We consider the design of a state feedback $H_{\infty}$ controller for seismic-excited building with bounded actuators capability. A controller is obtained by minimizing ${\gamma}$($L_2$ gain from the disturbance to measured output) satisfying three LMI's, and this can be easily done by well-known LMI control toolbox. Finally, the usefulness of a proposed technique is illustrated by numerical simulation of a six-story building subjected to the Pacoima earthquake.

This paper presents a simple and new digital redesign algorithm for fussy-model-based controllers. In the first stage, a continuous-time TS fuzzy model is constructed for a given continuous-time nonlinear system and a corresponding continuous-time fuzzy-model-based controller is established based on the existing controller synthesis algorithms. In the second stage, the continuous-time fuzzy-model-based controller is converted to equivalent discrete-time fuzzy-model-based controller, aiming at maintaining the property of the analogue controlled system, which are called intelligent digital redesign. Finally, the proposed method is applied to the digital control of inverted pendulum system to shows the effectiveness and the feasibility of the method.

Sliding control is a powerful approach to controlling nonlinear and uncertain systems. Conventional sliding mode control suffer' from high control gain and chattering problem. also it needs mathematic! modeling equations for control systems. A Fuzzy controller is endowed with control rules and membership function that are constructed on the knowledge of expert, as like intuition and experience. but It is very difficult to obtain the exact values which are the membership function and consequent parameters. In this paper, without mathematical modeling equations, the plant parameters in sliding mode are estimated by the indirect adaptive fuzzy method. the proposed algorithm could analyze the system's stability and convergence behavior using Lyapunov theory. so sliding modes are reconstructed and decreased tracking error. moreover convergence time took a short. An example of inverted pendulum is given for demonstration of the robustness of proposed methodology.

This paper focuses on the robust pole assignment for time varying uncertain linear systems in a specified disk. Based on Linear Matrix Inequality(LMI) approach, we give two sufficient conditions, one is for the analysis and another is for the design, that guarantee the robust pole assignment in a specified disk in the left half plane(L.H.P) while satisfying the robust stability. Since these conditions are expressed as LMI forms, we can easily check their feasibility using MATLAB control toolbox. Finally, we show by an example that our results are useful for analysis and design.

Robustness characteristics to the modelling imprecision and some disturbances could be achieved in sliding mode control. However, there are drawbacks such as discontinuous control and chattering. Recently, many researches have been developing to solve such the problems. In sliding mode control, overall control input could be divided into two parts which are equivalent control input and sliding mode control input. Sliding mode control input is a function of the switching surfaces and can be designed with their linear combinations. In this paper, the sliding mode control input is designed by TSK fuzzy model. The proposed method gives the continuous sliding control input and reject the chattering phenomenon.

This paper describes the synthesis of robust decentralized controllers for uncertain large-scale discrete-time systems with time-delays in subsystem interconnections. Based on the Lyapunov method, a sufficient condition for robust stability, is derived in terms of a linear matrix inequality(LMI). The solutions of the LMI can be easily obtained using various efficient convex optimization techniques. A numerical example is given to illustrate the proposed method.

Fuzzy control has been researched for application of industrial processes which have no accurate mathematical model and could not controlled by conventional methods because of a lack of quantitative input-output data. Intelligent control approach based on fuzzy logic could directly reflex human thinking and natural language to controller comparing with conventional methods. In this paper, fuzzy controller is implemented to acquire operator's knowledge. The tested system is constructed for sending a ball to the goal position using wind from two DC motors in the path. This system contains non-linearity and uncertainty because of the characteristic of aerodynamics inside the path. Ball position is measured by a vision camera. The system used in this experiment could be hardly modeled by mathematic methods and could not be easily controlled by linear control manners. The controller, in this paper is designed based on the input-output data and experimental knowledge obtained by trials.

In this paper, the design of PID controller using Neural networks for the control of non-linear system is presented. First, non-linear system is identified using BPN(Backpropagation Network) algorithm. This identified model is connected to the PID controller and the parameters of PID controller are updated to the direction of reducing the difference between the identified model output and model reference output in arbitrary input signal. Therefore, identified model output tracks the model reference output in an acceptable error range and the parameters of controller are updated adaptively. The output of the system has a good performance in case of both noisy and noiseless model reference and we can control the system stable in off-line when the dynamics of the system is changed.

This paper addresses a fuzzy controller for nonlinear systems control using a pole placement in a specified disk. In the method, we linearize a nonlinear plant about nominal operating points and represent it using TS fuzzy model and formulate the controller rules. A feedback control law for a local model is determined using a pole placement in a specified disk(${\alpha}$:center ${\gamma}$:radius} region so that the closed loop system is stable. A nonlinear system can be controlled by combining fuzzy controller with a pole placement scheme which can be used to modify the transient response such as damping ratio and overshoot. A stability of overall fuzzy control system is guaranteed in the Lyapunov sense. Finally, it is shown that the proposed method is feasible through a computer simulation.

In this paper we propose a Neuro-Fuzzy modeling method using mGA for complex nonlinear system. mGA has more effective and adaptive structure than sGA with respect to using the changeable-length string. This paper suggest a new coding method for applying the model's input and output data to the number of optimul rules of fuzzy models and the structure and parameter identifications of membership function simultaneously. The proposed method realize optimal fuzzy inference system using the learning ability of Neural network. For fine-tune of the identified parameter by mGA, back-propagation algorithm used for optimulize the parameter of fuzzy set. The proposed fuzzy modeling method is applied to a nonlinear system to prove the superiority of the proposed approach through compare with ANFIS.

In adaptive fuzzy control, fuzzy systems are used to approximate the unknown plant nonlinearities. Until now, most of the papers in the field of controller design for nonlinear system using fuzzy systems considers the affine system with fixed grid-rule structure. This paper considers general nonlinear systems and dynamic fuzzy rule structure. Adaptive laws for fuzzy parameters and fuzzy rule structrue are established so that the whole system is stable in the sense of Lyapunov.

In this paper, we consider $H^{\infty}$ optimal Kalman filter problems for linear weakly coupled stochastic systems. We introduce a decomposition for the systems of the Hamiltonian form, which plays an important role of exclusion of ill-condition by ${\varepsilon}$-effect and the parallel computation possibility. It is shown that the algebraic Riccati equation of the weakly coupled $H^{\infty}$ optimal Kalman filter problem is decoupled into completely independent reduced-order, well-defined, two suboptimal Kalman filters.

In the construction of successful fuzzy models and/or controllers for nonlinear systems, identification of a good fuzzy Neural inference system is an important yet difficult problem, which is traditionally accomplished by trial and error process. In this paper, we propose a systematic identification procedure for complex multi-input single- output nonlinear systems with DNA coding method.DNA coding method is optimization algorithm based on biological DNA as are conventional genetic algothms (GAs). We also propose a new coding method for applying the DNA coding method to the identification of fuzzy Neural models. To acquire optimal TS fuzzy model with higher accuracy and economical size, we use the DNA coding method to optimize the parameters and the number of fuzzy inference system.

This paper presents a feedback controller for compensation time delay in the distributed control systems. In using network, controllers and sensors are distributed on a communications network, there exist time delays on communication lines between the system components. So, we deal with the controller using Smith predictor controller design issue for such systems. Particularly compensated for the time delay of the plant or controller involved integrator using Modified Smith predictor. Simulation and the results show the good performance for the modified Smith predictor control systems.

In this paper, the problem of the stability analysis for linear neutral delay-differential systems with nonlinear perturbations is investigated. Using Lyapunov second method, a new delay-dependent sufficient condition for asymptotic stability of the systems in terms of linear matrix inequalities (LMIs), which can be easily solved by various convex optimization algorithms, is presented. A numerical example is given to illustrate the proposed method.

In this paper, the anti-windup schemes developed so far are summarized and the similarities/differences of those schemes are discussed. The anti-windup schemes are applied to a DC servomotor system with PID controller to perform comparative study and sensitivity analysis. Based on those results, some criteria for choosing anti-windup scheme are suggested. The results of this study provide a very useful guideline for selecting and designing the anti-windup scheme for various types of PID control systems.

This paper addresses the use of a nonlinear modeling procedure which construct a wavelet-based fuzzy model using genetic algorithm. A fuzzy inference system has the functional equivalence with a wavelet transform. Therefore, a wavelet-based fuzzy model using GA inherits the advantage of wavelet transform. Hereby, its performance is promoted. By help of the ability of GA to search the optimum globally, parameters of wavelet transform is determined closely to the optimal point. The feasibility of the proposed fuzzy model is proved by modelling a highly nonlinear function and comparing it with previous research.

In this study, 3-D underwater object recognition using ultrasonic sensor fabricated with PZT-Polymer 1-3 type composites and invariant moment vector and SOFM(Self Organizing Feature Map) neural networks are presented. The recognition rates for the training data and the testing data were 99% and 93%, respectively.

The main motivation of this research is to develop an intelligent control strategy for Activated Sludge Process(ASP). ASP is a complex and nonlinear dynamic system because of the characteristic of a wastewater, the change of an influent flow rate, weather conditions, and etc. The mathematical model of ASP also includes uncertainties which are ignored or not considered by process engineer or controller designer. The ASP is generally controlled by a PID controller that consists of fixed proportional, integral, and derivative gain values. The PID gains can be adjusted by the expert in the ASP. The ASP model based on Matlab$^{(R)}$5.3/Simulink$^{(R)}$3.0 is developed in this paper. Various control methods are applied to the ASP model and the control results are disscussed. Three control methods are designed and tested: conventional PID controller, fuzzy logic control approach to modify setpoints, and fuzzy-PID control method.

고효율, 무공해의 신발전 기술인 연료전지 발전은 발전 용량 및 스택구성에 따라 차이가 있으나 기본적으로 저전압, 대전류 특성과 부하에 따라 발전 전압이 크게 변동하는 특성을 갖는 직류전원으로써 이를 상용으로 이용하기 위해서는 연료전지 발전 전력을 안정된 전력으로 변환하여 주는 장치가 필요하며, 이러한 전력 변환장치가 연료전지 발전의 최종 출력 전원의 질을 결정한다. 연료전지 전력변환장치는 전압조절기능, 승압 기능을 가져야 하고, 연료전지 본체와 부하를 안정하게 운전하기 위해 전력변환장치 뿐만 아니라 부하와 연료전지 본체의 운전상태 감지 기능, 각종 장치의 보호와 제어기능을 가져야 한다. 본 논문의 목적은 자동차용 연료전지 출력 전력변환장치의 종합제어장치의 설계를 위해 연료전지 스택시뮬레이터를 개발하는 것이다. 연료전지 스택 시뮬레이터는 연료전지 발전 특성과 일치하는 전력을 출력해 주는 직류전원 공급장치로써 이를 이용하여 연료전지 출력 전력변환장치의 종합제어장치를 충분한 예비실험과 수정, 보완함으로써 연료전지용 전력변환 시스템의 성능개선, 안정성 향상 등을 가질 수 있다.

본 논문은 제어대상인 현수형 케이블의 수학적 모델을 작성하고 이것에 장력을 발생하는 교류서보 전동기의 수학적 모델을 구하였다. 제어 방법은 제어대상의 동적 모델이 비선형 시변계이기 때문에 강인성이 있는 퍼지제어를 적용하고 차대가 움직이기 시작할 때 발생하는 오버슈트을 억제하기 위해서 피드포워드제어를 채택한다. 케이블의 동적 모델에 기초하여 퍼지제어기와 피드포워드제어를 도입하여 시스템을 구성하고 시뮬레이션 실험에 의해 그 유효성을 평가하였다. 현재 로프제조 공정, 전차 트롤리선 가설공사는 장력의 제어가 필요하지만 거의 수동으로 행하고 있는 실정이고 제품의 균질성과 생산성 향상을 위하여 제조 공정의 자동화가 필요하다. 따라서 전차의 트롤리선 가설공사는 케이블을 탑재한 차대가 주행하면서 드럼에 감긴 케이블을 풀어주고 양단의 장력을 일정히 유지하도록 조절할 필요가 있다. 그러나 전기공사에서 시행하고 있는 송 배전 선로의 전력케이블 가선공사나 전차 트롤리선 가설공사는 수동으로 하고 있는 실정이고 이것의 자동화기계가 필요하다. 따라서 본 연구의 목적은 현수형 가선 케이블 가설장치의 자동화이다. 본 연구에서는 제어대상인 현수형 케이블의 수학적 모델을 작성하고 이것에 장력을 발생하는 교류서보 전동기의 수학적 모델을 구하였다. 제어 방법은 제어대상의 동적 모델이 비선형 시변계이기 때문에 강인성이 있는 퍼지제어를 적용하고 차대가 움직이기 시작할 때 발생하는 오버슈트를 억제하기 위해서 피드포워드제어를 채택한다. 케이블의 동적 모델에 기초하여 퍼지제어기와 피드포워드제어를 도입하여 시스템을 구성하고 시뮬레이션 실험에 의해 그 유효성을 평가하였다.

Many years ago, most of thermal power plants built in this country were of subcritical pressure, of medium or small size, of constant pressure operation, of drum type steam generator. But, nowadays, almost all of them were of high efficiency, of supercritical pressure, of great capacity(about 500MW), of sliding pressure operation, of once through type steam generator. Presently built once through boiler introduces turbine bypass systems to variable pressure operation which eliminates unexpected materials in boiler tube during startup, minimizes fuel loss by short startup period, eventually improves total efficiency and power system stability

ABS(Antilock Brake System) prevents the wheels from "locking" and improve "handling" during braking. Currently, safety and environmental issues are a major concern in the automotive industry. ABS has become the vital brake system. ABS is composed of sensors for wheel speed, a pressure modulator for controlling the brake pressures in the wheel brake cylinders, and an electronic control unit(ECU) which evaluates the signals from the wheel speed sensors and converts these to commands to control the pressure of modulator. In this paper, ECU developed for commercial vehicles is described. Detection of wheel slip, control algorithms of ABS, and diagnosis method of ECU are presented.

In order to operate SI(Spark Ignition) engine at the optimal fuel efficiency, it is necessary to use continuously variable transmission(CVT) which has more excellent fuel consumption property than transmissions of gear box types commonly used. This study introduces new type of nonlinear control approach to control precisely CVT including nonlinear characteristics. The nonlinear controller is basically composed of input-state feedback linearization, which can cancel the nonlinearities included in CVT on specific controllable area, and sliding-mode control. In this paper, good control performance of contrtol system with the nonlinear controller is confirmed with computer simulations.

In this paper, to present a new ignition control system for improvement the fuel economy. An actual hardware was made to prove that new control system, which only some of cylinder using under the idle status or low speed preserving the engine rpm, is applicable to effec fuel economy.

This paper presents signal analyzer design, realization of system parameter estimation, analysis and system parameter estimation of distributed parameter systems using orthogonal function like Walsh function, block pulse function and Haar function.

This paper presents a practical method of realizing Differential GPS(DGPS) using an effective communication link. The DGPS technique is used to correct user's pseudorange measurements with trasmintted correction data from the reference station. An effective communication system is the key element for successful application of the DGPS. In this paper, a practical method for efficient data communication link for DGPS using mobile phone and TCP/IP protocol is presented. Its performance is verified via field test.

본 논문에서는 자세결정 GPS 수신기에서 출력되는 자세정보와 영속도 정보를 이용하여 SDINS의 새로운 초기정렬 알고리즘을 제안하였다. GPS 수신기의 자세정보와 영속도 정보를 이응하기 위해 새롭게 측정모델을 도출하였으며 가관측성을 조사하여 피치각이 90도가 아닌 경우에 시스템이 완전가관측함을 보였다. Monte-Carlo 시뮬레이션을 통하여 SDINS 오차가 빠르게 영으로 수렴함을 보였다.

The deterministic errors of semiconductor gyros and accelerometers must be estimated and compensated to develop the low-cost IMU using them. Generally, the dominant errors of the low-cost IMU are bias and misalignment errors. Bias is sensitive to temperature. Therefore, in this paper, the effect on temperature of bias is analyzed and temperature compensation are carryed out. It is shown by experiment that the compensation is efficient.

In this paper, we proposed an inverse hysteresis model to cancel the nonlinear hysteresis phenomenon of a piezoelectric actuator and design a feedback control system based on the inverse hysteresis model. The piezoelectric actuator performs much better in open-loop response. However, the nonlinear hysteresis phenomenon should be linearized and the closed-loop control should be executed to get the required performance in the area, where high-speed and high-accuracy are required. Thus, it is shown by simulation that a good position tracking performance can be obtained for the repetitive desired position trajectory.

This paper presents a new vector control scheme for induction motor. An exact knowledge of the rotor flux position is essential for a high-performance vector control. The position of the rotor flux is measured in the direct scheme and estimated in the indirect schemes. Since the estimation of the flux position requires a priori knowledge of the induction motor parameters, the indirect schemes are machine parameter dependent. The rotor and stator resistance among the parameters change with temperature. Variations in the parameters of induction machine cause deterioration of both the steady state and dynamic operation of the induction motor drive. Several methods have presented to minimize the consequences of parameter sensitivity in indirect scheme. In this paper, new estimation scheme of rotor flux position is presented to eliminate sensitivity due to variation in the resistance. The simulation is executed to verify the proposed vector control performance and to compare its performance with that of indirect vector control.

In this paper, we propose an indirect vector control method using Adaptive Neuro-Fuzzy Inference System (ANFIS) parameter estimator. It estimates the rotor time constant when the indirect vector control of induction motor is applied. We use the stator current error that is difference between the current command and estimated current calculated from terminal voltage and current. And two induced current estimate equations are used in training ANFIS.The estimator is trained by the hybrid learning algorithm. Simulation results shows good performance under load disturbance and motor parameter variations.

Design of Fuzzy cotroller consists of intuition of human expert, and any other information about how to control system, they translated into a set of rules. If the rules adequately control the system, the design work is done well. If the rules are inadequate, the designer must modify the rules. Through this procedure, the system can be controlled. In this paper, we designed simply a fuzzy controller based on human knowledge, but it has errors showing some vibrations. So we updated the optimal parameters of fuzzy controller using Recursive least square algorithm.

Fuzzy system which are based on membership functions and rules, can control nonlinear, uncertian, complex system well. However, Fuzzy controller has problems: It is difficult to design a stable for amateur. To update the then-part membership functions of the fuzzy controller can be designed using the error back-propagation algorithm to be minimized error. Then we could be optimized the system choosing a good performance index. The proposed fuzzy controller based on neural network is applied to control an inverted pendulum for demonstration of the robustness of proposed methodology.

It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.

This paper proposes a novel method with pseudo-on-line scheme using look-up table based on the genetic algorithm. The technique is a pseudo-on-line method that optimally estimate the parameters of fuzzy PID(FPID) controller for systems with non-linearity using the genetic algorithm which does not use the gradient and finds the global optimum of an un-constraint optimization problem. The proposed controller(GFPID) is applied to speed control of 3-phase induction motor and its computer simulation is carried out. Simulation results show that the proposed method is more excellent than conventional FPID and PID controllers.

To design high quality products at low cost is one of very important tasks for engineers. Design optimization for performances can be one solution in this task. There is the robust design which has been proved effectively in many fields of engineering design. In this paper, the concept of robust design is introduced and combined to the fuzzy optimization method and the fuzzy logic system method with non-singleton. These methods are applied for data analysis to get optimum parameters and to reduce experiments. The optimum parameter set points are obtained by the proposed methods. These methods are applied to a filter circuit, a part of the audio circuit of mobile radio transceiver. The simulation results are compared each other. The new methods reduce and predict the effect of parameter variation sources

In this research a real time control system was developed without program codings during control system designing procedures. On the Simulink window control system is designed in the form of block diagrams, program codes are produced automatically with the real time workshop package(RTW), then c compiler compiles the program codes. With this automatic real time program producing mechanism rapid prototyping is realized. To show effectiveness of the proposed designing scheme a DSP-based induction motor vector control system was constructed and implemented

In this paper, a new method for color measuring is presented using fuzzy modeling technique. The fuzzy and polynomial inferences are used for obtaining RGB characteristic curve. The eight RGB real data from expert dye-stuff manufacturer, are simulated. The results show that the proposed method is more excellent than other methods, in the color measuring process of textile field.

In this paper, we consider multi-objective synthesis of fuzzy controllers for a widely used special class of the Takagi-Sugeno(TS) fuzzy systems. We propose a new fuzzy controller utilizing the strategy of rescaling and show that synthesis of the proposed controllers satisfying multiple design objectives can be reduced to a simple linear matrix inequality(LMI) problem. Finally, an application to an inverted pendulum on a cart is presented to illustrate the validity of the proposed method.

