(주)한백전자,2007

참고도서:

• 디지털 시스템 설계, by 박천관 외, 상학당, 2006

평가방법:

• 중간고사 20%
• 기말고사 20%
• 과제(실험,실습포함) 50%
• 출석 10%

수업내용 & Download:

• Chap.0: Introduction to digital Systems
• Chap.1: Binary Systems
• Chap.2: Boolean Algebra and Logic gates
• Chap.3: Gate Level Minimization
• Chap.4: Combinational Logic
• Chap.5: Synchronous Sequential Logic
• Chap.6: Registers and Counters

• HBE-COMBO2 매뉴얼
• HBE-COMBO2 신호등 매뉴얼
• 한백전자 예제 압축파일
• 실습.1
• 실습.2
• 실습.3
• 실습.4
• 실습.5
• 키패드

Quartus 2 v9.1 다운로드

디지털 기말고사 6월 9일 수요일 저녁 7시 3319 10분전 입실완료

학습목표 및 개요:

현재산업현장에서 사용되고 있는 기계시스템에는 다양한 전기 및 전자부품이 포함되어 있다.그러므로 기계공학자는 이러한 전기 및 전자부품과 회로에 대한 이해를 필요로 한다. 이러한 관점에서 본 과목에서는 기계공학에 필요한 기초적인 전기공학에 관련된 실습을 수행하므로 이에 대한 응용력을 제고한다.

담당교수: 유 지환, F401, T: 560-1250

주교재:

• 전기전자공학개론, by G.Rizzoni, 송재복 외, McGrow-hill Korea, 2003
• 기초전기회로실험, by 정학기, 신경욱, McGrow-hill Korea, 2002

참고도서:

• 전기전자공학개론, by N.P.Cook, 이적식 외, Sci Tech, 2003

평가방법:

• 중간고사 20%
• 기말고사 40%
• 과제(실험,실습포함) 30%
• 출석 10%

수업내용(이론) & Download:

• Chap.1: Basic Elements
• Chap.2: 직류회로
• Chap.3: 직류회로망해석
• Chap.4: 교류회로
• Chap.5: 캐패시터 / StopWatch Program
• Chap.6: 인덕터 실험35 참고자료 / Experiment
• Chap.7: 교류회로망해석
• Chap.8: 과도해석
• Chap.9: 주파수응답

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Text: “Robot Mechanisms and Mechanical Devices Illustrated,” by Paul E. Sandin, McGraw-Hill.

• Download Text Book PDF (6 Mb)

Course Description:

In this course, haptic and telerobotic systems will be introduced. After introducing basic concept and application area of haptic and telerobotic systems, we will mainly focus on dynamics and control methodologies of haptic and telerobotic systems. Several key papers in this area will be studied together, and time-domain passivity controller will be deeply studied as a special topic.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisites: Feedback Control System, Introduction to Robotics.

Grade:

• Term-Project 70%
• Homework 20%
• Attendance 10%

Lecture Materials:

• Lecture 1: Introduction to Haptics and Telerobotic Systems
• Lecture 2: Kinematics of Haptics and Telerobotic Systems
• Lecture 3: Haptic Rendering
• Lecture 4: Dynamics of Haptics and Telerobotics Systems
• Lecture 5: Control Methods of Haptics and Telerobotics Systems
• Lecture 6: Introduction to Time Domain Passivity Approach
• Lecture 7: Extended Works of Time Domain Passivity Approach

Recommended papers on Teleoperation and Haptics:

