Patents by Inventor Pyung Hun Chang
Pyung Hun Chang has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11579569Abstract: A system control apparatus includes a proportional-integral-derivative (PID) controller configured to control a behavior of a system and having a gain, and a gain determiner configured to apply, to a set adaptive load model, a variable associated with an error that varies based on a load change of the system and adaptively vary the gain using the adaptive load model to which the variable associated with the error is applied.Type: GrantFiled: November 27, 2019Date of Patent: February 14, 2023Assignee: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Junyoung Lee, Pyung Hun Chang, Byeonggi Yu
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Patent number: 11058895Abstract: Provided is a collimator including a base unit configured to form a radiation path of light; a pair of first moving members rotatably installed in the base unit; a pair of second moving members movably installed in the base unit; and an actuator configured to externally receive power and transmit the power to the first moving members and the second moving members, wherein a first space may be formed between the first moving members, a second space may be formed between the second moving members, and the light may pass through a radiation area corresponding to an overlapping area of the first space and the second space.Type: GrantFiled: August 14, 2018Date of Patent: July 13, 2021Assignee: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Pyung Hun Chang, Erkin Gezgin
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Publication number: 20200379415Abstract: A system control apparatus includes a proportional-integral-derivative (PID) controller configured to control a behavior of a system and having a gain, and a gain determiner configured to apply, to a set adaptive load model, a variable associated with an error that varies based on a load change of the system and adaptively vary the gain using the adaptive load model to which the variable associated with the error is applied.Type: ApplicationFiled: November 27, 2019Publication date: December 3, 2020Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Junyoung LEE, Pyung Hun CHANG, Byeonggi YU
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Publication number: 20190054317Abstract: Provided is a collimator including a base unit configured to form a radiation path of light; a pair of first moving members rotatably installed in the base unit; a pair of second moving members movably installed in the base unit; and an actuator configured to externally receive power and transmit the power to the first moving members and the second moving members, wherein a first space may be formed between the first moving members, a second space may be formed between the second moving members, and the light may pass through a radiation area corresponding to an overlapping area of the first space and the second space.Type: ApplicationFiled: August 14, 2018Publication date: February 21, 2019Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Erkin Gezgin
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Patent number: 10088811Abstract: A variable PID gain design device, including: a parameter setting unit for setting a natural frequency, a damping ratio, a sampling time, and a nonlinear damping, which enable establishment of an error dynamics required for controlling an object to be controlled; a PID gain induction unit for inducing a PID gain, using the correlation between a PID control and a backstepping control with time delay estimation and nonlinear damping (BCTND), the PID control controlling, using the set parameters, the object to be controlled; and a PID gain calculating unit for calculating a gain of a PID controller by adjusting a BCTND control gain on the basis of the induced PID gain.Type: GrantFiled: September 30, 2013Date of Patent: October 2, 2018Assignee: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGYInventors: Pyung Hun Chang, Jun Young Lee
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Patent number: 10071265Abstract: A medical robot includes a bed on which an object is to be disposed, and a robot arm unit disposed above or below the bed, and including an emitting member movable within a trajectory on a sphere having a center at which a target point is disposed, wherein the bed and the robot arm unit may move relatively in a vertical or horizontal direction, and the object may be repositioned to the target point by relatively moving the bed and the robot arm unit in the vertical or horizontal direction, and the emitting member may move to face the target point.Type: GrantFiled: November 13, 2014Date of Patent: September 11, 2018Assignee: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin, Seung Ho Kim
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Patent number: 9895559Abstract: A robot includes a link portion including a plurality of link members and a drive portion to rotate the link members, and axes of rotation of the drive portion extending from end portions of the link members is positioned at an identical point.Type: GrantFiled: November 13, 2014Date of Patent: February 20, 2018Assignee: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Patent number: 9855446Abstract: A robot includes a central member, and a plurality of robot arms, each having one end connected to the central member to rotate on a longitudinal axis of the central member, and the robot arms are connected to different portions of the central member to rotate independently and incoherently with respect to each other.Type: GrantFiled: November 13, 2014Date of Patent: January 2, 2018Assignee: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Patent number: 9625581Abstract: A three-dimensional (3D) emitting apparatus includes a table on which an object is to be disposed, a robot arm to perform a task on the object, an emitting member provided at an end portion of the robot arm, and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm may move relatively in a vertical or horizontal direction, the emitting member may move along a trajectory of rotation of the robot arm, and the trajectory of rotation may be provided in a form of a concentric sphere having a center at which a target point is disposed.Type: GrantFiled: November 13, 2014Date of Patent: April 18, 2017Assignee: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Publication number: 20160161925Abstract: A variable PID gain design device, including: a parameter setting unit for setting a natural frequency, a damping ratio, a sampling time, and a nonlinear damping, which enable establishment of an error dynamics required for controlling an object to be controlled; a PID gain induction unit for inducing a PID gain, using the correlation between a PID control and a backstepping control with time delay estimation and nonlinear damping (BCTND), the PID control controlling, using the set parameters, the object to be controlled; and a PID gain calculating unit for calculating a gain of a PID controller by adjusting a BCTND control gain on the basis of the induced PID gain.Type: ApplicationFiled: September 30, 2013Publication date: June 9, 2016Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun CHANG, Jun Young LEE