시스템의 특성을 이해하고 신뢰성 있는 제어를 위해서는 시스템에 대한 정확한 모델을 필요로 한다. 이러한 목적을 위해서 많은 연구자들에 의한 다양한 방법의 모델링 방법이 계속되어 연구되어지고 있다. 현재 많이 사용하는 모델링 방법 중에는 통계적 기법을 이용하는 것, first principle 방법을 이용하는 것, 지능형 기법을 이용하는 방법 등이 있다. 본 연구에서는 통계적 방법인 fractional factorial 방법을 이용한 모델, Taguchi 방법을 이용한 모델, 그리고 지능형 방법인 신경회로망을 이용한 모델의 3가지 모델을 사용해서 각 모델의 학습오차와 예측오차 등의 특성을 비교하였다. 모델에 사용된 데이터는 비선형 시스템인 플라즈마 화학 증착 장비(Plasma-Enhnaced Chemical Vapor Deposition : PECVD)에 의해 증착된 산화막 실험 데이터이다. 각 모델에 대해서 PECVD 데이터를 사용하여 모델을 만들었을 때 각 모델의 학습오차와 학습오차 변위, 그리고 예측오차와 예측오차변위를 조사하였다. 세가지 모델 모두 학습오차가 예측오차보다 작았으며 변위 또한 학습오차변위가 예측오차변위보다 작았다. 본 연구 결과는 일반적으로 신경회로망에 의한 오차가 다른 통계적인 방법에 의한 오차보다 작음을 보여준다.

Chua's circuit is a simple electronic network which exhibits a variety of bifurcation and attractors. The circuit consists of two capacitors, an inductor, a linear resistor, and a nonlinear resistor. In this paper, a transmitter and a receiver using two identical Chua's circuits are proposed and synchronizations of a T or ${\pi}$ type power line are investigated. Since the synchronization of the power line system is impossible by coupled synchronization, theory having both the drive-response and the coupled synchronization is proposed. As a result, the chaos synchronization has delay characteristics in the power line transmission system caused by the line parameters L and C

Chua's circuit is a simple electronic network which exhibits a variety of bifurcation and attractors. The circuit consists of two capacitors, an inductor, a linear resistor, and a nonlinear resistor. In this paper, a transmitter and a receiver using two identical Chua's circuits are proposed and a equivalent T type wire secure communications are investigated. A secure communication method in which the desired information signal is synthesized with the chaos signal created by the Chua's circuit is proposed and information signal is demodulated also using the Chua's circuit. The proposed method is synthesizing the desired information with the chaos circuit by adding the information signal to the chaos signal in the wire transmission system.

This paper propose the new concept & design method and implementation of LonWorks network system for telemetry & remote monitoring and control in BAS. In order to apply this open system, the essential components of LonWorks is analyzed and a new concepts of its design method is proposed. In our experiment, LonWorks network system for telemetry & remote monitoring and control of lighting are designed and fabricated. As a result, it is verified that LonWorks is open, interoperable, reliable network system from the experimental results, especially, node development, network configuration & design, secure communication and MMI.

The new-type measuring modules for unmanned remote supervisory system using mobile communication network have been designed in this study. Measuring modules consist of temperature measuring module, humidity measuring module and human body sensing module. And we will design a main part to collect and process informations of each modules, evaluate reliability of combined total system.

A distributed real-time system that is being used now is usually divided into three level : higher level, middle level, and lower level. The higher level network is usually called an information network, the middle level is called a control network, and the lower level is called a field network or a divice network. This dissertation suggests and implements a middle level network which is called PICNET-NP (Plant Implementation and Control Network for Nuclear Power Plant). PICNET-NP is based partly on IEEE 802.4 token-passing bus access methed and partly on IEEE 802.3 physical layer. For this purpose a new interface, a physical layer service translater, is introduced. A control network using this method is implemented and applied to a distributed real-time system.

A wireless communication module for multiple PLC was developed. The function of the developed system are dual communication, concurrent multiple communication. PLC control, d interpretation of PLC command, and A/D D/A converting. The multiple communication approach is based on master-slave control concept. To show validity of the developed module, severial experiments are illustrated.

필드버스 통신망 기술은 현장 계기를 연결하는 제어자동화용 실시간 통신망 기술로서, 디지털, 양방향, 멀티드롭, 직렬버스 특성을 가진다. 국내의 발전소 또는 공장 등에 일부 도입되고 있는 필드버스는 그 시스템과 소프트웨어가 외국 특정 업체의 독자적인 제품들이어서, 고가이며, 유지보수에 벤더 종속성이 크다. 본 논문에서는 상기의 문제점을 해결하기 위해서 가격이 저렴하고 호환성이 뛰어난 개방형 표준 통신카드와 PC를 기반으로 설계한 필드버스 통신 프로토콜을 간략히 소개하고, 이 프로토콜을 실제로 국내 B화력 발전소 시뮬레이터 입출력 인터페이스 시스템(IOIS:Input Output Interface System)에 적용한 사례의 성능 분석 을 제시한다.

Adaptive filter algorithm has been used for plant identifier and noise cancellation. This algorithm has been researched for performance enhancement of filtering. The design and development of a reliable system has been becoming a key issue in industry field because the reliability of a system is considered as an important factor to perform the system's function successfully. And the computing with reliability and fault tolerance is a important factor in the case of aviation and nuclear plant. This paper presents design of reliable adaptive filter with fault tolerance. Generally, redundancy is used for reliability. In this case it needs computing or circuit for voting mechanism or computing for fault detection or switching part. But this presented Filter is not in need of computing for voting mechanism, or fault detection. Therefore it has simple computing, and practicality for application. And in this paper, reliability of adaptive filter is analyzed. The effectiveness of the proposed adaptive filter is demonstrated to the case studies of plant identifier and noise cancellation by using DSP.

Inertial Navigation System(INS) provides short-term accurate navigation solution but its error grows with time due to integration characteristics. Meanwhile, Global Positioning System(GPS) provides long-term stable solution but it has poor error characteristics in high dynamic region. So for its synergistic relationship, an integrated INS/GPS systems has been widely used as an advanced navigation system. Generally, two kinds of integration method are used. One is loosely coupled mode which uses GPS-derived position and velocity as measurements in an integrated Kalman filter. The other is tightly coupled one which uses pseudorange and pseudorange rate as Kalman filter measurements. In this paper the system error models and observation models for two kinds of integrated systems are derived, respectively, and their performance are compared through Monte-Carlo simulations.

In this paper, field test results of a new efficient integer ambiguity resolution algorithm for precision Carrier Differential GPS(CDGPS) positioning are presented. The new algorithm is based on a reconfiguration Kalman filter which is designed to be used for the real-time precise positioning with low cost, single frequency, conventional C/A code GPS receivers. The tests were performed both in static and kinematic environment

This paper presents a practical On-The-Fly(OTF) integer ambiguity resolution algorithm for real-time precise positioning with low cost, $L_1$ single frequency, conventional C/A code GPS receiver. A state reconfiguration scheme is adopted in the Kalman filter to deal with the variation of ambiguity states caused by varying sets of visible GPS satellites. The proposed algorithm reduces the ambiguity search space from the coarse m-level C/A code pseudorange measurements of the conventional C/A code reciever, thereby reducing the computational time. Simulation results are presented to show that the algorithm achieves a cm-level accuracy.

In this paper, the Intergrated SCADA is used to computer systems designed to perform the following functions for power plant. - to collect data from industrial plant devices or transducers - to process and perform calculations on the collected data - to present collected and derived data on displays on MMI - to accept commands entered by human operators and act on them such as sending control commands to plant devices. This system is characterised by open architectured that is based on the internationally recognized industrial standard for industrial automation control language, the IEC 1131-3

This paper presents the conceptual model of open & distributed intelligent control network for BAS. The characteristics and definition of this network also is proposed from theoretical study of LonWorks and a comparison between LonWorks and conventional network.

현재, 전차선의 트롤리선을 설치하는 것은 수작업에 의해 행해지고 있어 작업의 효율화와 함께 최적의 장력제어가 필요하다. 케이블을 새롭게 가설하는 장치는 케이블을 릴에 감아 올릴 필요성은 거의 없기 때문에 케이블을 풀어주는 속도와 로드셀에 의해 장력을 검출하고 장력을 발생하는 하드웨어 구성방법을 연구하는 것이다 본 연구는 현수형 케이블(Catenary Cable)의 동적 모델링을 작성한다. 이 시스템에 대하여 교류서보 전동기를 이용한 장력 발생장치를 모델링한다. 현수형 시스템의 장력계측 장치는 하중변환기(load cell)를 사용하고 수학적 모델링을 행한다. 장력계측 장치에 관해서 스프링 저울을 이용해 출력을 비교 검토한 결과, 인장력을 계측하는 장치로서의 유효성을 확인하였다.

In this paper, it is proposed a neural adaptve control algorithm for boiler-turbine system. Control inputs are constructed using RBF Neural networks and variable structure inputs are added to improve the robustness. This proposed algorithm does not need the information about parameters and can assure the robustness under the output disturbance and parameter perturbations. The results of computer simulations is presented to verify the efficiency of the proposed algorithm.

The goal of crane control system is transporting heavy objects to a target position as fast as possible without rope oscillation. This paper presents a GA-based fuzzy logic controller for crane system. GA is going to decide membership functions, instead of an expert. In this paper, The centers and widths of the membership function of the fuzzy sets defined over the input space, the orders and parameters of subsystems in the consequence parts are adjusted by a genetic algorithm. The effectiveness of the proposed method is verified by simulation.

This paper presents a scheme for designing a fuzzy observer for servo control system with nonlinear element, i.e., backlash. It is found that backlash occurs when the feed direction is reversed. Due to the imperfect transient response of the driving mechanism, not only the static backlash error but also the dynamic backlash error is generated on the contouring profile. And also, we utilized two inertia modeling in order to deals with coupled system accurately. The overall control system consists of two parts - a servo controller and an Fuzzy obsever. It is a Takagi-sugeno type fuzzy model whose consequent part is of the state space form is obtained. A simulation is carried out to demonstrate the effectiveness of the proposed scheme.

When linear PI controller is used in speed control of induction motor, there happen some weaks which is very difficult to find optimal control gain at time of changing speed and load. In this paper, Fuzzy system incorporated with PI controller is proposed in order to that defects. PI gain is calculated by theoretical basis and fuzzy control is translated human expert's knowledge and experiences into rules numerically. Also it modifies and compensates PI gains in realtime. As comparing the motor characteristics of proposed fuzzy-PI speed controller to PI speed controller of a Vector controlled induction motor system in the increasing load torque and speed change during start and stop, The simulation results show robust and good performance.

In this paper, the DSP implementation of induction motor drive is presented on the viewpoint of the design and experiment. The speed estimation of control system for induction motor drive is designed on the base of neural network speed estimator. This neural network speed estimator is experimentally applied to the induction motor system. This system provides the satisfactory results.

A conventional PID controller does not provide a proper response in face of various kinds of load variation. In this paper, Fuzzy-PID Control scheme are proposed in order to improve the performance of the PID Controller. The proposed control schemes are applied to the speed controller of AC servo motor systems. The effectiveness of the proposed methods is shown by implementation and the advantage of each control scheme is discussed.

In this paper, we design a GA-fuzzy controller for position control and anti-swing at the destination point. Applied genetic algorithm is used to complement the demerit such as the difficulty of the component selection of fuzzy controller, namely, scaling factor, membership function and control rules. Lagrange equation is used to represent the motion equation of trolley and load in order to obtain mathematical modelling.

Fuzzy Systems which are based on membership functions and rules, can control nonlinear, uncertain, complex systems well. However, Fuzzy logic controller(FLC) has problems: It is some difficult to design the stable FLC for a beginner. Because FLC depends mainly on individual experience. Sliding control is a powerful robust method to control nonlinearities and uncertain parameters systems. But it has a chattering problem by discontinuous control input according to sliding surface. Therfore it needs to be smoothed to achieve an optimal input. In this paper, To solve problems desinged Fuzzy Sliding Control. The effictiveness of result is shown by the simulation and the experimental test for Truck Backer-Upper Control.

It is the time-varying dissolved oxygen(DO) dynamics that requires controlling for maintaining the DO concentration in the aeration tank. Many linear controllers have thus been applied. Because of the nonlinearity of the oxygen transfer function together with the time-varying respiration rate, however, the linear controllers are found to poorly perform in many cases. To overcome this limitation, a number of advanced controlling techniques have been developed and applied. In this study, designed GA-PI Controller using genetic algorithm(GA). Genetic algorithms(GAs) are search algorithms based on the mechanics of natural selection and natural genetics. As result of computer simulation, GA-PI controller shows the better control performance especially under the condition of the continuously changing DO set-point. This result represents that GA-PI controller can be a good measure to control the DO concentration in the SBR process which requires the sequential DO set-point change to accomplish the nitrification and denitrification in a single reactor.

In this paper, we have developed an automated computer aided diagnostic (CAD) scheme by using artificial neural networks(ANN) on guantitative analysis of chest photofluorography. The first ANN performs the detection of suspicious regions in a low resolution image. This was trained specifically on the problem of detecting abnormal regions digitized chest photofluorography. The second space matching method was used to distinguish between normal and abnormal regions of interest(ROI). If the ratio of the number of abnormal ROI to the total number of all ROI in a chest image was greater than a specified threshold level, the image was classified as abnormal.

In this paper, we use a fuzzy algorithm to detect and diagnose the error which is caused by time delay of the computer-controlled system. Generally, a computer-controlled system is composed of computer and process. And they communicate the data each other. In data communication, error occurs by some reasons, such as noise, disturbance, hardware defect, etc. Time delay is one of the reasons. And time delay makes it difficult to distinguish whether the system really has a problem or not. Therefore, we need to detect and diagnose the error from time delay. For difficulty of modeling and ambiguity of classification, we use a fuzzy algorithm. To verify the better performance of the proposed algorithm, we exemplified by some simulation results.

A Neural network is possible to nonlinear function mapping and parallel processing. Therefore It has been developing for a Diagnosis system of nuclear plower plant. In general Neural Networks is a static mapping but Dynamic Neural Network(DNN) is dynamic mapping. When a fault occur in system, a state of system is changed with transient state. Because of a previous state signal is considered as a information. DNN is better suited for diagnosis systems than static neural network. But a DNN has many weights, so a real time implementation of diagnosis system is in need of a rapid network architecture. This paper presents a algorithm for RCP monitoring Alarm diagnosis system using Self Dynamic Neural Network(SDNN). SDNN has considerably fewer weights than a general DNN. Since there is no interlink among the hidden layer. The effectiveness of Alarm diagnosis system using the proposed algorithm is demonstrated by applying to RCP monitoring in Nuclear power plant.

Design of Fuzzy cotroller consists of intuition of human expert, and any other information about how to control system. If the rules adequately control the system, the design work is done well. If the rules are inadequate, the designer must modify the rules. Through this procedure, the system can be controlled. In this paper, we designed simply a fuzzy controller based on human knowledge, but it has errors showing some vibrations. So we updated the optimal parameters of fuzzy controller using Neural Network algorithm.

Level control in the steam generator of a nuclear power plant is important process. But, the low power operation of nuclear power plant causes nonlinear characteristics and non minimum phase characteristics (swell and shrink), change of delay. So, we can't lead good results with conventional PID controller. Particularly, the design of controller with constraints is necessary. This paper introduces MPC(Model Predictive Control) with constraints and designs a good performance MPC controller in spite of the input constraints and nonlinear characteristics, non-minimum phase characteristics

차세대 신형원전에서는 디지털 기술의 적용을 기본 설계 요건으로 제시하고 있다. 차세대 원전의 노심보호계통 (Core Protection Calculator Systems; CPCS)은 원전의 안전성을 보장하기 위한 부분으로 이 부분이 올바르게 작성되고, 검증되어야 함은 분명하다. 현재 이부분은 소프트웨어로 개발 중에 있으며 개발 단계에 있어서 시작단계인 요구명세 단계에 있다. 요구 명세 단계의 오류는 소프트웨어 개발 단계 중 소프트웨어의 품질에 가장 영향을 많이 미치는 단계로 알려져 있으므로 이 단계를 정확하게 수행하여야 한다. 안전성이 중요한 소프트웨어를 명세하는 데 있어서 우선 정의되어야 하는 것은 어떤 절차를 통해서 어떤 방법으로 할지를 결정하여 그 절차를 정하여야 한다. 기존에 소프트웨어 요구 명세에 대한 표준안이 존재하기는 하지만, 이러한 표준안들은 개념적인 언어들로 쓰여져 있기 때문에 실제 소프트웨어의 개발 과정에 사용하기 위해서는 구체적인 언어들로 다시 작성하여야 한다. 따라서, 소프트웨어 명세를 작성하기 위해서 절차와 방법에 대해서 정의하여야 한다. 본 논문에서는 개략적인 명세 절차와 명세 방법등을 기술하였다.

본 연구는 윈자력발전소 원자로 냉각재 계통의 가압기 밀림배관내에서 서로 다른 온도의 유체가 밀도차에 의해 분리된 채 존재하는 열성층의 온도를 감시할 수 있는 시스템을 개발한다. 개발된 온도 감시 시스템은 국내원자력발전소 중 가장 오래된 고리원자력발전소 1호기의 수명연장과 관련하여 가압기 밀림배관의 열성층 온도를 측정하므로써 열성층화에 따른 배관의 건정성 여부를 평가하는데 사용한다.

포항가속기(PLS) 제어시스템은 선형가속기와 저장 링 제어시스템으로 분산 독립형으로 운영되어 왔다. 각각의 제어시스템의 구성상 상이한 H/W, S/W구조로 인하여 통합제어의 실현을 구현하지 못하여, 빔 운영상의 두 곳의 운전 감시업무로 인한 인력소요의 낭비를 초래하였다. 이러한 점을 개선하기 위한 선형가속기 및 저장 링 제어시스템의 제어알고리즘의 장점만 살려, 통합운전에 필수적으로 필요한 제어 분야만 새롭게 설계된 개선된 제어시스템에 적용하였다. 개선된 제어시스템의 구성은 디바이스제어에서 GUI(Graphic User Interface)단계까지의 3단계의 제어구조에서 SCC(Subsystem Computer Control System)를 생략한 디바이스 제어 컴퓨터와 GUI실현을 위한 상위 컴퓨터로 운영되고 있다. 디바이스 제어 컴퓨터는 VMEbus 구조의 OS-9 ver3.03 real-time OS가 적용되어 있으며, 상위는 SUN Workstation 환경에 UNIX 운영체제에 Rtworks가 적용되었다.

선박내에는 많은 종류의 탱크들이 산재하고 있으며, 잔존량 및 이상유무를 실시간을 취합하여, 모니터링 할 수 있는 시스템은 선박에 있어서 필수적이다. 기존의 모니터링 시스템에서는 데이터의 종류가 많은 경우, 이를 구분하기 위한 처리와 전송과정에서 발생되는 전송 에러에 대한 처리를 호스트에서 수행하므로 많은 부하가 걸리게 된다. 따라서, 본 논문에서는 에러 자동검출 및 재 전송의 자동 수행 및 분산 제어 기능을 제공하는 CAN을 이용해 탱크 모니터링 시스템을 설계하고, 구현한다.

지금까지의 컨테이너 터미널은 항만 하역작업에 주안점을 두고 운영되어 왔다. 그리하여 크레인 기술 향상, 장치장의 현대화 등 많은 노력을 해왔으나 21세기가 시작된 지금은 컨테이너 터미널 내부에 각각 이루어지던 작업이 통합되어진 형태로의 운영이 필요한 시점에 이르게 되었다. 국내에서 건설하려는 컨테이너 터미널은 지금까지와는 다른 형태로 건설되어야 한다. 현재 컨테이너 터미널 운영 시스템 터미널 내부에서 발생하는 전체를 총괄하지는 못한다. 크레인 모니터링, 게이트모니터링, 작업 상황 등이 모두 다르게 되어 있어서 하역작업에 관한 내용만을 모니터링하는 수준이다. 본 논문에서 서술하고자 하는 통합 모니터링은 컨테이너 터미널 내에서 관제실에서 크레인 운전 정보, 작업 지시, 상황 보고, 게이트 모니터링, 사고 예방, 사고 발생시의 경보 등을 모두 하나로 묶는 문제 파악에서 부터 해결 방안 제시 등, 첨단화된 지능을 갖춘 컨테이너 터미널을 구현하는데 필요로 하는 내용들을 서술하여 그 방법을 제시 하고자 한다.

The Hot Strip Mill(HSM) process consists of reheating furnace, roughing mill, finishing mill and coiler. Reheating furnace heats slab and roughing mill, finishing mill produces strip from this slab. The quality of this production mainly depends on finishing mill, which consists of 6 or 7 stands. Between stands a looper is installed for the better material flow. Automatic gage control(AGC), speed control system and looper system, which are connected with each other, are the main control systems for HSM. The low strip tension can make a loop between stands, which can be caused cobble. On the other hand, high strip tension causes thickness and width reduction, which affects the product quality, and can lead to tear the strip, if it is too high. Because of it, a proper strip tension is needed for better material flow: e.g. A good looper control system is substantial for the better production quality. What is handled in this paper is, the looper controller, which is developed to minimize the fluctuation of width of strip by maintaining an appropriate strip tension between stands and to achieve the stability of the looper control system. And its performance compared with a conventional PID controller is also discussed. The difficulties associated with the maintenance of the constant tension are described.