1. Yasuyoshi Yokokohji, Tsuneo Yoshikawa, “Bilateral control of master-slave manipulators for ideal kinesthetic coupling – formulation and experiment,” IEEE Transactions on Robotics and Automation, Vol. 10, NO5, October. Original paper is available at IEEE Xplorer LINK
2. Hannaford, B., “A design framework for teleoperators with kinesthetic feedback,” Robotics and Automation, IEEE Transactions on , vol.5, no.4, pp.426-434, Aug 1989. Original paper is available at IEEE Xplorer LINK
3. Lawrence, D.A., “Stability and transparency in bilateral teleoperation,” Robotics and Automation, IEEE Transactions on , vol.9, no.5, pp.624-637, Oct 1993. Original paper is available at IEEE Xplorer LINK
4. H. Kazerooni, C. L. Moore, “An Approach to Telerobotic Manipulators,” ASME Journal of Dynamic Systems Measurements and Control, Vol. 119, No. 3, Sept 1997, pp. 431-438. Original paper is available at LINK
5. H. Seraji, R. Colbaugh, “Force tracking in impedance control,” Intern. Journ. of Robotics Research, 16(1), pp. 97-117, 1997.
6. Adams, R.J.; Hannaford, B., “Stable haptic interaction with virtual environments,” Robotics and Automation, IEEE Transactions on , vol.15, no.3, pp.465-474, Jun 1999. Original paper is available at IEEE Xplorer LINK
7. Colgate, J.E.; Brown, J.M., “Factors affecting the Z-Width of a haptic display,” Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on , vol., no., pp.3205-3210 vol.4, 8-13 May 1994. Original paper is available at IEEE Xplorer LINK
8. Colgate, J.E.; Schenkel, G., “Passivity of a class of sampled-data systems: application to haptic interfaces,” American Control Conference, 1994 , vol.3, no., pp. 3236-3240 vol.3, 29 June-1 July 1994. Original paper is available at IEEE Xplorer LINK
9. Jee-Hwan Ryu, Dong-Soo Kwon and Blake Hannaford, “Stable Teleoperation with Time Domain Passivity Control,” IEEE Trans. on Robotics and Automation, Vol. 20, No. 2, pp. 365-373, 2004. SCI Impact Factor: 2.103 PDF
10. Jee-Hwan Ryu, Yoon Sang Kim and Blake Hannaford, “Sampled and Continuous Time Passivity and Stability of Virtual Environments,” IEEE Trans. on Robotics, Vol. 20, No. 4, pp. 772-776, 2004. PDF

Extra Home Work:

1. Jee-Hwan Ryu, Jordi Artigas, Carsten Preusche “A passive bilateral control scheme for a teleoperator with time-varying communication delay” PDF
2. Jordi Artigas, Jee-Hwan Ryu, Carsten Preusche “Time Domain Passivity Control for Position-Position Teleoperation Architectures” PDF

Course Description:

In this course, dynamics and control methodologies of robot manipulators will be introduced. From independent joint control to impedance control, many different kinds of control methodologies for robots will be reviewed. After introducing general control method of robots, telerobotics and haptics will be introduced.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisites: Feedback Control System, Introduction to Robotics

Text: “Robot Modeling and Control,” by Mark W. Spong etc.,Wiley,2006

Grade:

• Term-Project 70%
• Homework 20%
• Attendance 10%

Lecture Materials:

• Lecture 1: Introduction to Robots
• Lecture 2: Independent Joint Control
• Lecture 3: Dynamics
• Lecture 4: Multivariable Control
• Lecture 5: Force Control
• Lecture 6: Introduction to Haptic and its applications
• Lecture 7: Dynamics
• Lecture 8: Control of Telerobotics

Example for Term Project:

Manipulator dynamic modeling, PD-control, robust control and visualization: ZIP-archive (PPT+source files)

Force Control

Course Description:

The goal of this course is to enable all students to have the skills and knowledge to successfully apply digital control methods. Implementation of control systems often involves digital components, even if the controlled system consists of analog electrical, mechanical, or other continuous time processes. This course covers methods of digital control, including issues related to A/D and D/A conversion. Topics include discrete-time and sampled-data systems, the Z-transform, frequency domain properties; sampling, D/A and A/D conversion issues; controller design via discrete-time equivalents to continuous-time controllers, by direct-digital root locus, by loop shaping, and via state feedback and observers; quantization effects, LQR optimal control and an introduction to LQG optimal control.

Instructor: Jee-Hwan Ryu, F401, T: 560-1250

Prerequisites: Feedback Control System.

Text: “Digital Control Systems (Second Edition), by Benjamin C. Kuo, Oxford, 2006

Grade:

• Mid-Exam 30%
• Final Exam 40%
• Homework 20%
• Attendance 10%

Lecture Materials:

• Lecture 1: Introduction to Digital Control
• Lecture 2: Some Usefull Summations
• Lecture 3: Discrete Time Signals
• Lecture 4: Discrete Time Convolution
• Lecture 5: Convolution stability
• Lecture 6: Z-Transform
• Lecture 7: Solving difference equations
• Lecture 8: DT signals and dynamic response
• Lecture 9: Block Diagram Analysis of Sampled Data Systems
• Lecture 10: Discrete Equivalents to Continuous Transfer Functions
• Lecture 11: Digital PID control
• Lecture 12: Gain and Phase Margins
• Lecture 13: Z Transform in State Space
• Lecture 14: Pole Placement via State Feedback

References:

• Digital Control of Dynamic Systems, 3rd edition, by G.F. Franklin, J.D. Powell and M.L. Workman
• Discrete-Time Control Systems by K. Ogata
• Linear Optimal Control Systems by H. Kwakernaak and R. Sivan

Task for Term Project

Take Home Exam (2008)