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Publication number: 20150283406Abstract: A medical robot includes a bed on which an object is to be disposed, and a robot arm unit disposed above or below the bed, and including an emitting member movable within a trajectory on a sphere having a center at which a target point is disposed, wherein the bed and the robot arm unit may move relatively in a vertical or horizontal direction, and the object may be repositioned to the target point by relatively moving the bed and the robot arm unit in the vertical or horizontal direction, and the emitting member may move to face the target point.Type: ApplicationFiled: November 13, 2014Publication date: October 8, 2015Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin, Seung Ho Kim
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Publication number: 20150283407Abstract: A robot includes a link portion including a plurality of link members and a drive portion to rotate the link members, and axes of rotation of the drive portion extending from end portions of the link members is positioned at an identical point.Type: ApplicationFiled: November 13, 2014Publication date: October 8, 2015Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Publication number: 20150283697Abstract: A robot includes a central member, and a plurality of robot arms, each having one end connected to the central member to rotate on a longitudinal axis of the central member, and the robot arms are connected to different portions of the central member to rotate independently and incoherently with respect to each other.Type: ApplicationFiled: November 13, 2014Publication date: October 8, 2015Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Publication number: 20150285915Abstract: A three-dimensional (3D) emitting apparatus includes a table on which an object is to be disposed, a robot arm to perform a task on the object, an emitting member provided at an end portion of the robot arm, and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm may move relatively in a vertical or horizontal direction, the emitting member may move along a trajectory of rotation of the robot arm, and the trajectory of rotation may be provided in a form of a concentric sphere having a center at which a target point is disposed.Type: ApplicationFiled: November 13, 2014Publication date: October 8, 2015Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Pyung Hun Chang, Gezgin Erkin
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Patent number: 7762156Abstract: A cable driven wrist mechanism for a robot arm which executes a rolling motion and a pitching motion. The wrist mechanism includes a first drive body and a second drive body which are independently driven. The wrist mechanism includes first and second rotary bodies which are connected to the first and second rotary bodies. The wrist mechanism further includes a third drive body perpendicular to the first and second drive bodies. At least two cables are connected between the drive bodies and the rotary bodies in a criss-cross manner to transmit forces of the first and second rotary bodies to the third rotary body.Type: GrantFiled: March 22, 2007Date of Patent: July 27, 2010Assignee: Korea Advanced Institute of Science and TechnologyInventors: Pyung Hun Chang, Seong Tae Kim, Hyung Soon Park
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Publication number: 20080223159Abstract: A cable-driven wrist mechanism for a robot arm which executes a rolling motion and a pitching motion, the wrist mechanism comprising: first and second motors provided in the robot arm; a first drive body rotated by the first motor; a second drive body placed above the first drive body, the second drive body being rotated by the second motor about a same rotating axis as that of the first drive body and independently with respect to the first drive body; a first rotary body rotated about a rotating shaft which is perpendicular to the rotating axis of the first drive body and located in a same plane as the rotating axis of the first drive body; a second rotary body having a rotating shaft same as the first rotary body, the second rotary body being symmetric to the first rotary body with respect to the rotating axis of the first drive body; a third rotary body connected to a sub-shaft which perpendicularly branches from the rotating shaft of the first and second rotary bodies, the third rotary body being symmetrType: ApplicationFiled: March 22, 2007Publication date: September 18, 2008Inventors: Pyung Hun Chang, Seong Tae Kim, Hyung Soon Park
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Patent number: 6937908Abstract: A method for tuning a PID controller includes the steps of inducing equivalent relationships between PID gains of the PID controller and parameters of time delay control (TDC), selecting a natural frequency vector and a damping ratio vector so as to acquire a desired error dynamics of the closed PID control loop system, selecting a sampling time of the closed PID control loop system, determining the parameters of TDC on the basis of the natural frequency vector, the damping ratio vector and a closed loop stability condition for TDC, and selecting PID gains of the PID controller on the basis of the equivalent relationships.Type: GrantFiled: October 29, 2003Date of Patent: August 30, 2005Assignee: Korea Advanced Institute of Science & TechnologyInventors: Pyung Hun Chang, Je Hyung Jung
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Publication number: 20040153173Abstract: A method for tuning a PID controller includes the steps of inducing equivalent relationships between PID gains of the PID controller and parameters of time delay control (TDC), selecting a natural frequency vector and a damping ratio vector so as to acquire a desired error dynamics of the closed PID control loop system, selecting a sampling time of the closed PID control loop system, determining the parameters of TDC on the basis of the natural frequency vector, the damping ratio vector and a closed loop stability condition for TDC, and selecting PID gains of the PID controller on the basis of the equivalent relationships.Type: ApplicationFiled: October 29, 2003Publication date: August 5, 2004Inventors: Pyung Hun Chang, Je Hyung Jung
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Patent number: 6622580Abstract: A backlash-free speed reducing device includes a drive unit, a rotary unit, and a power output unit. The drive unit consists of a drive motor having a drive shaft. A first power transmission cable is wound around the drive shaft. The rotary unit has two first cylinders, with the first transmission cable fixed to the external surface of the first cylinders at opposite ends thereof and wound around or unwound from the first cylinders in response to a rotation of the drive shaft. Each of the first cylinders is concentrically fitted over a rotating shaft such that the first cylinders are linearly movable along the rotating shafts in opposite directions. A second power transmission cable is fixed to the external surfaces of the rotating shafts of the two first cylinders at opposite ends thereof. The power output unit has a second cylinder, with the second transmission cable wound around the second cylinder.Type: GrantFiled: February 16, 2001Date of Patent: September 23, 2003Assignee: Korea Advanced Institute of Science and TechnologyInventors: Pyung Hun Chang, Ju Yi Park, Hyung Soon Park, Je Hyung Jung, Bo Kyoung Jeon