In order to reduce the trimming loss for water cooling zone next to finishing block mill in wire rolling, the operational data related to the crop length control of uncooled region was acquired and analyzed. The time deviation of water cooling spray nozzles and the immoderate preset length of uncooled wire rod result in the excessive trimming loss. Therefore, the preset length of uncooled wire rod at each cooling zone are established. The test results of #3 wire rolling mill turned out to be good enough to be expected to increase the ratio of products about 0.15% and establish operational standards of cooling zone.

브러시리스용 다기능 제어구동장치를 80C196KC 콘터롤러와 IPM으로 단순화하여 개발하여 기존의 TTL 소자 구성에 비하여 하드웨어를 가장 단순화시키고 표준화제품의 개발을 유도하였다. 대신에 대부분의 기능을 소프트웨어로 처리함으로써 설계의 융통성과 확장성을 높이고 고성능 저가격의 제품을 개발할 수 있었다. 특히, 속도 센서로 자극검출에 필요한 홀센서를 이용함으로써 기존 엔코드 센서에 비하여 속도 분해능은 다소 떨어지지만 이 센서를 없앨 수 있어 제품가격을 낮추고, 크기를 줄일 수 있는 장점을 갖는다. 제어 구동장치의 성능시험을 통하여 개발결과를 검증하였으며, 고정밀 속도제어를 실현할 수 있음을 확인하였다.

In this paper, a controller design for ironless linear synchronous motor is proposed. The designed controller is mainly composed of speed and current control, which are carried out by the high-speed digital signal processor(DSP). In addition the PWM inverter is controlled by space voltage PWM method. This system is implemented using by 32-bit DSP(TMS32OC31), a high-integrated logic device(EPM940), and IPM(Intelligent Power Module) for compact and powerful system design. The experimental results show the effective performance of controller for careless linear synchronous motor.

The analysis of distribution line faults is essential to the proper protection of power system. A high impedance fault(HIF) dose not make enough current to cause conventional protective device operating, so it is well known that undesirable operating conditions and certain types of faults on electric distribution feeders cannot be detected by using conventional protection system. In this paper, we prove that the nature of the high impedance faults is indeed a deterministic chaos, not a random motion. Algorithms for estimating Lyapunov spectrum and the largest Lyapunov exponent are applied to various fault currents detections in order to evaluate the orbital instability peculiar to deterministic chaos dynamically, and fractal dimensions of fault currents which represent geometrical self-similarity are calculated. Wavelet transform analysis is applied the time-scale information to fault signal. Time-scale representation of high impedance faults can detect easily and localize correctly the fault waveform.

In general, Diode makes a major role in electronic circuit. For example, switching of rectifier, cross current of switching rectifier, energy transfer of electronic element and reverse charge of capacitor, voltage insulation, energy feedback from load to power supply, and such as recovery of storaged energy. Generally, We regard power diode as ideal element, but it has a certain boundary actually, specially, We use diode for detecting circuit peak hold voltage signal. It has cut in voltage. It occurs error of measurement value namely. This error, below in region diode voltage drop (0.7v) measurement value is wholesome signal, Specially, We can not get precision data. Therefore, precision level is low between theoretical and measurement data because of error in actual circuit. Conclusionally, In this paper, We define the error concerning to the power diode characteristics which is used detecting of the minute signal, and recommend the method that minimize measurement error.

본 연구는 전동기의 부분방전에 의해 발생되는 전자파를 측정하여 전동기의 열화상태를 진단할 수 있는 전동기 절연열화진단시스템을 설계하는 방법을 제안하고자 한다. 따라서 부분방전에 의한 전자파를 측정하는 시스템을 구성하고, 측정된 데이터를 분석하여 정량화된 특징 데이터를 추출하고 생성된 데이터를 이용한 뉴로-퍼지 진단모델설계 방법을 제시한다. 그리고 제안된 방법에 의해 설계된 진단모델을 실측데이터를 통해 진단하여 그 타당성을 입증하고자 한다. 1단계 연구로, 본 연구에서는 현장 전동기의 전자파를 On-Line으로 계측하는 시스템을 구성하여 전동기의 절연체내에서 발생하는 부분방전에 의한 전자파를 계측하여 데이터로부터 전동기의 절연열화상태를 해석하여 절연 열화와의 관계를 분석하였다.

In order to detect and monitor the broken cords of steel-cord belt from being damaged by impact of large lump of materials and the corrosion of steel cord, we developed a non-contact magnetic coil detection system. This measures the deterioration of reinforcing cables in steel cord conveyor belt which transport the ores in raw material plant. In this research, magnetic coil sensor of broken-cord detection system has exciting part and sensing part. The broken-cord detection system is operated by supplying a transmitter coil with electric power to generate magnetic field, and then the change of induced voltage is detected in each receiver coils due to resultant magnetic flux effected by the broken steel cords at the inside of the conveyor belt. By the informations such as the position and size of the broken steel cords obtained by SCBMS(Steel Cord Belt Monitoring System), it is expected that not only the span of belt life will be lengthened, but also this system can enable operators to plan scheduled maintenance and prevent the enlargement of damaged parts in steel cord belt at an early stage

송배전 system에서 모선관리 및 운용에 있어 초고압 차단기는 매우 중요한 역할을 담당하고 있다. 선로의 운전상태와 차단기의 투입 상황 인식 및 확인은 필수요건이다. 이러한 차단기의 운전상태를 전자적인 신호성분을 검지하여 비접촉식 개폐 확인 unit가 필수적으로 대두되고 있다. 이 unit는 고신뢰성, 고안정성을 요구하며 정확한 표시가 필요하다. 송배전의 모든 System에 적용 가능하며 적용시 선로와 차단기의 운전 및 보수에 절대적인 안정성을 제공한다.

초고압 변압기의 부하단 전압 조정을 위하여서는 송전단에서 변압기의 전압 조정용 탭을 위치 조정하여 자동으로 부하측의 전압을 조정하고 있다. 이때 부하단의 전압 조정은 자동으로 이루어지나, 전압 조정용 탭의 위치를 확인할 필요가 있다. 탭의 위치를 확인하여 탭 전압에 의해 부하 변동율 및 다른 Parameter를 이용함으로써 전력 전송에 많은 Data를 확보할 수 있고, 그러므로 탭 전압의 정확한 위치를 알 수 있도록 비접촉식 확인표시기가 필수적으로 필요하다.

In this paper, CAN(Controller Area Network)is used to solve the wire harness problem in the outside mirror of automobile which has a lot of functions in narrow space. If the number of wires is reduced, it has benefits of lower product cost and maintenance. CAN was originally developed by the German company Robert Bosch for use in the car industry to provide a cost-effective communications bus for in car electronics and as alternative to expensive and cumbersome wiring looms. CAN controller is a serial communication protocol which efficiently supports distributed real-time control with a very high level of security. The communication between master CAN controller and slave CAN controller is realized and controller's performance is tested by experiment.

In this paper, a hybrid fuzzy controller using genetic algorithm based on parameter estimation mode to obtain optimal control parameter is presented. First, The control input for the system in the HFC is a convex combination of the FLC's output in transient state and PID's output in steady state by a fuzzy variable, namely, membership function of weighting coefficient. Second, genetic algorithms is presented to automatically improve the performance of hybrid fuzzy controller utilizing the conventional methods for finding PID parameters and estimation mode of scaling factor. The algorithms estimates automatically the optimal values of scaling factors, PID parameters and membership function parameters of fuzzy control rules according to the rate of change and limitation condition of control input. Computer simulations are conducted to evaluate the performance of proposed hybrid fuzzy controller. ITAE, overshoot and rising time are used as a performance index of controller.

RTP(Rapid Thermal Processing)은 IC제조 공정과 관련된 열처리 과정에 사용되는 단일 웨이퍼프로세스 기술이다. 반도체 웨이퍼를 고속 열처리할 때 웨이퍼별로 작은 반응실에서 가열, 가공, 냉각된다. 현재 사용되는 반도체 열처리장비는 고온로(furnace)에의해 대부분 이루어지지만, 시간이 많이 걸려서 주문형반도체 생산과 같은 다양한 종류의 웨이퍼를 소량 생산하는데는 부적절하다. 이에 매우 적은 시간이 소요되는 RTP장비가 많이 연구되고 있다. 그러나 RTP는 예기치 못한 몇 가지의 문제점을 일으킨다. 그중 하나는 웨이퍼 표면에 분포된 온도의 불 균일성이다. 이러한 불 균일성은 웨이퍼의 표면에 심각한 왜곡(distortion)을 일으켜 좋지 못한 결과를 가져오게 한다. 이번 논문의 목적은 RTP시스템을 수학적으로 모델링하고, 이를 이용하여 멀티 램프 시스템의 입력값을 조절하여 이미 배치된 램프에 대한 최적의 온도 균일도에 알맞은 각 램프입력을 구하여 램프 입력 프로파일을 만들고 또한 이를 이용하여 외란에 대한 PID 제어기 설계를 목표로 한다.

고속 신호처리 및 실시간 제어 분야에 적합한 제어성능을 발휘하기 위해서는 신호처리전용 마이크로프로세서인 DSP(Digital Signal Processor)를 이용한 제어용 보드가 널리 활용되고 있다. 본 연구를 통하여 전기도금용 전원장치의 고성능화를 위하여 DSP제어용 보드를 개발하였으며, 전체구성은 고속 신호처리를 위한 메인 마이크로프로세서로서 경제성과 응용범위가 넓은 TMS320C32 DSP CHIP, Wait없는 프로그램 및 데이터 처리를 위한 고속 SRAM, 외부 디지털 입출력을 위한 인터페이스 회로, 아나로그 입출력 회로 및 PC 혹은 다른 마이크로컴퓨터와의 통신을 위한 직렬 통신 회로 등으로 구성하였다. 개발된 DSP 보드는 시제품 제작을 완료하여 그 성능 및 신뢰성을 검증하였으며, 전기도금장치의 고성능 제어처리를 위하여 채용하여 상품화 개발을 완료하였다.

기존의 게임기를 포함한 여러 입력장치들의 대부분이 미세한 조작과 변위의 변화, 특히 가속도와 변위의 세분화가 어려웠다. 또한 외부의 충격에 내구성이 약한 단점들이 있었다. 본 연구에서는 최근 게임기 산업에서 3차원 입력장치를 필요로 함에 따라 기존의 2차원 변위에 더해서 3차원 입력장치의 구현을 기반으로 저가형의 소형 다축load cell 센서방식을 채택하여 부분 변위의 조작, 내구성과 기존 하드웨어의 단순화 등 여러 면에서 개선이 되었으며, 보다 정밀하고 다양한 입력에 대응하기 위하여 센싱 신호처리 회로의 개선과 디지털 통신방식을 부가하였다. 본 논문에서는 이 구현을 위한 하드웨어와 소프트웨어에 대한 연구결과를 소개하고자 한다.

The protection system of the nuclear reactor and chemical reactor are representative of PPC(Plant Protection Controller). This PPC must be designed based on reliability as well as concept of safety, which is a failed system go a way of safe. PPC is consist of part of data acquisition, calculator, communication with redundancy, and a voter is important factor of reliability. Because it is serial connected. This paper presents a Design and Analysis of a Voting Mechanism considering Safety for NMR PPC Using EPLD. In the case of digital implementation a coincidence logic(voter) of PPC, it needs CPU and memory, so increase a number of units. Therefore the failure rate and cost is increased. On the contrary when it is designed EPLD or FPGA.

In this paper, a mathematical vehicle model, the braking force control parameters, the wheel control logic, and vehicle control strategy are presented, in order to analyze the dynamic characteristics of a vehicle equipped with ABS(Antilock Brake System). The full vehicle dynamics model is constructed with sprung mass, brake system, and wheels to verify control algorithms. The valve control algorithms are designed with the wheel accelerations and slip ratio take into consideration. Theses algorithms are applied to the front and rear wheels independently. Simulation is performed under the wet road condition at initial braking speed of 60 [km/h].

HILS(Hardware In-the-Loop Simulation) is an effective tool for design, performance evaluation and test of developed vehicle subsystems such as ABS(Antilock Brake System), suspension, and steering systems. This paper describes a HILS model for an ABS/ASR application. Also the implementation of HILS system for performance test of the ABS ECU(Electronic Control Unit) for commercial vehicles is presented.

The container crane is more expensive than other cranes, and is designed for efficient use. Since there are more control variables than other crane has more fault factors, Therefore it is important to reduce these factors efficiently and also to increase the capacity to move more freight in due time. To solve the above problems the velocity relation of the motor will be examined. In this paper, the velocity relation of the motor will be expressed in a mathematical equations for efficient control.

In the vehicle steering system, we can consider two methods to steer the vehicle. One is a front wheel steering(FWS), the other is a four wheel steering(4WS). The four wheel steering method has been recently introduced to improve the steering performance. In this paper, we present a design of the four wheel steering controller. First, we constructed the neural network two degree of freedom PID controller to control the 4WS system. Then we compared the performance of conventional PID controller with our proposed controller in terms of yaw rate and side slip velocity. The computer simulation results show that 4WS system controlled by the proposed controller has well driving performances than the other.

In this paper, cell-mediated immune algorithm(CMIA) controller was proposed and applied for the autonomous guided vehicle(AGV) driving. It was based on specific immune response of the biological immune system which is the cell-mediated immunity. To verify the performance of the designed CMIA controller, some experiments were performed for the control of steering and speed of AGV. And then the displacement and speed tracking error of the AGV was mainly investigated. As results, the capability of realization and reliableness were proved by comparing the response characteristics of the classical controller with the proposed CMIA controller.

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.

A siumlator had been developed and used for reliability verification on medium size steam turbine control programs prior to its actual operation in field. A mathematical model on thermal dynamics pertaining to prime mover steam turbine and electrical generator was realized and included in this simulator. Also, many operating data acquired from fields was utilized in order to decide mechanical and thermal dynamic characteristics such as friction loss, windage loss and inertia. A user can decide closing or opening velocity of steam stop valve and steam regulation valve. This simulator is able to generate steam pressure, turbine speed, electrical power, and power system frequency.

The performance of the electro-hydraulic servo control mechanism and the electronic servo controller in the steam turbine control system affect greatly upon overall system performance. We have succefully carried out a retrofit project of a 200MW steam control system recently. Here we introduce some acquired knowledge and experience about the servo control system which we actually configured in the project.

A drum level control is one of the most important control systems in thermal power plant. The control objective of drum level of boiler in thermal power plant is to maintain drum level at constant set-point regardless of disturbance such as main steam flow. The implemented drum level controller is the cascade PI controller. The important factor in drum level controller is the parameters of two PI controllers. The tuning of PI controller parameter is tedious and time-consuming job. In this paper, the relay feedback Ziegler - Nichols tuning method extended to auto-tune cascade PI drum level controller. Finally, the simulation result using boiler model in Power Plant shows the validity of auto-tuned cascade PI controller.

We analyzed an existing analog and digital turbine control logic. We developed load control application program for steam turbine power plant. In this paper, we showed a similar result compared with an existing analog turbine control system by computer simulation.

본 논문에서는 TV 브라운관 유리용해로의 온도 제어를 위한 고전 고급 제어 (Conventional Advanced Control) 알고리듬을 제시한다. 용해로의 특성에 맞도록 중요한 입출력 변수를 선정한 후, 공정 실험을 통하여 얻어진 데이터를 바탕으로 입출력 변수들간의 초보적인 FOPDT (First Order Plus Dead Time) 모델들의 조합으로 용해로를 모델링하였다. 수립된 모델을 바탕으로 주요 입출력을 PI (Proportional - Integral) 형태의 cascade 및 단일 궤환 루프(Single feedback loop)들의 조합으로 제어기를 구성하였다. 제시된 알고리듬은 기존 용해로에 설치되어 있는 DCS를 이용하여 구현되었고, 일 150톤 생산 규모의 용해로에 성공적으로 실적용되었다.

We analyzed an existing turbine speed control logic in steam turbine power plant. If it is too late to respond a valve position demand signal, it is difficult to control turbine speed. In this paper we proposed a modified control logic and showed a good result by computer simulation.

In this paper, real-time vision-eyed control system is proposed that combines the information handling capability of computer with the real-time image processing capability of CCD camera, and control effectively real system in the limited environment. The control system is applied to inverted pendulum system, namely, bench marking system. Feasibility of the system is shown in a viewpoint of simulations and experiments.

A helicopter control problem has been researched with many control theory. Especially, study of the hovering flight attitude control of a helicopter has been brisked since 60s with multivariable control theory. In this paper, the modeling is interpreted through the 6-freedom equation. To getting a entire equation, species of parameters and charts are adapted. The $H_2/H_{\infty}$ controller is acquired by mixing the $H_2$ control theory and the $H_{\infty}$ control theory. The $H_2$ control theory is reasonable one to increase the performance of a plant, and the $H_{\infty}$ control theory secures the robust stability. The simulation shows that the helicopter system is being controlled while maintaining performance and robust stability against perturbation.

In this paper, we study robust linear optimal model following servo system in the presence of disturbances and parameter perturbations. A technique to directly design the generalized differential operator based unified control system that covers both differential operator based continuous time and delta operator based discrete time case is presented. The quadratic criterion function for a linear system is used to design the robust unified servo control system. This servo control system is designed by applying a simple genetic algorithm to follow the output of the reference model optimally. The characteristics of the proposed servo system are analysed and simulated to verify the robustness.

This paper represents the construction of a PLC simulator for the level control of water and the speed control of the water cask. The level and speed processes are automatically operated by the PLC. The simulator system consists of PLC, program loader and control penal. The digital input and output units make the valves of the water cask the On or Off state. The analog input and output units control the level of water and the speed of the water cask. A LD program is used in the control language of PLC.

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed in this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

This paper deals with a novel approach to unknown inputs observer(UIO) design for linear time-invariant dynamical systems using a fast Walsh transform and Walsh function's differential operation. Generally, UIO has a derivation of system outputs which is not available from the measurement directly. And it is an obstacle to estimate the unknown inputs properly when unexpected measurement noises are presented. Therefore, this paper propose an algebraic approach to eliminate such problems by using a Walsh function's differential operation.

This paper presents the Walsh-Fourier conversion algorithm and Signal Analysis Technique. The Fourier coefficients are determined as the combinations of the Walsh coefficients in terms of the new Walsh-Fourier conversion algorithm. This paper checks the analysis of the Walsh-Fourier spectra and the approximate synthesis of the waveform via one example.

This paper considers the problem of identifying the time-invariant parameters of non-linear distributed systems. The Parameters, in this paper, are identified by using the EBPOMs (Extended Block Pulse Operational Matrices) which can reduce the burden of operation and the volume of error caused by matrices multiplication

The standard approach consists of using correlation of orthogonal functions in digital filtering, such as well-known FFT(Fast Fourier Transform) and FWT(Fast Walsh Transform). But it needs much calculations, multiplications and additions. The calculation amount is m $log_2m$ in the general case. Therefore, this requires high speed processors to calculate in real time, which can calculate floating point. This study developed improved fast Walsh transform based on dyadic-ordered fast Walsh transform, then regenerated signal flow graph of improved fast Walsh transform, and used it for digital filtering, and then measured fundamental frequency and harmonics for current and voltage signals of power system.

The stabilization controls of coupled tank system and ball-beam system are difficult control tasks because of their high order time delay, nonlinearity and structural unstability. Fuhermore, a series of classical methods such as a conventional PID and a full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. Therefore, in this paper, in order to stabilize two representative nonlinear system mentioned above, a Sliding Mode Controller based on a Real Variable Elitist Genetic Algorithm(RVEGA SMC) was proposed.

This paper introduces the design of a reduced order observer with unknown inputs for the purpose of fault detection and isolation(FDI) in a class of bilinear systems. To Analyze the observer and FDI, this paper uses BPF(block-pulse functions). The operational properties of BPF are much applied to the analysis of bilinear systems. The integral operational matrix BPF converts the form of the differential equation into the algebraic problems.

In this paper, a control technique of Takagi-Sugeno (TS) fuzzy systems with parametric uncertainties is developed. The uncertain TS fuzzy system is represented as an uncertain multiple linear system. The control problem of TS fuzzy system is converted into the stabilization problem of a uncertain multiple linear system. A sufficient condition for robust stabilization is obtained in terms of linear matrix inequalities (LMI). A Design example is illustrated to show the effectiveness of the proposed method.

In this paper, a new DNA coding method, namely modified DNA coding method based on the biological DNA and the evolution mechanism of genetic algorithm. In order to evaluate the propose algorithms, for an example, they are applied to the fuzzy control of parallel double inverted pendulum system. Simulation result show the method is effective in finding the fuzzy control rules and is more excellent than conventional methods in control the system.

