1. 제목 : Command Shaping Control of Cranes, Robots, and Spacecraft

2. 일시 : 2008년 11월 24일(월) 15:00-16:00

3. 장소 : 서울대학교 301동 117호

4. 연사 : Professor William Singhose (Woodruff School of Mechanical Engineering, Georgia Institute of Technology)

5. 내용 :
At first glance, the control of high-speed robots, distant spacecraft, and industrial cranes seems to have little in common. Robots are controlled by high-speed feedback loops, spacecraft are guided by ground-based humans that must interact through significant time delays, and industrial cranes are driven by anyone who grabs the control pendent and starts pushing the buttons. However, all of these machines experience deflection and residual vibration when they are moved, especially when they are pushed to their performance limit. This unifying problem allows one control method - Command Shaping - to provide useful solutions to all of these applications. Command shaping generates intelligently shaped reference commands that are used to drive the system. This talk will give an overview of various command shaping methods and show successful applications on a variety of robots, spacecraft, and cranes.

6. 약력 :
1992 Master, Stanford University, Department of Mechanical Engineering
1994 Convolve. Inc.
1997 Ph.D. Massachusetts Institute of technology, Department of Mechanical Engineering
1998 Associate Professor, Georgia Tech, Department of Mechanical Engineering

7. 문 의 : 기계항공공학부 정인석 교수(☏ 880-7387)