In this paper, we show the simple methods of designing the Smith predictor for the long dead time processes. We are using the relay feedback to model the processes in the second-order plus dead time structure. The model is able to represent a various class of processes dynamics including low- or high-order, and monotonic or oscillatory process. A PID type controller is proposed for the main controller in the Smith controller, which insure the stability of overall system. Simulation Examples are also provided to illustrate the effectiveness and applicability of the proposed controller.

계수적 구간 불확실 플랜트를 안정화하는 강인 제어기의 설계의 방법으로서 고정차수 극 배치(FOPA : Fixed Order Pole Assighnment) 알고리즘을 이용할 수 있다. FOPA 알고리즘에 의해서 강인제어기 계수의 집합은 선형제약조건으로 표현되고, 이 조건을 만족하는 임의의 한점은 주어진 불확실 시스템을 안정화한다. 본 논문에서는 선형제약조건으로 주어진 제어기 계수의 집합에서 외란의 에너지를 최소화하는 제어기를 구하는 알고리즘을 제안한다. 일반적으로 전역 최적해을 구하는 문제는 BMI(bilinear matrix inequalities)로 표현되지만 제어기의 계수를 고정했을 때는 LMI(lineal matrix inequalities)로 간략화되기 때문에 제어기계수에 대한 최소화와 성능지수에 대한 최소화를 반복함으로써 국부 최적해를 구할 수 있다. 제안한 알고리즘의 효용성을 보이기 위해 제어기 설계 예를 보이고, 그 성능을 비교 분석한다.

In this paper, the decoupling $H_{\infty}$ controller which minimizes maximum energy in the output signal is designed to reduce the coupling properties between input/output variables which make it difficult to efficiently control a system. And for a given decoupling $H_{\infty}$ problem, an efficient method is sought to find the controller coefficients through Linear Matrix Inequalities(LMI) by which the problem is formulated into a convex optimal problem.

This paper presents an LMI(Linear Matrix Inequalities) method for designing the optimal decoupling controller. The proposed controller based on the Two-Degree-of-Freedom configuration considers both the performance of controller and decoupling properties. The decoupling controller parameters are obtained from LMI method for computational efficiency.

The PID tuning algorithm which can be applied generally to processes with varies dynamic characteristics is proposed by Wang[7]. However, it can be applied well to process model without zeros and with $\angle$G(jw)=-${\pi}$/2 and -${\pi}$ point in Nyquist curve, but it gives unsatisfactory tuning performance for processes with zeros and without $\angle$G(jW)=-${\pi}$/2 and -${\pi}$ in Nyquist curve. In this paper, the method which improve it using Pade reduction method is proposed. Satisfactory responses can be expected for processes with various dynamics, including those with low or high order, small or large dead time, monotonic or oscillatory responses. Simulation examples are given to show the effectiveness and flexibility of the controller in handling processes of different characteristics.

In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a self tuning fuzzy PID controller whose input output scaling factors were tuned automatically. At first stage, the tuning parameters of fuzzy controller were determined by Ziegler-Nichols tuning method and then they were adjusted as the delay time and process environment were changed. Proposed controller was simple in its structrue and computational burden was small so that on line adaptation was easy to apply to. The result of computer simulation and practical experiment showed the proposed controller's excellent performance

this paper suggests a genetic algorithms combining simulated annealing for PID factor tunning. This paper made Off-Line control parameter tuning of the DC servo motor for the speed, In this paper new method to design PID controller through proposed genetic algorithm. Two experiments compared both the PID controller using genetic algorithms and PID controller using proposed genetic algorithm for a DC-servo motor. The result of two experiments was safty higher PID controller using proposed genetic algorithm than PID controller using genetic algorithm.

본 논문은 주파수역에서의 모델매칭을 이용하여 강인한 성능의 PID 제어기 튜닝법을 제안하였다. 이를 이용하여 부하토크 외란에도 강인한 성능의 BLDC 모터의 속도제어기를 설계하였다. 부하토크 외란이 존재하여도 주어진 기준명령을 강인하게 추종하도록 $H_{\infty}$ 제어를 이용하여 속도제어기를 설계한 후, 설계할 PID 제어계의 루프 전달함수와 설계된 $H_{\infty}$ 제어계의 루프 전달함수간의 오차가 주파수역에서 최소가 되도록 PID 제어기 파라미터를 튜닝하였다. BLDC 모터의 속도제어 시뮬레이션을 통하여 설계된 강인 PID 제어기의 성능을 평가하였다.

In general, to reduce chattering in sliding mode control, a boundary layer around the sliding surface is used, and a continuous control is applied within the boundary. In this paper we propose the design method of sliding mode controller with sliding sector. To do this, the variable structure controller is designed for the linear system with uncertainty using sliding sector. The control law designed in the paper transfers the system state from outside to the inside of the sliding sector and ensures that some norm of the system state keeps decreasing.

In this paper, the novel sliding mode control method with virtual state is compared to the SMC with co-states. The former method is shown to have advantage in the respect of computation.

In this paper we consider the TORA system and use sliding observer and backstepping to design a robust controller for tracking problem.

In this paper, a new model error following sliding mode control is considered with a novel sliding surface for the error. This novel sliding surface has nominal dynamics of an original state of the error system and makes it possible that the Sliding Mode Control(SMC) technique for the error of the model following is used with the various types of controllers. Its design is based on the augmented system whose dynamics have a higher order than that of the original error system. The reaching phase is removed by using an initial virtual state which makes the initial error state sliding function equal to zero.

In this paper. feedback linearization and the sliding mode control(SMC) are used together for uncertain nonlinear system. An advantage of feedback linearization technique is to make linear control theories can be used for nonlinear system and the SMC have the robustness. But the dynamics of the SMC has the dynamics lower order than that of the original system. Therefore the linear control theory can not be used with the SMC. The novel sliding surface of the SMC can have the dynamics of the nominal non linear system controlled by the feedback linearization. The proposed method can be used for the control of induction motors.

본 논문에서는 광대역 입력전압에 대응 할 수 있는 직류 변환 장치(DC-DC Converter)의 제어기의 모델링 및 제어 방법에 대해서 제안한다. 일반적으로 직류 변환 장치의 주된 목적은 입력되는 직류 전압에 대해서 출력전압을 지속적이고 안정적으로 유지해 주는 것이다. 따라서, 안정적인 출력 전압을 얻는 방법으로서 제어되지 않은 직류 변환 장치에 입력전압을 안정적으로 공급해주는 방법도 고려해 볼 수 있으나, 이릴 경우 입력전류의 변화나 입력 전압이 지속적으로 변하는 경우에 대처 하기 어렵다. 따라서, 이러한 문제점들을 해결하기 위해서 출력전압을 궤환 시키고 이 신호에 의해 직류 변환 장치를 제어하는 방법을 고려한다. 또한, 단순한 제어기를 사용할 경우 그 입력전압의 범위가 소자의 한계와 안정성으로 인하여 국한적으로 한정되므로, 이러한 문제를 해결하기 위해 다수의 컨버터를 연결하고 이것을 프로세서를 사용하여 제어하는 방법을 설계한다. 모델링된 직류 변환 장치는 불연속선형 시스템(Piecewise Linear System)으로 해석되어 질 수 있으며, 아울러 각기 다른 입력 범위에서 동작하는 컨버터들에 대해서도 모델링되어야 한다. 또한 일정 간격의 입력 범위내에서 서로 다른 컨버터들을 동작시켜 줄 수 있는 방법도 고려한다. MATLab을 이용하여 파워 컨버터의 성능을 입증하고, 아울러 실제 회로의 실험을 통하여 결과를 검증한다.

In this paper, we calculates mathematical model of ex-core neutron flux monitoring system for nuclear reactor and design the digital system using the bilinear transformations. The output pulse shape and resolving time of the system determines from the proposed method.

This paper considers the problem of identifying the time-varying parameters of the bilinear systems. The Parameters, in this paper, are identified by using the EBPOMs (Extended Block Pulse Operational Matrices) which can reduce the burden of operation and the volume of error caused by matrices multiplication

This paper describes a preliminary study on a modeling technique for control performance evaluation of asynchronous TMR(Triple Modular Redundancy) controller. Hybrid system modeling is applied to TMR controller performance evaluation and mixed logical dynamical system description is used to model the behavior of majority voter in the controller. Windup and bumpless transfer problems in redundancy controls are also mentioned.

In many cases the systems are so complex that it is not possible to obtain reasonable models using physical insight. Also a model based on physical insight contains a number of unknown parameters even if the structure is derived from physical laws. These problems can be solved by system identification. In this paper, Arago's disk system which has both stable and unstable regions is selected as an example for identification and a state-space model is identified using tailor-made model structure of this system. In stable region, a state-space model of Arago's disk system is identified through open loop experiment and a state-space model of unstable region is identified through closed loop experiment after using fuzzy controller to stabilize unstable system.

In order to design a stable robust controller, nominal model, and the upper bound about the uncertainty which is the error of the model are needed. The problem to estimate the nominal model of controlled system and the upper bound of uncertainty at the same time is called robust identifcation. When the nominal model of controlled system and the upper bound of uncertainty in relation to robust identifcation are given, the evaluation of the validity of the model and the upper bound makes it possible to distinguish whether there is a model which explains observation data including disturbance among the model set. This paper suggests a method to identify the uncertainty which removes disturbance and expounds observation data by giving a probable postulation and plural data set to disturbance. It also examines the suggested method through a numerical computation simulation and validates its effectiveness.

Generally, neural networks can be used efficiently for the identification and control of nonlinear dynamical system, then it always needs to learn in order that the output values is closed to desired values. But, if plant input to control is limited to certain bounded values, former learning rules has the another problem. This paper demonstrates algorithm to control the bounded-input plant using neural network controller.

본 연구에서는 실수형 염색체들로 구성된 개체에 대해 감수분열을 적용하여 개체를 만들고, 이 생식체들의 랜덤한 선택과 교배에 의해 세대가 진화함에 따라 탐색을 수행하는 감수분열 유전알고리즘을 이용하여 퍼지모델의 최적 구조와 파라미터를 탐색하고 Gradient Descent 알고리즘으로 파라미터를 정밀 조정하는 방안을 제안한다. 제안된 방안을 적용하여 Box-Jenkins의 가스로 데이터에 대한 퍼지모델을 구성하고 그 적용 가능성을 보인다.

This paper presents the Runge-Kutta neural networks(RKNN's) using the Runge-Kutta approximation method and the orthogonal function for control of unknown dynamical systems described by ordinary differencial equations in high accuracy. These subnetworks of RKNN's are based on orthogonal function. Computer simulations show the usefulness of the proposed scheme.

The branch of the laser imaging has implemented 3D graphics, color graphics and video images after it drew a simple image by development the salvo's X-Y scanner in 1960 year. Now it is used as the multimedia show of an event and an advertisement. The latest issue of laserist is the ability to generate laser images with the same ease and speed associated with traditional computer graphics. All laser projector used in the interior of a countris was imported from other country. The most important component of the laser projector is the speed and the accuracy of a actuator and the software which actuates the controller on computer. In this paper we developed the controller with a universal joint and the PC based user interface software in order to implement the laser image of two dimension, and will prepare the base of beginning the home laser projector

본 논문은 영상 정보를 통하여 원거리에 있는 자율주행 로봇을 실시간으로 원격 제어하기 위한 시스템 설계를 제안하고 실제로 구현한다. 본 논문에서의 제안한 시스템은 인터넷상에서 이동 로봇을 제어하기 위한 웹서버 시스템, 웹을 통하여 제어하거나, 웹 브라우저 없이 서버와 연결된 네트워크 선로를 통하여 제어하는 클라이언트 시스템, 클라이언트 시스템과 자율이동 로봇간의 양방향 통신을 가능하게 하고 모든 시스템 총괄하는 제어서버 시스템, 무선 네트웍카드를 통하여 서버의 명령을 실행하고 영상 정보를 감지하여 서버 시스템에 전송하는 로봇 시스템으로 구성된다. 클라이언트, 제어서버 시스템은 플랫폼의 이식성을 고려하여 Java 어플리케이션으로써 구현되어 질 것이며, 웹 사용자 인터페이스는 HTML 과 Java 애플릿을 사용하여 구현한다. 본 논문에서는 앞에서 제시한 이러한 원격제어 시스템을 실제로 구현하여 실험함으로써 원거리에 있는 자율이동 로봇의 실시간 제어를 검증하고 적용하고자 한다.

능동시각시스템의 가장 큰 장점은 주어진 환경에 대해 능동적으로 반응할 수 있는 자유도가 있어 이를 활용하여 필요한 정보를 쉽게 추출할 수 있다는 점이다. 이를 위해서는 능동시각시스템의 시선을 원하는 위치로 이동시키는 것이 필요한데, 시스템의 여자유도 인해 해가 무수히 많이 존재하게 된다. 본 논문에서는 이러한 여자유도 문제를 기구의 동역학적 특성을 제한 조건으로 하여 최적의 해를 구하고 이를 이용해 각 관절을 제어하는 제어기를 설계하는 방법에 대해 소개한다. 설계된 제어기는 제작과 실험을 통해 고속으로 움직이는 물체를 실시간으로 추적하는 성능을 보였다.

칼라는 물체의 특성을 나타내는 고유한 성질 중의 하나로 칼라 정보를 이용하면 물체를 추적하는데 많은 도움을 얻을 수 있다. 그러나 동일한 칼라의 물체일지라도 조명의 상태나 물체의 형태 등에 따라 실제 이미지 상에 나타나는 칼라는 조금씩 다른 칼라값을 갖는다. 따라서 칼라를 이용하여 물체를 표현하기 위해서는 이미지 상에 나타나는 이러한 물체의 칼라 분포를 효과적으로 모델링할 수 있는 방법이 필요하다. 또한 한번 모델링된 칼라일지라도 물체가 이동하거나 조명이 변화하게 되면 칼라의 분포가 변화하므로 모델링된 칼라가 이러한 변화에도 적절히 대응할 수 있어야 칼라 정보를 이용하여 물체를 추적할 수 있다. 본 논문에서는 이러한 문제를 해결하기 위하여 물체의 칼라 분포를 look-up table을 이용하여 모델링하고 추적하는 물체의 칼라 정보를 이용하여 모델링된 칼라 분포를 다시 갱신하는 적응형 look-up table 방법을 제시하였다. 적응형 look-up table은 모든 칼라값을 테이블로 표현하므로 어떠한 칼라 분포도 모델링할 수 있으며 연산시 단순 참조 방식으로 처리되기 때문에 빠른 계산이 가능하다. 또한 look-up table은 지속적으로 갱신되므로 조명의 변화나 물체의 이동 등으로 인한 칼라 분포의 변화에도 적절히 대응할 수 있다. 본 논문에서는 칼라 정보를 이용하여 물체를 추적하는데 적응형 look-up table을 이용함으로써 적응형 look-up table의 타당성을 검증하였다.

사용자의 의도를 파악하는 여러 가지 행동양식 중에서 우리가 관심을 두고 있는 시스템은 사람의 눈 움직임 검출을 이용한 시스템이다. 사람의 눈 움직임에 대한 검출과 추적이 가능하다면 그 적용 분야는 매우 광범위하다. 예를 들면, 일반인들의 컴퓨터 조작을 더 편리하게 할 수도 있고 손을 사용할 수 없는 장애인들의 의사소통이나 정보교환의 한 방법으로 사용될 수 있다. 또한 사람들이 대부분의 정보를 시각적인 면으로 획득한다는 것을 감안할 때 원격 작업의 모니터링과 같은 여러 산업부분이나 군사부분과 같은 분야에 적용될 수 있다. 본 논문에서는 눈의 특징점들을 검출하고 추적하기 위해서 홍채 모델을 설정하고 그 모델이 카메라를 통해 받아들여지는 입력 영상과 일치시키는 과정으로, 카메라의 입력 영상에서 3가지의 기본 영상을 추출하고 모델의 매칭 정도를 판단할 수 있는 매칭 함수를 규정하고 그 함수들을 통하여 홍채 모델을 일치시키는 알고리즘을 제안하고 그 타당성을 보이고자 한다.

This paper proposes a face detection and recognition method that combines the template matching method and the eigenface method with the neural network. In the face extraction step, the skin color information is used. Therefore, the search region is reduced. The global property of the face is achieved by the eigenface method. Face recognition is performed by a neural network that can learn the face property.

It is sometimes necessary to observe the working environment of a robot to control it in the remote location. The remote sensing data and control commands are transmitted via various media such as radio, microwave, and computer network. In this paper we propose an advanced technique of the remote control of mobile robots on the web. The image separation is included in the proposed algorithm to control mobile robots in the real-time. We transmit the positions of a mobile robot and obstacles instead of transmitting the full frame image. An experiment is performed to show the efficiency of the proposed algorithm.

본 논문은 필드버스를 이용한 실시간 로봇제어 시스템의 설계와 체계적인 설계 방법을 제안한다. 설계의 주요 잇점은 케이블링 비용의 절감과 유지 보수의 용이함을 들 수 있다. 최악 시간 분석에 의하여 필드버스를 이용하는 로봇 제어 시스템이 주어진 시간 제한요구를 만족할 수 있는지를 검증하기 위하여 실시간 제어 시스템의 패러미터들을 어떻게 결정할 수 있는지 보여주며, 태스크와 메시지의 실시간 스케쥴링 방법을 제안한다.

In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators. The structure of the proposed controller consists of a RBFN and a fixed gain PD controller. On the basis of the Lyapunov stability theorem, we guarantee the UUB (uniformly ultimately boundedness) for the total system. And the learning law of RBFN is established by the Lyapunov method. Finally, we apply the proposed controller to tracking control for the 2 link SCARA type robot manipulator.

This paper proposes a path planning algorithm for mobile robots. To generate a minimum-distance path for mobile robots, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance path between a start and a goal point, the path is revised to find the smooth subminimum-distance path by a path-smoothing algorithm. Simulation results show that the proposed algorithms are effective.

In this paper, we deal with modeling and analysis for mobile manipulator systems. In order to avoid the difficulties occurring due to slippage or unevenness of the terrain, we propose the utilization of minimum actuators. In this case, the resulting systems typically possess kinematic redundancies which can be beneficially employed for correcting the position error. A simple PD control method along with kinematic redundancy is employed to recover position errors for trajectory control in task space. Several primary and secondary criteria utilizing kinematic redundancy of the mobile manipulator system are tested through graphic animation.

지금까지의 시스템은 제한된 공간에서 구성되고 제어되어 왔으나, 공간적 제한을 극복하려는 원격 제어에 대한 연구가 한창 진행되어지고 있다. 원격제어는 접속이 용이하여야 하며, 편리한 사용자 환경을 제공하여야 하며, 안정성이 보장되어야 한다. 최근 부각되고 있는 인터넷은 이러한 원격 제어의 요구를 잘 수용하고 있어 원격제어와의 접목이 시도되어지고 있다. 본 논문에서는 인터넷을 사용하여 공간적인 제한을 극복하는 열린 공간상에서 이동로봇을 제어함으로써 원격제어 시스템 설계와 구현에 관해 논한다. 구현된 원격 제어시스템은 일반적인 웹서버를 사용하였고, 원격지와 이동로봇간의 정보를 양방향 통신으로 구현하였으며, 위와 같은 전체적인 시스템을 실제로 제작, 구현하여 실험함으로써 제안된 원격 제어 시스템의 실효성을 검증하였다.

내구시험기의 기본적인 구조를 해석하고 분석하여 각종 기구부의 내구성 시험에서 적용대상물에 관계없이 전기유압서보장치의 용량과 적합한 센서들을 조합하여 구성 가능하도록 시험기를 구성하였으며, 본 연구에서 개발된 제어장치와 데이터 수집 소프트웨어는 내구시험 대상물에 관계없이 범용 적으로 사용할 수 있도록 개발하였다.

일반화된 회귀 신경망을 이용하여 반도체 공정 최적화를 위한 플라즈마를 모델링한다. 플라즈마는 Box-W린son 실험계획표에 의해 특성화되었으며, 여기에서 변화시킨 인자로는 소스전력, 압력, 척지지대의 위치, 그리고 염소의 유량이다. 총 24회의 실험이 수행이 되었으며, 플라즈마 변수는 Langmuir Probe를 이용하여 측정하였다. 측정된 주요 플라즈마 변수로는 전자밀도, 전자온도, 그리고 플라즈마 전위이다. 폭변수를 점진적으로 증가시켜 회귀신경망을 최적화하였으며. 최적화된 모델은 통계적인 반응표면모델과 비교하였다. 비교 결과, 회귀신경망은 반응표면모델에 상응하는 예측능력을 보이고 있음을 알 수 있었다.

The KEPRI has been developing the medium/small scale Distribution Automation System(DAS) that adopts wireless transmission media for exchanging information between master and remote terminals. It was concluded that Short Message Service(SMS) of Personal Communication Service(PCS) was the best wireless transmission media for the medium/small scale DAS in the last year. However. we had problem that PCS had long transmission delay. Therefore. SMS phones will be substituted with Radio Link Protocol(RLP) modems having transmission delay less than 5 seconds. This paper describes wireless networks for DAS, practical experience.

In this paper, Intelligent PLC for automatic warehousing system is presented. Intelligent PLC is that general PLC is incorporate the knowledge and experience of Expert and control method. This system is consist of sensor part, inference part and automatic warehousing robot part. this system recognize the Work by itself and move it to the appointed place according to the inference rule. The PLC program is constructed by LD(ladder diagram). Real test system was constructed and was driven to apply this program.

In this paper, the robust position tracking cotroller for a brushless DC motor driving a one-link robot manipulator is proposed. By using the backstepping approach, the adaptive and robust controller is appropriately designed to ensure global stability. The proposed robust backstepping controller can compensate for estimation errors in system parameters in the system with no structural changes in the controller and without destruction of the stability. The closed-loop stability of the system is shown using Lyapunov techniques. The tracking errors are shown to be globally uniformly bounded.

In this paper. A PID motion controller based on the fuzzy concept is discussed for nonholonomic mobile robot. The difficulties in controlling such a Mobile robot vehicle lies in the fact that it usually has only two degrees of freedom for motion control in a tracking mode. It makes the control of speed and steering possible to decompose the error between the reference posture and the current posture. The Gyro compass is used to measure the position of robot. The proposed nonholonomic mobile robot is shown to follow the reference trajectory and compensate the dynamics. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system. the motion of the master device is followed by the save one. while the force applied to the slave is reflected on the master. In this paper, a proposed controller applied to the system. Adding a switching control term to control input. robustness is improved. Also the knowledge of the system dynamics is not needed. The computer simulation results show the performance of the proposed controller.

The interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition. operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a fuzzy logic controller (FLC) which controls the position of excavator's attachment. This approach enables the transfer of human heuristics and expert knowledge to the controller. Expeiments are carried out to check the performance of the FLC.

We were made the automatic measurement system of sheet resistance and resistivity of semiconductor and metals with accuacy. The use of this system measured SRM(Standard Reference Materials) silicon wafers which calibrated by NIST. From this result. this system operated with the standard deviation within maximum ${\pm}$1% error.

In this paper we propose new algorithms of path planning and obstacle avoidance for an autonomous mobile robot with vision system. Distance variation is included in path planning to approach the target point and avoid obstacles well. The fuzzy rules are also applied to both trajectory planning and obstacle avoidance to improve the autonomy of mobile robot. It is shown by computer simulation that the proposed algorithm is working well.

According to the development of marine transportation business and the modernization and over sizing of vessel transportation equipment. shipping equipment used in the terminal are getting more atomized and speedier. thus the efficiency of shipping and discharging depends upon the degree of practice of terminal operating manpower. It means that cultivation of experts in this field is essentially needed and it is becoming a serious problem to guarantee the training programs to provide high-class. high-skilled manpower. The best result can be expected when we use the real equipment for training purposes. but it will cause many difficulties such as budget problem. To overcome this situation. we developed the Virtual Container Crane Simulator(VCCS System) which enables the operator to learn the operation of the equipment as well as safety problems within a short time. VCCS system begins with establishing the direction of operation by setting the appropriate motions for each step. and then it instructs the basic operation. It enhances the driver's ability to cope with accidents during operation and completes and completes the mastery of operating techniques with The repetition of practice.

In this thesis, proposed is an algorithm that diminishes Blocking phenomenon and Deadlock phenomenon, as numbers of AGV are running after the consideration of the flexibility of production system and selection of a model in case that a meeting point or an intersection on AGV system paths is equipped, can be reduced by using RF modem and PC(Personal Computer) which gets some information for AGV

MMI system for strip caster 2 is described. It has been developed as a PC-based MMI system whose data is collected from the VME-based control system by ETHERNET. MMI elements that mimic the caster and its utilities are designed by using commercial program. In order to implement the UDP/IP communication in MMI, UDP/IP manager program with DDE that is a intercommunication protocol in MS-window is developed and connected with MMI mimics. Operator commands in MMI system are carried out immediately in VME system and the responses are displayed on MMI system. The developed MMI system has been proven to be convenient and stable through the operation of the past 5 years.

방범에 사용되는 여러 종류의 센서를 컴퓨터를 이용하여 사용할 수 있는 방안을 연구하고 기술적인 문제를 파악하여 해결하고, Protocol을 정하여 방범 시스템 프로그램을 작성하고 컴퓨터 상에서 효율적인 방범이 이루어질 수 있도록 했다. 본 연구의 보안 시스템의 동작 순서는 다음과 같다. 사용자는 외출할 때 출입문 근처에 설치되어 있는 키패드를 이용하마 방범시스템을 작동시킨다. 침입자가 있으면 여러 장소에 설치된 센서가 감지되어 이 신호를 인터페이스를 통해 컴퓨터로 보낸다. 컴퓨터는 신호가 감지된 위치, 감지 시간을 기록하고 USB 포트에 연결된 CCD 카메라를 통하여 영상을 저장하고. 보안 책임자의 전화기로 침입자가 있다는 사실을 통보해 주도록 설계된 시스템이다. 방범시스템의 해제는 키패드를 이용하여 비밀번호를 입력하여 저장되어 있는 번호와 동일할 경우에만 해제가 될 수 있도록 구성하였다.

Mobile robots include control modules for autonomous obstacle avoidance and navigation. They are range modules to detect and avoid obstacles. motor control modules to operate two wheels. and encoder modules for localization. There is needed an appropriate controller for each modules. In this paper. a control system. including 18 channels for Sonar sensors. 4 channels for PWM modules. and 4 channels for encoder modules. is proposed using TMS320C32 DSP adopted with CAN. The board communicates with other modules by CAN. so that mobile robots can perform several tasks in real time. So we can realize on autonomous mobile robot with basic functions such as obstacle avoidance by using the developed controller. Especially. this controller has 100 msec scan time for 16 sonar sensors and can detect closer objects comparing with standard sonar sensors.

In this paper. the constructive modeling procedure of nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in differential geometry field. and their geometrical properties are also analyzed. And, a new trajectory controller is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to differentially driven robot system on the assumption that the trajectory planner be given.

본 논문은 이동로봇의 목표 추적제어기 설계에 대한 것을 다룬다. 목표 추적이란, 정해진 목표를 이동 로봇이 실시간으로 파악하면서 그 목표를 일정한 거리와 각을 유지하면서 따르는 것을 말한다. 시각 시스템과 이동성을 지닌 이동로봇이 제어기 설계에 기본 가정이 되었다. 우선, 목표 추적을 좀 더 명확히 분류하고 정의한 뒤 그에 적합한 제어기를 제안한다. 그리고 다양한 시뮬레이션을 통하여 그 유용성을 확인하도록 하겠다.

It is a quite quality concerning to control temperature of single crystalline growth as it does when you get most of heat treating products. It is also important factor to control temperature when you make the Al2O3(single crystalline) used to artificial jewels, glass of watches. heat resistant transparent glasses, Thus. it is a major interest to get the proper temperature in accordance with the time process while you are making mixture of oxygen and hydrogen to have the right temperature. In this paper, we will study of electrical valve positioning system for the gas mixture to improve the quality of products.

It is a quite quality concerning to control temperature of single crystalline growth as it does when you get most of heat treating products. It is also important factor to control temperature when you make the $Al_{2}O_3$(single crystalline) used to artificial jewels. glass of watches. heat resistant transparent glasses. Thus. it is a major interest to get the proper temperature in accordance with the time process while you are making mixture of oxygen and hydrogen to have the right temperature. In this paper. we will study of electrical valve positioning system for the gas mixture to improve the quality of products.

Robust control for DC motor is needed according to the highest precision of industrial automation. However, when a motor control system with PID controller has an effect of load disturbance, it is very difficult to guarantee the robustness of control system. In this paper, PID-Expert hybrid control method for motor control system as a compensation method solving this problem is presented. If PID control system is stable, the Expert controller is idle. if the error hits the boundary of the constraint. the Expert controller begins operation to force the error back to the constraint set. The disturbance effect decrease remarkably, robust speed control of DC motor using PID-Expert Hybrid controller is demonstrated by the simulation.

In spite of the presence of various kind of Integrated Circuits it's not always easy to get the right part. Besides, it is hard to find a vendor for a small Quantity consumers like who develop prototype applications. In this study, we've tried to get the logical signals from the PC based device we've developed that correspondents with the real ICs. It can emulate decoder ICs, multiplexers, demultiplexers and basic logic gates.

This paper suggests a method of the forward dynamic analysis for the computer simulation on the analysis of the dynamic behavior for biped walking robot. The equations f motion of the system or the simulation are constructed by using the Method of the multibody dynamics which is powerful method for modeling of the complex biped system. For the simplicity of simulation, we consider that the sole of the contacting foot is affected by the reaction forces for tree structure system topology instead of the addition or deletion of the kinematic constraints. The ground reaction forces can be modeled using the simple spring and damper model at the three contacting points on the sole of the foot. For minimizing the errors of numerical integration, the number of equations of motion is minimized by adding the driving constraints or a controller instead of the direct driving torques.

Most measuring devices are equipped with RS232 interface or GPIB interface for communicating with computers. If the measuring devices can be accessed by a server computer, the valuable information from the devices can be effectively shared with other computer via internet. VRML is a web based technology for specifying and delivering three-dimensional interactive visualizations over the internet through a web browser. This paper proposes a remote 3-dimensional monitoring system for digital multimeter equipped with RS232 interface by utilizing VRML.

Nowadays PLC is used for controlling various industrial processes. For its better performance operating status of PLC should be continuously checked. However. it is difficult to monitor the status of PLC owing to the spatial limitation. This paper presents an internet based remote monitoring and control system for PLC and a practical implementation for Tiny PLC is executed for verifying its feasibility.

This paper describes an image processing algorithm capable of recognizing the road lane using a CDF (Cumulative Distribution Function). which is designed for the model function of the road lane. The CDF has distinctive peak points at the vicinity of the lane direction because of the directional and positional continuities of the lane. We construct a scatter diagram by collecting the edge pixels with the direction corresponding to the peak point of the CDF and carry out the principal axis-based line fitting for the scatter diagram to obtain the lane information. As noises play the role of making a lot of similar features to the lane appear and disappear in the image we introduce a recursive estimator of the function to reduce the noise effect and a scene understanding index (SUI) formulated by statistical parameters of the CDF to prevent a false alarm or miss detection. The proposed algorithm has been implemented in a real time on the video data obtained from a test vehicle driven in a typical highway.

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

이 논문에서는 공장에서의 생산관리 및 구내 배전선로의 부하상태 관리용으로 개발한 다목적 실시간 원격 계측시스템을 제안하고 있다. 개발된 실시간 원격 계측시스템을 필요한 정보를 수집하는 원격단말장치와 수집된 정보를 제어 및 RS485 통신을 이용하여 정보를 전송하고 사용자 중심으로 그래픽 관리하는 호스트로 구성되어 있다. 특히, 기 설치된 생산설비에 대한 원격 생산관리 기능을 보유한 시스템을 확장하여, 이를 구내 배전선로에서 각 구간/선로별 전압, 전류, 누설전류 등의 정보 검출한다. 각 구간/선로별 전력, 전압, 전류 등 부하 운영상태 및 누설전류 등의 고장원인을 검출함으로써 전기화재 및 감전사고를 예방할 수 있는 감시 시스템을 제안하였다.

In electric power industry. load balance has been one of the most fundamental and important management goals. Therefore. the strategy to achieve high quality load management now includes load balance besides the stabilization of electricity supply and quality management of electricity. Amongst many techniques of load management. direct load management has been actively studied and utilized to increase power facility and peak load suppression. Higher peak load situation is appeared during summer than during winter in Korea. and approximately 20% of the peak load is due to the load for air-conditioning. To cope with this peak load problem during summer KEPCO is performing a research project to develop a system to remotely control air-conditioning load using wireless communication. Currently, applicable facilities are limited to small-scale air-conditioning facility that has less than 2KW power capacity. This paper described the 1st year of efforts made in the study.

When changing old parts of the System or establishing new system of the Nuclear power plane it's contribution that given effective economics and learning radiation detector and protect contamination for human, It will be contributed to minimizing pollution of employee for radioactivity as spread of supply with the products in cheaper price then foreign products in new or existing N.P.P.

Since the access to Station Control Computers(DCCs) is restricted to the main control room(MCR). the operating data of power plants can't be easily analyzed and effectively managed. It is possible to reduce waste of time and human energy by means of building the Remote Monitoring Network of DCCs connected to Local Area Network. automatizing collection and analysis of DCC data. gathering the operating state of power plants. and managing systematically. Furthermore. this system help preventing trip by means of analyzing the data promptly and watching main system continuously.

This paper introduces the behavior-based learning controller for mobile robot using topological map. When the mobile robot navigates to the goal position, it utilizes given information of topological map and its location. Under navigating in unknown environment, the robot classifies its situation using ultrasonic sensor data, and calculates each motor schema multiplied by respective gain for all behaviors, and then takes an action according to the vector sum of all the motor schemas. After an action, the information of the robot's location in given topological map is incorporated to the learning module to adapt the weights of the neural network for gain learning. As a result of simulation, the robot navigates to the goal position successfully after iterative gain learning with topological information.

We design a stable controller for a mobile robot with variable gains and reference velocity in order to apply the proper gains and reference velocity, which are generated with fuzzy logic in on-line. The stability is guranteed by the Lyapunov theory. The fuzzy logic rules is found in off-line with GA strategy which drives each object function to be the least. The proposed controller is applied smooth path tracking due to the local path planing. Simulation results show robust performances under a different initial conditions.

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

A lane detection based on a road model or feature all need correct acquirement of information on the lane in a image, It is inefficient to implement a lane detection algorithm through the full range of a image when being applied to a real road in real time because of the calculating time. This paper defines two searching range of detecting lane in a road, First is searching mode that is searching the lane without any prior information of a road, Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It is allow to extract accurately and efficiently the edge candidates points of a lane as not conducting an unnecessary searching. By means of removing the perspective effect of the edge candidate points which are acquired by using the inverse perspective transformation, we transform the edge candidate information in the Image Coordinate System(ICS) into the plane-view image in the World Coordinate System(WCS). We define linear approximation filter and remove the fault edge candidate points by using it This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.

In this paper we propose a path planning method for an autonomous mobile robot based on genetic algorithms(GAs). There have been a number of methods proposed for the path planning of a mobile robot. However, few algorithms have been developed for an on-line path planning of a mobile robot with the uncertain information of a task environment. Therefore, we propose a path planning algorithms based on GAs that has ability of creating path planning without the perfect information of a task environment and an ability of planning the efficient path by on-line process. Then we show a possibility of the practical use with the results of simulations and experiments.

We developed an automatic 3D inspection system. The system consists of two parts one includes hardwares such as actuators. linear scales and a probe. etc. the other involves softwares for management and control of the system. Compared with existing 3D measurement systems. this system achieved automatically the inspection. This automatic inspection makes the system have some advantages to reduce a measurement time and to be easily used by operators.

In order to simulate a robot by using existing simulation packages, many engineers must work in one place existing simulator. It is clear that engineer can't the simulator in other place. In this paper, a simulator by using a web environment is proposed in order to support location transparency to engineer. The proposed simulator running in the web browser. This simulator can be use the engineer as well as public user through web browser.

In industry and engineering. the tensile measurement of single crystal metal material such as the uniform change. surface structure and the tensile torque of the material is not easy to obtain by current the tensile measurement methods. In this paper. we have implemented a tensile system which can acquire tensile information in real time.

This paper proposes a scan code method for obstacle avoidance of mobile robot. Obstacles detected in a circular window are converted to scan codes and then to the steering angle. The safe rotating radius is obtained by the scan code to avoid the collision between robot and obstacle and. the minimum distance for rotation is calculated. Effectiveness of the method is illustrated through simulations, and the results show that the proposed method can be efficiently implemented to an unknown environment.

In this paper, a robot system is proposed to make it easy to learn about microprocessors. The proposed system consists of several subsystems. Since each subsystem can be operated with other subsystems or without other subsystems, many microprocessor courses can be offered depending on the background of students. Also the proposed system can be used in some robotics courses which emphasize sensor and tele-operation because it contains camera, MPEG encoder, IR sensor, and RF communication module.

네트워크 환경의 보편화와 함께 원격강의와 가상실험에 대한 연구가 진행되고 있다. 로봇공학교육에 있어서 가상현실은 가상실험을 구현하기 위한 밑바탕이 되며 값싸고 위험부담없이 실제실험과 유사한 환경을 구축하기 위한 도구가 된다. 본 논문에서는 월드와이트웹 상에서 동작가능하며 다양한 궤적과 제어기를 사용자가 조작하면서 비교 학습 할 수 있는 로봇제어 학습용 시뮬레이터를 개발한다. 가상로봇은 실제로봇과 유사한 특징을 가지며 게인값 설정에 따른 궤적추종을 로봇의 움직임으로 관찰할 수 있다.

In machine vision fields around FA, there have been demands for functions to capture high speed moving objects as blur-free images. By electronic shutters, progressive scan cameras can do it. This paper develops a module to connect a progressive scan camera, XC-55.

Vision systems need to have high speed transfer methods for transferring large data. After PC accepts PCL, PCI becomes a more effective method for data translation. PCI substitutes previous ISA. This paper proposes an architecture of vision system and window driver based on PCI.

Lots of automation equipments and robots have been developed and been used. But most control systems have been developed as dedicated systems rather than general-purpose systems. Thus, users cannot modify or improve their software including GUI. In this paper, an open architecture GUI is proposed in order to make it easy to modify some functions of GUI or to add some functions of GUI. The format of all menu is similar as in previous systems, but some menu can be deleted and be added. Also some menu can be defined by users.

본 연구에서는 [1]에서 제안된 알고리즘을 마찰력이 존재하는 로봇 매니퓰레이터에 적용하여 위치제어를 수행하였다. 제안된 제어 알고리즘은 로봇의 위치 정보만을 이용하는 반복적 제어구조를 가지고 있다. 또한 제어기 설계 시, 로봇의 파라미터를 이용하지 않기 때문에 파라미터 불확실성이 있는 시스템에 강인한 특징을 보인다. 제안된 제어기의 성능을 검증하기 위하여.마찰력이 존재하는 2축 SCARA형 로봇에 적용하여 시뮬레이션 수행하였다

본 연구에서는 로봇의 3가지 기본모델에대해 OpenGL을 이용하여 3-D 로봇시뮬레이터를 구현하였다 또한. 개발된 로봇시뮬레이터에 간단한 출력제어기를 적용하여 제어알고리즘의 특성이 잘 나타나는지를 확인하였고, 실제 로봇의 하드웨어적 특성을 적용하여 로봇시뮬레이터와 실제로봇에서의 실험결과를 비교하였다.

In the case of designing autonomous robot architecture using deliberative and reactive control methods, we can use mixed hybrid form as well as purely reactive scheme or purely deliberative scheme respectively according to its own goal and environment within the robot operates, It needs time and endeavors to design robot control architecture in either case above. In our research, we implemented a 3-dimensional robot simulator in order to help designing reactive/deliberative autonomous robot control architecture by offering methods which is capable of selecting design parameters and confirming its performances. It can be used, of course, to design purely reactive or purely deliberative architecture. The architecture and performance of simulator is shown and a sample hybrid robot architecture designed with the simulator is introduced in this article.

ATS(Automatic Transfer Switch), the secondary power supply system prepared for' temporary power fail on main in KEPCO in industrial field or running a important system. is developed. In this development, we prove that the proposed system is safe with results in a few environment testing focused on a solution against a poor environment by making virtual environment for a solution on problems of system reliability to switch more safely.

본 논문은 다수의 이동로봇들의 협조운동을 위해서 퍼지알고리즘을 적용하였다. 그리고. 보다 정확한 정보획득을 위해서 슈퍼바이저 시스템의 적용을 제안한다. 제안된 알고리즘에 대한 효과는 등간격원 모양으로 로봇들이 정렬할 때까지의 시간으로 나타내었으며, 슈퍼바이저 시스템을 적용한 것과 그렇지 않은것에 대한 비교를 컴퓨터 모의실험으로 그 결과를 보였다.

We developed the training simulator for KEPCO operators to maintain small-scale distribution automation system effectively. The training simulator has the same screen form and operating environments in comparison with using system in field. It is to be wished that the operating techniques of KEPCO operators will progress to solve the fear of system operation and to training simulations of distribution conditions again and again.

인터넷을 이용한 원격 제어에 있어서는 통신 프로토콜은 TCP/IP를 기반으로 이루어지고 있는데 대개의 경우는 소켓을 이용한 PC기반에서 해석되어 지고 처리되어 진다. 본 논문에서는 PC기반의 원격제어 시스템을 임베디드화함으로써 시스템의 안정성과 속도면에서 우수한 시스템을 구현하려고 한다. 이를 위하여 임베디드 시스템은 HD860-R3보드를 이용하였고 실시간 운영체제로 리눅스를 사용하였다 실질적인 제어물의 제어를 위해서 제어기를 설계 HD860-R3보드와 시리얼을 통하여 통신하였다. 나아가 이 시스템을 PC기반의 시스템에서 탈피한 시스템을 홈 오토메이션의 제어 시스템에 적용시켜 보려 한다.

This paper proposes a new fuzzy-neural algorithm for navigation of a mobile robot with stationary and moving obstacles environment. The proposed algorithm has two-layered hierarchical structure such as a lower layer for collision avoidance and goal approach. and upper layer for adaptive combination of these two algorithms. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective in stationary and moving obstacles environment.

A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds. is developed for the trajectory control of robot manipulators. Simulated results show the validity to accurate tracking capability and robust performance.

This thesis deals with study and implementation of Fuzzy controller with observer which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors. which can identify the guiding path. This controller has excellent disturbance rejection and therefore is advantageous when it is instructed to follow straight paths. This fuzzy controller with observer enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller

본 논문에서는 반도체 제조 공정에서 장비와 호스트간에 통신을 할 수 있는 SECS(SEMI Equipment Communications Standard) 프로토를의 개발을 제안한다. SECS 프로토콜은 메시지 전송을 위한 헤더 부분을 정의하는 SECS-I 프로토콜과 메시지 내용을 정의하는 SECS-II 프로토콜로 나뉘어지는데, RS232 시리얼 통신을 하는 SECS-I 프로토콜 대신에 이더넷(ethernet)을 통해 TCP/IP 통신을 할 수 있는 HSMS 프로토콜을 구현하고자 한다. HSMS(High-speed SECS Message Services)프로토콜은 SECS-I과 마찬가지로 SECS-II 메시지 내용을 전송 할 수 있도록 10바이트 크기의 헤더로 정의된다. HSMS 프로토콜 통신은 TCP/IP를 기반으로 하기 때문에 SECS 메시지 전송을 위한 통신 선로를 설정하기 위해 소켓 API를 응용하고 항상 통신 대기상태를 유지하기 위해 데몬(daemon) 형태로 구성한다. 실제 메시지 내용을 정의하고 있는 SECS-II 프로토콜은 데이터 인덱스 테이블과 표준에 정의된 형식에 맞게 파일형태나 DLL(Dynamic Link Library)형태로 구성하고 프로세스 프로그램(process program)을 수행하기 위해 SECS 프로토콜 표준에서 정의하는 SML(SECS Message Language)형식으로 변환 할 수 있는 스크립트 변환기(script translator)를 구현한다. 또한 HSMS 프로토콜이 전송할 SECS-II 메시지를 저장하기 위한 파라미터를 정의하고 실제 통신을 위한 테스트 베드를 위한 응용 프로그램을 제작한다

This paper proposes a force reflecting and compliant control scheme for the heavy-duty power manipulators with high ratio gear reducers at its joints. From the experimental results. it can be seen that the proposed scheme has an excellent compliant force control performance.

Since the heavy-duty power manipulator has high ratio gear reducers at its joints, its dynamic characteristics are much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulator systems. This paper proposes a force reflecting position control scheme for 2 axes heavy-duty power manipulator which compensates control input saturation. A series of experiments is shown to give an excellent tracking performance regardless of saturation.

종합 영상정보 매체인 멀티미디어의 효율적인 활용을 위해 다양한 정보들을 영상과 음향 등을 결합하여 전송하거나 저장하고 있다 본 논문에서는 양자화 파라미터를 사용하여 DCT 계수 값을 변화시켜 움직임 영상의 화질을 향상시키는 방법을 제안하였다. DCT 중 DC 계수를 제외한 고주파 성분의 계수에서 원영상의 8*8 블록 내 각 화소들의 평균값을 구하고 그 블록의 평균값과 그 블록 내의 각 화소간의 차를 구하여 이를 절대값으로 변환하고 그 합을 구하였다. DABP 값과 DCT 계수와의 상관관계를 구명하여 블록계수로 하였으며 이 블록계수를 사용하여 DCT 고주파 성분을 조정하므로 영상의 화질을 향상시켰다.

A new multi-planar interpolation technique for three dimensional medical image rendering is proposed. In medical imaging. resolution in the slice direction is usually much lower than those in the transverse planes. The proposed method is based on the solution of the Laplace's equation used in the electrostatics. In this approach. two contours in the source and destination planes for a given object is assumed to have equi-potentials. Some preprocessing and post-processing including scaling. displacement. rotation from the centers of mass are involved in the algorithm. The interpolation solution assumes mostly smoothing changes in between the source and destination planes. Simultaneous multiple interpolation planes are inherently obtained in the proposed method. Some experimental and simulation results are shown.

Adaptive template filtering has been proposed recently for an enhancement of signal-to-noise ratio. In some magnetic resonance images whose gray levels have relatively small dynamic ranges, e.g., T1 imaging, however, artificial stair-like artifact is observed in edge regions. This is partially due to edge enhancement effect in such voxels that contain multiple compounds at the boundaries of tissues. The gray levels of these voxels tend to change those of near voxels that contain single compound by the adaptive filtering, which exaggerate edge discontinuities. In this paper, we propose a technique to eliminate such artifact by identifying those voxels and assigning a larger template for them. Filtered images with the proposed technique show substantial visual enhancement at the edges without degradation of peak signal-to-noise ratio compared to the original adaptive template filtering for both magnetic resonance images and phantom images

흉부 X선 CT 화상을 이용한 폐종류(肺腫瘤)의 경계 형상을 정량적으로 평가하기 위하여 푸리에 변환된 폐종류(肺腫瘤) 음영의 윤곽선 내 power spectrum 고주파 성분의 총합이 폐종류 음영의 경계 형상에 관한 유효한 평가 값이 되는지의 여부를 검토하였다. 이 평가 값은 폐종류(肺腫瘤) 음영의 CT 화상 위의 특징을 명확히 반영한다고 판단된다. 양성 15명과 악성 16명인 환자 31명에 대해서 이 평가 값을 계산하여 통계적 처리를 행한 결과 양성과 악성 간에 뚜렷한 차이를 인식할 수 있었다. 이러한 제안된 평가 방법에 의해, power spectrum 고주파 성분의 총합이 폐종류(肺腫瘤) 경계 형상의 평가치가 되어, 정량적인 폐종류(肺腫瘤)의 양성과 악성 감별을 행할 때 유용한 값이 될 가능성을 시사한다고 볼 수 있다.

정보보호를 위해 비연성 디지털 워터마킹 방법으로 웨이브릿 변환을 많이 사용하고 있다. 본 연구에서는 여러 웨이브릿 변환인 드비시(Daubechies)변환, Coiflets 변환, Symlets 변환과 biorthogonal 변환등을 이용하여 비연성 디지털 워터마킹기법을 구성하고 각 변환의 특징과 성능비교를 한다. 공격의 형태는 dct변환 압축에 의한 영향에 의한 워터마킹의 보존여부에 관하여 고찰한다.

In this paper. a robust gesture recognition system is designed and implemented to explore the communication methods between human and computer. Hand gestures in the proposed approach are used to communicate with a computer for actions of a high degree of freedom. The user does not need to wear any cumbersome devices like cyber-gloves. No assumption is made on whether the user is wearing any ornaments and whether the user is using the left or right hand gestures. Image segmentation based upon the skin-color and a shape analysis based upon the invariant moments are combined. The features are extracted and used for input vectors to a radial basis function networks(RBFN). Our "Puppy" robot is employed as a testbed. Preliminary results on a set of gestures show recognition rates of about 87% on the a real-time implementation.

본 논문에서는, $L^2$ 메트릭(Metric)을 사용한 신호간의 거리 측정 방법의 약점을 보완하기 위해 연구된 인테그라-노말라이저(Integra-Normalizeer)를 사용함에 있어, 웨이브렛(Wavelets)의 멀타이레졸루션(Multiresolution)의 특성을 이용, 신호간의 거리 측정뿐만이 아니라, 신호간의 다른 점이 어느 주파수 영역에 존재하나 하는 정보도 획득할 수 있게 하였다.

Fuzzy controllers have a problem which is the number of rules increase exponentially, when the number of input and output increase. It makes hard to decide the rules and membership functions. In this paper, we suggest parallel fuzzy controllers, and the method to decrease the number of rules. The excellent performance of these methods are confirmed through simulations.

FPGA는 ASIC설계의 시험을 위한 테스트용으로 많이 사용되었으나 최근에는 비약적인 성능 향상으로 그 자체로 기능을 구현하고 있다 퍼지 제어기의 구현은 일반적으로 범용 마이크로 프로세서를 이용하거나 DSP 프로세서를 이용하였다. 본 논문에서는 여러 퍼지 시스템 중에서 적은 규칙수로도 효과적인 성능을 나타내고 프로세서화가 용이한 TSK 퍼지 시스템을 구현한다. 대상 FPGA는 Xilinx사의 FPGA를 이용하고 Schematic과 VHDL을 혼용하여 설계한다 또한 구현된 프로세서의 범용성을 유지하기 위해 외부 ROM에서 연산에 필요한 계수를 취하는 방식을 채택 한다.

본 논문은 필드버스 인터페이스를 위한 이중구조의 결함내성형 마이크로콘트롤러 구조를 제시하고, 테스트 환경을 구축하여 고장허용 기능을 검증한다. 이중구조의 결함내성형 마이트로 콘트롤러는 두 개의 프로세서 모듈의 출력을 비교하여 고장을 발견하고, 고장을 발견한 경우 버스 출력을 차단함으로써 전체 시스템의 오동작을 방지한다. 일단 고장을 발견하면 자체 진단을 통해 고장 상태를 판다하여, 영구적인 고장일 경우 정지하고 일시적인 고장일 경우에는 재시작을 통해 정상동작으로 복귀함으로써, 고장정지 및 일시적인 고장으로부터의 회복기능을 제공한다. 이중구조의 결함내성형 마이크로 콘트롤러에 필드버스 인터페이스 기능을 추가하여 자체적인 응용 노드로서의 기능을 수행할 수 있도록 한다. 그리고 이러한 노드를 MC68360프로세서를 이용하여 구현하고, 인위적인 고장주입을 통하여 그 기능을 검증한다.

In this paper, we proposed the Fuzzy Polynomial Neural Networks(FPNN) model with fuzzy activation node. The proposed FPNN structure is generated from the mutual combination of PNN(Polynomial Neural Networks) structure and fuzzy inference system. The premise of fuzzy inference rules defines by triangular and gaussian type membership function. The fuzzy inference method uses simplified and regression polynomial inference method which is based on the consequence of fuzzy rule expressed with a polynomial such as linear, quadratic and modified quadratic equation are used. The structure of FPNN is not fixed like in conventional Neural Networks and can be generated. The design procedure to obtain an optimal model structure utilizing FPNN algorithm is shown in each stage. Gas furnace time series data used to evaluate the performance of our proposed model.

A new neural networks and learning algorithm are proposed in order to measure nonlinear heights of complexed road environments in realtime without pre-information. This new neural networks is Error Self Recurrent Neural Networks(ESRN), The structure of it is similar to recurrent neural networks: a delayed output as the input and a delayed error between the output of plant and neural networks as a bias input. In addition, we compute the desired value of hidden layer by an optimal method instead of transfering desired values by back-propagation and each weights are updated by RLS(Recursive Least Square). Consequently. this neural networks are not sensitive to initial weights and a learning rate, and have a faster convergence rate than conventional neural networks. We can estimate nonlinear models in realtime by ESRN and learning algorithm and control nonlinear models. To show the performance of this one. we control 7 degree of freedom full car model with several control method. From this simulation. this estimation and controller were proved to be effective to the measurements of nonlinear road environment systems.

본 논문에서는 전문가의 지식이 없는 상황에서 자동적으로 최적의 퍼지 제어기를 설계하는 방법에 대해 연구한다. 먼저 퍼지 제어기의 규칙 설정을 위해 기존의 PID 제어기의 입출력 데이터를 클러스터링한다. 군집된 데이터들로부터 클러스터의 수를 파악하고 이를 바탕으로 퍼지 제어를 위한 규칙의 수를 결정한다. 둘째로 퍼지 제어기의 여러 파라미터들은 유전자 알고리즘을 적용하여 최적화한다. GA를 이용한 최적화 과정에서는 성능평가 기준으로 기준입력에 대한 시스템 응답간의 오차와 오버슈트의 크기를 사용하여 응답이 빠르고 안정적인 제어기를 설계하도록 진화방향을 설정한다. 이렇게 만들어진 퍼지 제어기의 성능을 기존의 PID 제어기와 비교 평가한다

This paper describes the design of a real time traffic data acquisition system using loop detector and piezzo sensor. Loop detector is the cheapest method to measure the speed and piezzo is used to detect the vehicle axle information. A ISA slot based I/O board is designed for data acquisition and PC process the raw traffic data and transfer the data to the host system. Simulation kit is designed with toy car kits. simulated loop detector and piezzo sensor. The data acquisition system collects up to 10 lane highway traffic data such as vehicle count. speed. length axle count. distance between the axles. The data is processed to generate traffic count, vehicle classification, which are to be used for ITS. The system architecture and simulation data is included and the system will be tested for field operation.

인터넷의 발전으로 기존의 가정 자동화의 개념이 변화되어 단순한 제어의 범위를 넘어 정보제공, 원격관리 등의 서비스와 연계되어 통합적인 흠 네트워크의 구축이 요구되고 있다. 이에 관련하여 기존에 포설된 망을 이용하여 흠 네트워크를 구축하는 방안으로 최근 들어 전력선을 이용한 통신 시스템 개발에 대한 관심이 고조되고 있다. 지금까지는 변압기 2차측에 설치되는 라우터나 전력신호와 통신 신호를 커플링하는 커플러 개발 등의 하드웨어에 대한 연구와 흠 네트워크 관리를 위한 웹브라우저의 개발에 대한 연구가 진행되어 왔다. 그러나 실제 흠 네트워크 제어를 위한 운영체제에 대한 연구는 미흡한 실정이다. 따라서 본 논문에서는 전력선 통신망 이용환경 하에서의 가전 네트워크 및 인터넷을 포괄하여 관리할 수 있는 전용 운영체제의 구성과 흠 네트워크를 위한 전력선 네트워크 어댑터의 기본 구조를 고찰 하였다.

최근 웹의 사용이 일반화되면서 인터넷의 사용자가 급속히 증가하고 있어서. 기존의 단일 웹서버 방식에서는 막대한 접속 트래픽의 수용과 유연한 시스템 확장 등의 문제점이 예상되고 있다. 이와 함께 business-critical한 작업의 경우, 웹서버의 안정성 및 가용성 문제가 가장 중요한 문제로 지적되고 있어서 이러한 문제를 해결할 수 있는 웹전용 서버를 개발이 절대적으로 필요하다. 본 연구에서는 이를 위해. 급격한 트래픽 변화의 수용 및 웹서버의 확장성이 용이한 가상머신 개념과 고신뢰성의 시스템 운영을 위한 고장포용(fault-tolerant)기법을 적용하여 클러스터링 웹전용 서버를 구축하고, 특히 클러스터 웹서버의 부하를 분배해주는 로드밸런서의 고가용성 보장을 위해 heartbeat, fake, mon등의 기법을 이용하여 백업(backup)을 구현한다. 또한 구현된 시스템의 고성능 및 고가용성을 극대화하고. 시스템의 고장시 데이터 손실의 최소화와 이의 복구를 위해 고장 검출 및 진단 기법에 대한 방안을 제시한다.

다양한 인터넷 응용 프로그램들이 웹 기반으로 통합되고 여러 방면에서 business-critical한 경우가 많아짐에 따라 웹서버의 고가용성과 안정성이 갈수록 강조되고 있고. 이를 보장하기 위한 리눅스 기반의 클러스터링 환경에서는 다양한 조건하에서도 데이터의 손실 없이 파일 입출력을 효과적으로 지원할 수 있는 분산 파일 시스템이 필수적이다. 본 논문에서는 리눅스 클러스터 환경에 적합한 분산 파일 시스템의 하나로서 카네기 멜론 대학에서 제안되어 개발 중에 있는 네트워크 분산 파일 시스템인 Coda 에 대하여. 가용성 및 효율성, 확장성 등에 대한 장단점을 간단히 소개하고, Coda을 적용한 고가용성 웹 서버의 구현 결과와 향후 개선 방향에 대해서 설명하도록 하겠다.

시계열(time series)이란 한 사상 또는 여러 사상에 대하여 시간의 흐름에 따라 일정한 간격으로 이들을 관측하여 기록한 자료를 말한다. 이러한 시계열은 어떠한 경제현상이나 자연현상에 관한 시간적 변화를 나타내는 역사적 계열(historical series)이므로 어느 한 시점에서 관측된 시계열자료는 그 이전까지의 자료들에 주로 의존하게 된다. 따라서 시계열분석을 통한 예측에서는 과거의 자료들을 분석하여 법칙성을 발견해서 이를 모형화하여 추정하고. 이 추정된 모형을 사용하여 미래에 관측될 값들을 예측하게 된다. 본 연구에서는 ARMA (p, q)모형 (autoregressive moving-average model)을 이용하여 시계열 데이터를 분석하며 계수의 추정에는 Levinson-Durbin 알고리듬과 Newton-Raphson Method를 이용한다.

In this paper, we proposed the implementation of multiple access serial communications with improved transmission control. For serial communications. RS232 protocol is used and the transmitting data and is merged to form data channel. Multiple host access is configures by using the common data channel and ground channel. 8bit data transfer with variable frame size is transferred by using the 16bit host ID. Packet is composed of HEADER, receiver ID. variable length data frame, TAIL and CRC informations. Multiple hosts are allowed to transfer packet with the other hosts through the common communication channel. Byte-stuffing is used to differentiate the transfer rate of PC is performed.

최근에 인터넷의 급격한 수요증가로 인하여 웹서버의 고가용성(high availability)이 절실히 요구되고 있다. 이를 위한 방안으로 클러스터링 가상 서버가 핫이슈로 대두되고 있는 상황에서 이의 가장 핵심부분인 로드밸런스(load balancer)의 고가용성을 위해 고장극복(fault-tolerant) 기법 연구는 필수적이라 할 수 있다. 본 연구에서는 클러스터링 웹서버의 구성과 로드밸런서의 운영방안을 제시하고 특히, 로드밸런서가 고장났을 경우 로드밸런서의 작업을 신속하게 대체하는 방안을 모색한다. 로드밸런서의 구성이 마스터 로드밸런서와 백업 로드밸러서로 구성된다는 가정 하에 백업 로드 밸런서가 마스터 로드밸런서의 작업을 신속히 대체하는 방안을 위해 체크포인트(checkpoint) 기법을 적용한다.

A Fuzzy Hybrid-Multilayer Perceptron (FH-MLP) Structure is proposed in this paper. proposed FH-MLP is not a fixed architecture. that is to say. the number of layers and the number of nodes in each layer of FH-MLP can be generated to adapt to the changing environment. FH-MLP consists of two parts. one is fuzzy nodes which each node is operated as a small fuzzy system with fuzzy implication rules. and its fuzzy system operates with Gaussian or Triangular membership functions in premise part and constants or regression polynomial equation in consequence part. the other is polynomial nodes which several types of high-order polynomial such as linear. quadratic. and cubic form are used and is connected as various kinds of multi-variable inputs. To demonstrate the effectiveness of the proposed method. time series data for gas furnace process has been applied.

본 연구에서는 리눅스 기반의 클러스터링 웹서버를 구성하고, 이 클러스터링 웹서버를 하나의 서버인 것처럼 관리하는 개발툴을 만들었다. 그리고 커널 패치를 통하여 로드밸런서가 다양한 시스템 정보를 밸런싱에 이용하도록 하였다. 각 리얼서버에는 응답 데이터의 양 혹은 각 패킷의 길이에 따라 전송의 순서를 결정하는 QoS를 구현하였다.

이 논문의 목적은 시계열 예측 엔진의 개발과 그 엔진을 Application S/W로 구현하는 것이다 시계열 예측 엔진은 과거의 데이터를 분석하여 예측을 위한 식의 차수와 형태를 결정하고 이를 바탕으로 파라미터를 결정한 후 미래의 간을 예측하는 3가지 단계를 거친다. 석기에 쓰이는 기법들은 여러 가지가 있는데 본 논문에서는 ARMA(Auto Regressive Moving Average)를 기본으로 분석하였다 Application S/W는. 개발된 예측 엔진에서 분석될 과거 데이터를 입력받아 예측 엔진 구동에 사용되고 그 결과를 그래프로 나타내는 일련의 과정을 거친다. Application S/W 개발의 많은 Programming Language가 존재하지만 본 논문에서는 Visual C누 +을 사용하였다. 또한 이 논문에선, 특정 교차로를 통과하는 교통량 변화에 대한 데이터를 이용하여 예측을 수행하고. 그 결과를 Application S/W에 적용시켰다.

현재의 네트웍 환경은 다양한 통신 장비와 서비스들의 개발로 망 구성 요소간 이질적인 특성이 증가함에 따라 복잡해지고 어려워진 반면 사용자의 네트웍에 대한 품질 요구는 점점 더 증가하고 있다. 이러한 환경은 고성능의 네트웍 관리시스템과 전문적인 네트웍 진단기술을 필요로 한다. 하지만 기존의 관리시스템들은 네트웍 트래픽 모니터링에 의한 단순 평면적인 통계 기능을 가지고 있을 뿐만 아니라 네트웍 진단 기술 또한 체계화 되지 못하였다. 따라서 본 논문은 전력통신망에서 네트웍 전체를 대상으로 네트웍 성능, 장애 상태를 분석하여 네트웍의 현황을 진단하고 트래픽 특성을 통한 문제자원을 파악한 후 원인과 해결책을 제공하도록 지능적인 네트웍 분석기법을 통한 효과적인 전력통신망 운용 관리 방안을 제시한다.

TS 퍼지 모델은, 복잡한 비선형 시스템을 효과적으로 표현할 수 있는 주요한 근사 모델 중 하나이다. TS 퍼지 모델링을 위한 기존의 학습 방법론들은 대부분 전역적 근사 오차를 최소화하는 것을 목적으로 하는데, 이러한 경우에는 결과로서 얻어지는 75 퍼지 모델의 국소모델들이 근사 대상 시스템의 국소적 특성을 제대로 표현 할 수 없는 상황이 발생할 수 있다. 따라서 본 논문에서는 이러한 특성을 고려하여 새로운 학습 알고리즘을 제시함으로써 전역 지역적 성능을 동시에 향상시킬 수 있는 TS 퍼지 모델을 구하고자 한다 모델을 구하는데 있어서는 LMI를 이용한 풀이를 이용한다. 그리고 간단한 예제를 통하여 그 성능을 입증한다.

In cope with insufficient agricultural labor and requirement of high quality product Hydroponics is a really good method. It makes the high density agriculture possible and all the growing environments controllable. So its research is so much progressing to maximize the quantity and quality of farm products. Furthermore, the big progress, in the research of a future agriculture. is systematically conducted for the automatic controlled system. In this paper, a practical automatic control cultivation system is implemented. To automatically control and optimize the very nonlinear and time-varying growth of farm products, a hybrid strategy(FECA: Fuzzy Expertized Control Algorithm) is proposed which serially combines a fuzzy expert system with the fuzzy logic control. The fuzzy expert system (FMES: Fuzzy Model-based Expert System) is intended to overcome the non-linearity of the growth of farm products. The part of fuzzy controller is incorporated to solve the time-variance of the growth of farm products. Finally. the efficiency and the effectiveness of the implemented agricultural automation system is presented through the cultivation results.

원자력발전소의 열출력 계산 결과에 가장 큰 영향을 미치는 변수는 주급수 유량이며, 측정방식상의 특성(Venturi Fouling)으로 인해 계산시 과다하게 반영될 소지가 있다 본 연구에서는 이 측정 오차를 최소화하기 위하여 뉴로-퍼지 논리를 이용하여 주급수 유량을 예측한 후 그 결과를 통해 열출력을 재평가하고자 하였다. 즉, 뉴로-퍼지로의 입력 변수(증기발생기 압력 및 수위. 터빈 충동실 압력)들은 모의훈련으로 출력을 상승시키면서 취득한 후 Wavelet Denoising 기법을 이용하여 노이즈를 제거시키고. 뉴로-퍼지 추론 계통의 파라메타들을 최적화시키기 위하여 유전적 알고리듬 및 최소자승법에 의한 Hybrid Learning Rule을 이용하여 학습시켰다. 시뮬레이션을 수행한 결과, 주급수 유량이 양호하게 예측되어, 이 결과를 토대로 열출력을 평가하는데 본 알고리듬의 적용이 성공적임을 입증하였다.

본 논문에서는 BNN, 블록기반 신경망 모델을 재구성가능 하드웨어(FPGA)로 설계한다. 블록기 반 신경망은 재구성가능 하드웨어에 의하여 구현이 용이하고 구조 및 가중치의 최적화에 진화 알고리즘을 적용시킬 수 있다. 블록기반 신경망의 구조와 가중치를 표현하는 바이너리 스트링을 오프라인으로 진화시킨 후, 재구성가능 하드웨어로 구현한다. FPGA로 구현된 블록기반 신경망의 성능을 확인하기 위하여 간단한 성능시험에 사용되는 대표적인 패턴들을 사용하여 블록기반 신경망의 패턴분류 성능을 알아본다.

In this paper. we propose Fuzzy Self-Organizing Networks (FSON) using both Polynomial Neural Networks(PNN) and Fuzzy Neural Networks(FNN) for model identification of complex and nonlinear systems. The proposed FSON is generated from the mutually combined structure of both FNN and PNN. Accordingly it is possible to consider the nonlinearity characteristics of process and to get the better output performance with superb predictive ability. In order to evaluate the performance of proposed models. we use the nonlinear data sets. The results show that the proposed FSON can produce the model with higher accuracy and more robustness than previous any other method.

In this paper, we propose an optimal design method of Fuzzy-Neural Networks model with parallel structure for complex and nonlinear systems. The proposed model is consists of a multiple number of FNN connected in parallel. The proposed FNNs with parallel structure is based on Yamakawa's FNN and it uses simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rules. We use a HCM clustering and GAs to identify the structure and the parameters of the proposed model. Also, a performance index with a weighting factor is presented to achieve a sound balance between approximation and generalization abilities of the model. To evaluate the performance of the proposed model. we use the time series data for gas furnace and the numerical data of nonlinear function.

In this paper, we design a Multi-Fuzzy model by means of clustering method and genetic algorithms for a nonlinear system. In order to determine structure of the proposed Multi-Fuzzy model. HCM clustering method is used. The parameters of membership function of the Multi-Fuzzy are identified by genetic algorithms. We use simplified inference and linear inference as inference method of the proposed Multi-Fuzzy model and the standard least square method for estimating consequence parameters of the Multi-Fuzzy. Finally, we use some of numerical data to evaluate the proposed Multi-Fuzzy model and discuss about the usefulness.

In this paper. we suggest a vector fitness strategy for obstacle avoidance of autonomous mobile robot with genetic algorithm. Ordinary genetic algorithms provide not such a viable solution for autonomous running in a variant environment. because of the difficulty in fitness evaluation in real time. We show that the suggested method is efficient for the problem of autonomous mobile robot. Its control function evolves to adapt the varying environment. The experiment is done using the real mobile robot 'Khepera' with which we use a tournament genetic algorithm model with the Vectored Fitness Genetic Strategy.

The stabilization control of Inverted Pendulum(IP) system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of conventional techniques such as the pole placement and the optimal control based on the local linearizations have narrow stabilizable regions, At the same time, the fine tunings of their gain parameters are also troublesome, Thus, in this paper, an Evolving Neural Network ControlleY(ENNC) which its structure and its connection weights are optimized simultaneously by Real Variable Elitist Genetic Algorithm (RVEGA) was presented for stabilization of an IP system with nonlinearity, This proposed ENNC was described by a simple genetic chromosome. Through the simulation and experimental results, we showed that the finally acquired optimal ENNC was very useful in the stabilization control of IP system.

생명체는 자신을 이루고 있는 단순한 구성요소들이 적은 수의 근본 규칙들에 의하여 국부적 상호작용을 함으로써 복잡한 생명 현상을 보이고있다. 이 연구에서는 생명 현상을 보이고 있는 개체가 많은 수의 단순한 구성 요소들의 집합으로 이루어져 있으며 그러한 구성 요소들이 적은 수의 근본 규칙들에 의하여 서로 국부적인 상호작용을 함으로써 복잡한 행동패턴들을 나타낸다는 가정 아래, 여러 대의 자율이동로봇 (autonomous mobile robot)들의 군지능을 나타낼 수 있는 적은 수의 근본 규칙을 찾아내고 찾아진 근본규칙들을 퍼지규칙으로 표현하는 것을 목표로 한다. 각 자율 이동로봇은 기능이 매우 제한되어 있으며. 자신만의 독특한 신호를 발생한다 이신호를 "heartbeat"이라 부르며 이를 이용하여 대략적으로 자신의 위치와 현재상태를 다른 개체에게 알리는 역할을 한다. 이 논문에서는 "heartbeat"을 이용한 로봇간의 통신과 자재반송이라는 군행동을 퍼지시스템으로 구현하고 이를 평가한다.

In this paper. a new fuzzy modeling algorithm is proposed : it can express a given unknown system with a small number of fuzzy rules and be easily implemented. This method uses an independent array instead of a lattice form for a premise membership function. For the purpose of getting the initial value of fuzzy rules. the method uses the fuzzy c-means clustering method. To optimally tune the initial fuzzy rule. the DNA coding method is also utilized at same time. Box and Jenkins's gas furnace data is used to illustrate the validity of the proposed algorithm.

Biometrics is the electronic recognition of individuals achieved through a process of extracting, and then verifying, features which are unique to that individual. This field is rapidly evolving technology that has to be widely adopted in a broad range of applications. Many methods have been studied such as extraction of the facial features, the voice, the vein and even a person's signature. Among biometrics, a hand veins provide large, robust, stable, hidden biometric features. Hand vein patterns have been proven to be absolutely unique by Cambridge Consultants Ltd. Because of this advantage, hand vein recognition are recently developing field in the field of a security.

본 논문에서는 변전소에서 수용가까지의 전력공급설비를 나타내는 도면인 배전설비도면의 주요 기호인 전주와 전선인식 방법에 관하여 기술한다 본 논문에서는 원형성에 근거하여 전주 후보를 추출한 후 이들 사이의 연결성에 근거하여 전선을 인식한 다음, 전주후보들 중에서 전주를 확인함으로써 전주와 전선을 인식하는 방법을 제안한다 제안된 방법은 다수의 배전 설비도면에 적용하여 실험하고 그 결과를 제시한다.

In general. a speech coding is dedicated to the compression performance or the speech quality. But. the speech coding in this paper is focused on the performance of flexible transmission to the, network speed. For this. the subbanding coding is needed. which is used the wavelet packet concept in the signal analysis. The extraction of each frequency-band is difficult to general signal analysis methods, after coding each band, the reconstruction of these is also a difficult problem. But. with the wavelet packet concept(perfect reconstruction) and its fast computation algorithm. the extraction of each band and the reconstruction are more natural. Also, this paper describes a direct solution of the voice transmission on network and implement this algorithm at the TCP/IP network environment of PC.

Surveillance system on the internet has attained lots of interests recently. Computer gives surveillance system various functions like remote control and motion detecting. In this paper. auto target tracking system using Pan/Tilt camera is suggested. It consists of UNIX server and Pan/Tilt camera. When UNIX server detect motions from images it sends Pan/Tilt command to camera and camera moves by command. After finishing movement camera replies to server and server starts detecting motion again. To improve performance of motion detecting and tracking images are divided into 9 sub-regions and camera behaves differently. It is certain that robust tracking is achieved when sub-region is applied.

Recently the use of Laser Projector is ascending world-widely to make the best effiencies out of the various events & commercials. To produce fixed image through Laser projector, at least 24 times/sec of iteration is required. In this view, its performance is much influenced by coordinates extraction method for high-speed controlling. This paper basically introduces the way of inputting coordinates by extraction directly from outline rather than indicating size and directions of image's outline coordinates which used by renowned US company 'L' and etc.

Real-Time object tracking has emerged as an important component in several application areas including machine vision. surveillance. Human-Computer Interaction. image-based control. and so on. And there has been developed various algorithms for a long time. But in many cases. they have showed limited results under uncontrolled situation such as illumination changes or cluttered background. In this paper. we present a novel. computationally efficient algorithm for tracking human face robustly under illumination changes and cluttered backgrounds. Previous algorithms usually defines color model as a 2D membership function in a color space without consideration for illumination changes. Our new algorithm developed here. however. constructs a 3D color model by analysing plenty of images acquired under various illumination conditions. The algorithm described is applied to a mobile head-eye robot and experimented under various uncontrolled environments. It can track an human face more than 100 frames per second excluding image acquisition time.

GUI(graphical user interface) has been the dominant platform for HCI(human computer interaction). The GUI-based style of interaction has made computers simpler and easier to use. However GUI will not easily support the range of interaction necessary to meet users' needs that are natural, intuitive, and adaptive. In this paper we study an approach to track a hand in an image sequence and recognize it, in each video frame for replacing the mouse as a pointing device to virtual reality. An algorithm for real time processing is proposed by estimating of the position of the hand and segmentation, considering the orientation of motion and color distribution of hand region.

A Stereo matching has been an important tool for reconstructing three dimensional terrain. In this stereo matching process, DEM(Digitai Elevation Map) can be generated by the disparity from reference image to target image. Generally disparity map in matching process can be implemented by wraping from reference image to target image and if the role of reference and target is interchanged, the different DEM can be obtained. To evaluate the generated DEM from matching process, We adapted the Photorealistic synthetic image generator using ray tracing technique. The generator produce two simulated image from previous DEM and Ortho-image which is regard as Ground-truth. In this paper, we are concern about estimating more accurate DEM from these two DEMs. The several fusion methods of two DEMs are proposed to generate accurate DEM and compared with previous method. one of fusion methods is by using Cross-Correlation match score and the true DEM should have a high matching score.

The ability to efficiently and robustly recover accurate 3D terrain models from sets of stereoscopic images is important to many civilian and military applications. To develop an effective and practical terrain modeling system. We propose the methods which detect unreliable elevations in digital elevation maps (DEMs). and fuse several DEMs from multiple sources into an accurate and reliable result. This paper focuses on two key factors for generating robust 3D terrain models. the ability to detect unreliable elevation estimates. and to fuse the reliable elevations into a single optimal terrain model. We apply the correlation score methodology to reconstruct accurate DEM for multi-image and show the method is more effective than the conventional averaging method. The photo-realistic simulator is used for generating four simulated images from ground truth DEM and orthoimage.

Recently. the subject of "wavelet analysis" has drawn much attention from both mathematical and engineering application fields such as Signal Processing, Compression/ Decomposition, Statistics and etc. Analogous to Fourier analysis, wavelets is a versatile tool with very rich mathematical content and great potential for applications. Specially, wavelet transform uses localizable various mother wavelet functions in time-frequency domain. In this paper, discrimination analyses of acquired electrical current signals for each and mixed loads were tried by using Morlet wavelet transform. Their representative loads were classified as TV, DRY, REF, and FL.

The Cellular Nonlinear Networks structure for Distance Transform (DT) and the robust optical flow detection algorithm based on the DT are proposed. The proposed algorithm is for detecting the optical flows on the trajectories only of the feature points. The translation lengths and the directions of feature movements are detected on the trajectories of feature points on which Distance Transform Field is developed. The robustness caused from the use of the Distance Transform and the easiness of hardware implementation with local analog circuits are the properties of the proposed structure, To verify the performance of the proposed structure and the algorithm, simulation has been done about zooming image.

This paper describes a fast image labeling algorithm for the feature extraction of connected components. Labeling the connected regions of a digitized image is a fundamental computation in image analysis and machine vision, with a large number of application that can be found in various literature. This algorithm is designed for the surface defect inspection of Cold Mill Strip. The labeling algorithm permits to separate all of the connected components appearing on the Cold Mill Strip.

A fast optimal path planning algorithm using the analog Cellular Nonlinear Circuits (CNC) is proposed. The proposed algorithm compute the optimal path using subgoal-based dynamic programming algorithm. In the algorithm, the optimal paths are computed regardless of the distance between the initial and the goal position. It begins to find subgoals starting from the initial position when the output of the initial cell becomes nonzero value. The suboal is set as the initial position to find the next subgoal until the final goal is reached. Simulations have been done considering the imprecise hardware fabrication and the limitation of the magnitude of input value.

The appearance and popularization of Internet changes the existing restrictive management system into the new management system on Web. In this paper, We developed real-time management System controlling all sorts of informations from Dong-Hwa dam. Informations from MMI(Man Machine Interface) is stored for DB and Wherever User can use Internet, User can get this informations. We also developed Editor modifying Client Display.

전자상거래의 활성화는 HTML 문서나 Javascript와 같은 웹 문서의 빈번한 전송을 요구할 것이며 이는 향후 인터넷 전송 트래픽을 야기하는 주요 요인이 될 전망이다. 웹 페이지는 비슷한 문장열이 인수에 해당하는 부분만이 변화되면서 반복하는 특징을 갖고 있다. 본 연구에서는 웹 페이지의 이러한 특징을 이용하여 매크로 기법을 사용한 웹 문서 압축 알고리즘을 제안한다 우리는 실험을 통해 본 알고리즘이 꿩 페이지의 저장공간 압축에 좋은 성능을 가짐을 보여줌으로써 전송 시간의 축소의 부가적인 효과를 거둘 수 있었다.

멀티미디어 관련 기술의 발달과 WWW 사용의 보편화에 따른 멀티미디어 관련 서비스 증가로 대량의 멀티미디어 데이터들을 접하게 되었다. 이에 따라 많은 데이터로부터 자신의 원하는 데이터를 찾아 필요한 목적으로 이용하고자 하는 요구가 발생하였다. 이와 같은 요구를 만족시키기 위한 방법들 중 하나로 멀티미디어 마이닝 시스템 구현의 필요성이 증가하고 있다. 본 연구에서는 이러한 멀티미디어 마이닝 시스템을 위한 효율적인 저장 방법과 인덱싱 방법을 가지는 인덱스 시스템의 설계 내용을 보인다.

이동통신단말기 등의 표시소자로 사용되는 LCD(Liquid Crystal Diode)나 LED(Light Emitting Diode)의 표현의 한계를 극복하고 보다 많은 정보를 표시할 수 있는 가상의 화면을 구성하기 위한 400dpi급 LED array 칩과 이를 구동하기 위한 driver 칩을 패키징하는 방법에 대하여 연구하였다. 연성 인쇄회로기판(flexible Printed Circuit) 기판 위에 칩을 실장하여 제품의 소형화와 경량화 그리고 전선을 대체하여 신뢰성을 높일 수 있도록 설계하였고 알루미늄 wire bonding법으로 각각의 칩을 연결하는데 있어 고려해야할 패키지의 조건에 대하여 연구하였다. 본 연구의 목적은 휴대용 이동통신단말기의 경박단 소화를 위한 패키징 기술을 확보하는데 있다.

In this paper. we designed a high precision Linear DC Motor(LDM) Driver with $120^{\circ}$ commutation method. It was composed of three parts which were divided into Power and Inverter Circuit. Analog Circuit with PWM Generation and Fault Protections. and Logic Circuit. We selected PMAC Controller by Delta Tau Co. for testifying a high accuracy of a designed driver. A high precision driver enhanced a response to changes of velocity and acceleration in motion and improved the accuracy.

Fuel cell/battery hybrid power systems were studied to develop high efficient zero-emission fuel cell electric vehicles, Fuel cells were used as an auxiliary energy source and batteries were used as a transient power source. The fuel cell system is used to supply the average power demand. Dynamic response of the hybrid systems was simulated using PSPICE program and also tested experimentally, The results can be used to design the interface module and to determine the power requirement between the fuel cell unit and the battery pack.

본 논문은 대면적 Poly-Si TFT-LCD 구동회로의 면적을 줄이기 위한 효율적인 구동방식을 제안한다. 구체적으로 화소의 충전 시간을 줄이기 위한 화면 수평 분할 구동방식과 데이터 라인 프리차징 방식을 제안한다. 또한 수평분할 구동을 위한 Bit-Reduced R-DAC를 제안한다. 마지막으로 본 논문에서는 제안하는 구동 방식을 14 1" XGA 6-bit 일체형 디지털 Poly-Si TFT-LCD 구동회로에 적용하여 효용성을 검증한다 시뮬레이션 결과 계조별 평균 구동오차는 14mv로서 1/2 LSB(${\risingdotseq}$23mV) 정확도 요구 조건을 만족한다. 데이터 드라이버의 폭은 상 하단 각각 약 6mm이며 이는 기존 설계에 비해 66% 감소한 값이다.

In this paper, we introduce a charge pump PLL architecture which employs precharge phase frequency detector(PFD) and sequential PFD to achieve high frequency operation and fast acquisition. Operation frequency is increased by using precharge PFD when the phase difference is within -${\pi}\;{\sim}\;{\pi}$ and acquisition time is shortened by using sequential PFD and increased charge pump current when the phase difference is larger than |${\pi}$|. SO error detection range of proposed PLL structure is not limited to -${\pi}\;{\sim}\;{\pi}$. By virtue of this multi-phase frequency detector structure, the maximum operating frequency of 423MHz at 2.5V and faster acquisition were achieved by simulation.

FFT 알고리즘은 DC 성분에서부터 나이퀴스트 주파수까지 주파수 성분에 관한 해석이며, 주파수 정밀도는 DC 성분에서부터 나이퀴스트 주파수까지의 샘플 수에 의존했다. 하지만 많은 경우, 특정한 주파수 대역에 대한 주파수 정보를 보다 정확하게 분석하고자 하는 상황이 나타난다. 이렇게 특정 주파수 대역에 대해서 확장된 분석을 수행하는 것을 Zoom FFT라 한다. 하지만, 이러한 Zoom FFT를 수행한다 할지라도 FFT 알고리즘이 가지는 특성상 입력 신호가 가지는 정확한 주파수 성분을 얻는다는 것은 불 가능하다. 본 논문에서는 Zoom FFT를 수행하는 방법과 수행했을 때 발생하는 에러에 관해서 다룬다.

In the distribution systems, there are generally two sources of transient over-voltages. One is the capacitor switching surge and the other is the lightning surge. This paper is written about the measuring and analysis of switching over-voltages in the 22.9 kV multi-grounded distribution systems. The measurement was performed in the Kochang distribution test line in January, 2000.

In this paper, we design PLL for a low jitter and fast locking time that is used a new simple precharged CMOS phase frequency detector(PFD). The proposed PFD has a simple structure with using only 18 transistors. Futhermore, the PFD has a dead zone 25ps in the phase characteristic which is important in low jitter applications. The phase and frequency error detection range is not limited as the case of other precharge type PFDs. the simulation results base on a third order PLL are presented to verify the lock in process with the proposed PFD. the PLL using the new PED is designed using 0.25${\mu}m$ CMOS technology with 2.5V supply voltage.

In this paper, we propose to a robust frequency offset estimation method of OFDM signals. A carrier frequency offset may be decomposed into an integer multiple of the subcarrier spacing and a residual frequency offset. Fractional part of frequency offset is obtained by using the maximum likelihood estimation(MLE) method. And we use the correlation of the samples at the output of the discrete Fourier transform(DFT) to estimate integer part of frequency offset. The result shows that the estimation frequency offset is almost linear to frequency offset. We propose to an improved estimation error variance of the carrier frequency offset estimation. The proposed estimator has better performance than the conventional ones in terms of error variance and tracking range.

본 논문은 RF/ID 카드를 이용한 도어락 시스템의 개발에 관한 것이다. 기존 기계적 도어락 시스템의 보안과 편리성을 도모하기 위해 전자식 도어락가 현재 널리 쓰이고 있다. 대부분의 도어락 시스템이 버튼식이지만 현재 RF/ID 카드를 많이 쓰는 추세이다. RF/ID카드는 비접촉식으로 보안성과 그 신뢰성이 뛰어나며 안테나 설계와 Tag의 특성에 따라서 그 통신 범위도 작게는 몇Cm에서 크게는 몇십m 까지 된다. 따라서 그 응용 범위 또한 광범위해서 사람. 개체. 물류등의 개체인식에 널리 쓰이고 있다. 본 논문은 이러한 RF/ID 카드를 소규모 도어락 시스템을 요구하는 가정, 또는 오피스텔과 같은 곳에서 쓰일 수 있는 도어락 시스템을 개발하였다.

본 논문은 고압배전선을 이용한 가입자망 개발에 필수적으로 상용되는 고압배전선용 커플러 개발에 관한 것이다. 개발된 고압배전선용 커플링 장치는 고압용 커패시터와 초크코일 및 커플링 트랜스포머로 구성되어 있다. 특히 개발된 커플링 트랜스포머는 1Mhz - 40Mhz 주파수 대역에서 0.1dB 이하의 손실을 가지는 광대역 저손실 특성을 가지는 것으로 평가되었다. 개발된 커플링 장치는 앞으로 전력선 가입자망 구성 및 임피던스 측정장치에 활용하고자 한다.

Recently. internet applications for efficient cyber education have drawn much interests. The world-wide web provides new opportunities for cyber education over the internet. This paper presents a virtual lab system which can be used on the world-wide web. The proposed virtual lab system provides the improved learning methods which can enhance the educational efficiency in electrical engineering experiments. If the students enter the virtual lab system on the web. they can make experiments on basic electrical and electronic principles through simple mouse manipulation. Since proposed virtual lab system is implemented to describe the actual lab system. the students can obtain similar experimental data through it. Several sample Java applets are illustrated as examples.

Recently. internet applications for efficient cyber education have drawn much interests. The world-wide web provides new opportunities for cyber education over the internet. In this paper, we developed the internet-based educational simulator for design and virtual experiment of the digital logic circuits. The proposed simulator provides the improved learning methods which can enhance the educational efficiency in digital theory. If the students execute the Digital simulator on the web. they can simulate in digital circuits through simple mouse manipulation. The proposed digital simulator can be used so that the students can easily understand the well-known digital principles.

기존의 LMS 알고리듬을 이용한 적응필터에 비해 연산횟수를 줄이고 입력신호의 통계적 특성에 덜 민감한 적응필터를 제안한다. 입력 신호와 기준신호에 대한 고속 하다마드 변환을 수행한 후 하다마드 변환 영역에서 LMS 알고리듬을 적용한다 기존의 적응필터와 비교하여 필터의 입력신호 추정 성능은 유지하면서 고속 하다마드 변환으로 인해 적응과정에서의 곱셈연산이 크게 줄어드며 잡음의 분산값 변화와 같은 입력신호의 변화에 대한 필터의 안정도와 강인성이 크게 향상됨을 보인다.

In this paper. a stable IIR adaptive filter for active noise control is proposed. The IIR filter structure is more effective when acoustic feedback exists, in which case an order of a FIR filter must be very large if some of the poles of the ideal control filter are near the unit circle. But the IIR filter may have stability problems especially when the adaptive algorithm is not converged. A stabilizing procedure for IIR adaptive filter is presented in this paper, and computer simulation is performed to show the effectiveness of proposed schemes.

Power line communications is a topic which has been studied for many years, However. the technology has not been widely adopted for data networking in homes and small businesses due to low speed. low functionality. and other barriers. Recently. with a proper technology. it is shown that the power line infrastructure can also be served as a high-speed communications medium. This paper describes a transmission scheme for power lines that is based on orthogonal frequency division multiplex(OFDM) technique. This technique can be used for high-speed data communication over the power line. This paper also presents an adaptive tracking algorithm which allocate bits and power adaptively according to the channel characteristics. The performance of the proposed scheme has been demonstrated by some simulations with taking modeled channel conditions into account.

The application of IR(Infrared) communication is very wide and IR receiver has become a standard of home entertainment. A preamplifier with single 5V supply was designed for IR receiver IC. To operate at long distance, receiver IC should have high gain and low noise characteristic. To provide constant output signal magnitude, independent of transciever distance, gain limiting stage is needed. And to cut-off DC noise component effectively, large resistance and capacitance are required. Transimpedance type preamplifier, and diode limiting amplifier, and current limiting amplifier were designed. It is another function of current limiting amplifier that transforms single input signal to differential output signal. Using AMS BiCMOS model, both BJT version and MOS version was designed. Total power consumption is O.lmW, and IC size is $0.3mm^2$

본 논문에서는 광 다이오드에서 들어오는 신호로부터 원하는 대역의 신호를 얻기 위한 적외선 수신 IC에 적합한 대역통과필터를 설계하였다 설계한 대역통과필터는 2차 Biquad gm-C 필터의 구조를 이용하여 중심주파수가 38kHz. Quality factor가 10인 필터를 구현하였다. 구현된 대역통과필터는 필터부분과 중심주파수를 보정해 주는 frequency tuning 부분으로 구성되어 있다. 낮은 transconductance와 높은 선형성을 요구하는 transconductor의 설계를 위해 Gilbert 곱셈기 특성을 이용하여 구현하였고 AMS사의 0.8${\mu}m$ BiCMOS model을 사용하여 +5V로 동작되도록 설계 하였다

The Cathodic Protection system which is usually applied to marine metallic structures in domestic is Sacrificial Anode Method. In general, low efficiency rectifiers are using in the field of Cathodic Protection. These rectifiers are not only low efficiency but also manual type which is not able to control remotely. In this paper we describe the high efficiency rectifier used the high speed switching method for optimum corrosion control of marine metallic structures.

RFID (Radio Frequency Identification) system is applied to identify, locate and track people, cars, animals. Passive RFID system consists of reader and tag. The reader transmits a carrier signal, receives the backscattering signal, performs data processing. The tag is energized by carrier signal that is transmitted from the reader and the information stored in the tag is transmitted back to the reader. In this paper, the design and analysis of the 125kHz RFID system is presented and is confirmed through experiment.

마이크로머시닝을 이용한 각속도 센서에서는 기계 구조체의 기준진동에 의한 캐패시턴스의 변화와 인가되는 각속도에 따른 캐패시턴스의 변화를 감지하야 한다. 이러한 캐패시턴스의 변화량을 전기적으로 감지하는데 있어서 기준진동을 위해 구조체에 인가되는 구동신호의 간섭이 최소화 되도록 구조체를 설계하여야 하고 회로적으로 간섭을 상쇄할 수 있어야 미소한 캐패시턴스의 변화량을 감지하여 각속도 센서의 감도를 극대화할 수 있다. 본 논문에서는 이러한 구동신호의 간섭을 상쇄하여 미소캐패시턴스 변화를 감지하는 회로를 설계 하였다.

전압제어 트랜스컨덕터를 설계하여 튜닝범 위가 넓은 Gm-C 대역통과 필터를 CMOS 공정으로 설계하였다 Gm-C 필터는 트랜스컨덕터와 캐패시터로 구성된 적분기를 기본으로 구현되고 있다. 따라서 트랜스 컨덕터는 출력단에 캐패시터를 연결하였을 때 이상적인적인 적분기의 특성에 가까울수록 필터의 특성이 좋아지고 PLL 구조의 튜닝이 용이해진다. 본 논문에서는 1:3이상의 범위에서 튜닝이 가능하고 PLL을 기본으로한 자동튜닝과 선형전압 튜닝을 조합하여 주파수 제어회로를 설계하였다.

청각시스템의 저전력 및 가격의 저렴화를 위해 달팽이관의 BM(Basilar Membrain)모델을 아날로그 VLSI 마이크로 파워 공정으로 구현하고 있다. Lyon and Mead는 실리론 공정으로 달팽이관 모델을 효과적으로 구현하였다. 이는 단순 직렬 연결된 구조로 각 채널의 지연시간의 차이로 인해 인식율이 떨어질 수 있다. 본 논문에서는 소리의 주파수 정보 추출기능을 하는 직렬 연결된 트리구조(TSBF:Tree-structured Cascaded Bandpass Filter)의 16채널의 아날로그 중간대역통과 필터회로를 CMOS VLSI 공정을 이용하여 설계하였다. 직렬 연결된 저대역통과필터와 고대역통과필터로 각 채널의 중간대역통과 필터를 구현하였다. 이러한 구조에서는 각 채널의 지연시간이 동일하므로 인식율을 높일 수 있다. 그리고 고대역통과필터를 1-poly 디지털 공정으로 구현 가능하고 기생 캐패시터의 영향을 적게 받는 구조로 설계하였다.

A passive RFID system consists of reader and tag. Reader is required the filter to modulate the data from backscattering signal which is transmitted by tag. The filter in the reader consists of envelope detector, amplifier, filter, and pulse shaping circuit, In this paper, design and analysis of filter in the RFID system which is operated at l3.56MHz carrier and 70KHz backscattering signal frequency is presented and is confirmed by simulation using Pspice.

Turbo codes that have attracted a great attention in recent years are applied to wireless communication networks that require variable quality of service and transmit over unknown fading channel. A MAP decoder is the constituent of turbo decoder. In this paper, we propose a high speed architecture of MAP decoder and a new normalization technique, In conclusion, this paper presents the efficient implementation of serial block MAP decoder for turbo codes.

현재 국내에서 사용되는 교통신호등용 전구는 전량 해외에서 수입하는 백열전구로써 발열에 의한 낮은 발광 효율과 짧은 수명으로. 전력의 과소비와 과중한 전력요금 부담. 잦은 유지보수로 관리비용의 증가와 교통환경 악화의 원인이 되고 있으며, 국가적으로는 귀중한 에너지의 낭비, 첨두부하 증가에 따른 전력수요관리의 어려움, 발전용 화석연료 사용증가에 따른 환경오염 유발 등의 문제가 발생하고 있다. 그러나 $8{\sim}12$인치의 원형(또는 사각) PCB 기판에 수백개의 고휘도 LED(반도체 발광 다이오드, Light Emitting Diode)와 구동회로로 구성되는 LED 교통신호등은 발열에 의한 열손실이 거의 없고, 특정 파장대의 단색광을 발광하여 착색렌즈 사용에 따른 빛손실이 없어 80% 이상의 대폭적인 에너지 절약이 가능하며. 또한 긴 수명으로 유지보수비용의 절감 및 교통환경개선 효과가 크게 기대되어 미국, 일본 등 고휘도 LEB 기술 선진국을 중심으로 경쟁적으로 LED 신호등 기술개발에 심혈을 기울이고 있으며, 일부 시범 보급중에 있다. 교통신호등은 특성상 국민의 안전과 직결된 사안으로 엄격한 규격으로 제한하고 있다. 그러나 LED 신호등은 발광 원리 및 발광 방식이 기존의 전구식과 달라 현재 규정된 시험방법으로 직접 평가가 불가능하다. 따라서 우리나라의 경우 LED 제조 기술은 세계적인 수준이나 LED 신호등에 대한 기술개발 및 보급은 현실적으로 어려운 실정이다. 본 논문에서는 에너지절약형 우리나라 환경 특성에 적합한 LED 교통 신호등의 규격 제정 및 국내 보급환경 구축을 위해 LED 신호등에 대한 시제품의 특성을 장시간의 옥외 시험을 통해 평가하고자 한다.

본 논문에서는 HSV 공간에서의 색상 히스토그램을 이용하여 분할을 수행하여 얻어진 색상 정보와 영상의 에지를 추출한 후 각각의 에지 포인트에 대한 기울기를 히스토그램으로 만들어서 얻어지는 형태 정보를 이용하여 색상 영상 데이터베이스 상에서 영상 검색을 수행할 수 있는 방법을 제시한다. 트레이드마크 영상 데이터베이스에 대해 영상 검색을 수행하여 기존의 영상 검색 방법과의 비교를 통하여 제안한 방법의 우수함을 보이고 일반 영상 데이터베이스의 검색에도 우수하게 적용 가능함을 제시하고자 한다.

Soft Output Viterbi Algorithm is modification of Viterbi algorithm to deliver not only the decoded codewords but also a posteriori probability for each bit. This paper presents SOVA decoder which can be used for component decoder of turbo decoder. We used two-step SMU architectures combined with systolic array traceback methods to reduce the complexity of the design. We followed the specification of CDMA2000 system for SOVA decoder design.

변화 부호화는 기존에 부호화 되어있는 영상의 비트율을 더 낮은 비트율의 영상으로 재 부호화하거나. 다른 부호화 표준으로 재 부호화 하는 기법이다. 변환 부호화기의 설계에서 가장 중요시되는 문제는 화질 향상과 부호화 속도의 향상이다. 변환 부호화기의 많은 응용분야에서 실시간 변환을 필요로 하기 때문에 변환 속도를 향상시키면서 화질을 높이는 방법이 연구되어 왔다. 비트율 변환비가 매우 클 때에나 표준화 방법의 목적 영상 사이즈가 다를 때엔 비트율의 변환과 함께 영상의 크기를 함께 변환(1/2)해 주어야할 필요가 있다. 본 논문에서는 이러한 경우에 적합한 변환 부호화기법을 제안한다. 우선 영상의 크기를 다운스케일링 해 준후, 기존 영상의 움직임 벡터들로부터 AWW기법을 이용해 1차 추정 벡터를 추출하여 속도를 향상시키고, 1차 추출 벡터 부근의 한정된 영역으로부터 움직임 벡터 추정과정을 거쳐 최종 추정 벡터를 정제하여 화질을 향상시킨다. 실험 결과 기존의 재 부호화 기법에 비해 속도가 향상됨을 확인 할 수 있었으며. AWW 기법에 비해 연산량은 조금 많아지나 정제 과정을 통하여 약 1dB 정도의 화질 향상이 있음을 확인할 수 있었다.

In code division multiple access systems using all-optical signal processing, the optical multiple access interference by simultaneous multiple users degrades the system performance and eventually can limit the number of active users. To reduce the effect of the interference, error-correction codes are used in 2-dimensional FO-CDMA systems. In this paper we propose a method of applying product code to 2-dimensional FO-CDMA systems. The proposed coding scheme can correct a random error and burst errors with small redundancy to the conventional case. In result we show significant performance enhancement of the system in terms of HER, the number of active users.

This paper proposed variable threshold dual rate ADPCM coding method which is modified from the standard ADPCM of ITU G.726 for speech quality improvement. The speech quality of variable threshold dual rate ADPCM is better than single rate ADPCM at noisy environment without increasing the complexity by using ZCR(Zero Crossing Rate). In this case, ZCR is used to divide input signal samples into two categories(noisy & speech). The samples with higher ZCR is categorized as the noisy region and the samples with lower ZCR is categorized as the speech region. Noisy region uses higher threshold value to be compressed by 16Kbps for reduced bit rates and the speech region uses lower threshold value to be compressed by 40Kbps for improved speech quality. Comparing with the conventional ADPCM, which adapts the fixed coding rate. the proposed variable threshold dual rate ADPCM coding method improves noise character without increasing the bit rate. For real time applications, ZCR calculation was considered as a simple method to obtain the background noise information for preprocess of speech analysis such as FFT and the experiment showed that the simple calculation of ZCR can be used without complexity increase. Dual rate ADPCM can decrease the amount of transferred data efficiently without increasing complexity nor reducing speech quality. Therefore result of this paper can be applied for real-time speech application such as the internet phone or VoIP.

Most metal structures such as gas pipelines. oil pipelines, hot water pipelines and power cables etc. are buried in underground. Normally. metal structures corrode in underground by the electrochemical reaction. Then, metal structures need to be protected against corrosion. Cathodic protection is one of useful methods to protect metal structures against corrosion. In this paper we do the design of anode shape using Boundary Element Method. So we analysis the current density of anode surface and the potential distribution in the electrolyte. Therefore we seek to maximize the anode life and the safety of metal structures.

It is necessary to collect and analyze the corrosion date to control the underground metallic structures systematically. It can be possible to predict the remaining life of underground metallic structures. In this paper we describe the life prediction technology of cathodic protection systems and underground metallic structures without a cathodic protection system.

전압원과 전류원 및 RLC 수동소자들로 구성된 대형회로망에서 망(網)과 마디를 복합시킨 새로운 회로망 해석법을 제시하였다. 종래의 수식적 유도 과정이 불필요하며 도식적 추출에 의해 대형회로망을 간단히 해석한다 각 전원은 직렬 또는 병렬 임피던스를 반드시 수반하고 있지 않아도 무방하다. 망 설정과 마디 선정 과정에서의 전원 처리에 의해 회로망의 도형화 시켰고, 그로부터 행렬 형태의 부분 식을 도출하였다. 망해석법에 의한 방식과 마디해석법에 의한 기법이 가지전류방향 행렬에 의해 합성된다. 합성된 최종 식은 컴퓨터 몫이다.

In this thesis, a controller which is appropriate for uses of scanner with small error and high speed response is proposed. Recently the application field of scanner is on increase. In case of applying to laser marking, the error of scanner has bad effect to quality. Also it can make difficulties in applying laser show that makes images, unless the high speed response is not realized. For these reasons, a controller that can adjust error and response is need. Because scanner must respond to step input that is put between a few millisecond and hundreds of microsecond with small revolution angle ranges, it is advantageous to have small inertia and large torque. First, the property of scanner is treated, and then using Op-amp and passive components and applying feedback compensation PID controller to design, the effects by controller coefficients are introduced.

As the fact that the simple data of text and sound in early year have been changed to be high quality images and sounds. PLL(Phase-Locked Loop) system plays an important role in communication system. VCO(Voltage Controlled Oscillator) is the most important part in PLL system because it can have critical effects on operation of PLL. Recently, it has been raised the necessity of high speed and high accuracy circuit application. In this paper, a new differential voltage clamped VCO using negative-skewed path is suggested. Using a dual-delay scheme to implement the VCO, higher operation frequency and wider tuning are achieved simultaneously. The dual-delay scheme means that both the negative skewed delay paths and the normal delay paths exist in the same ring oscillator. The negative skewed delay paths decrease the unit delay time of the ring oscillator below the single inverter delay time. As a result, higher operation frequency can be obtained. The whole characteristics of VCO are simulated by using HSPICE. Simulation results show that the resulting operating frequencies are 50% higher than those obtainable from the conventional approaches.

This paper describes the remote monitoring & diagnosis system of tower parking facilities. This system consists of central station, monitoring equipments and parking system control panel. The central station is developed under client/server architecture, and the monitoring systems are connected to central station by LAN using RAS constructed PSTN. This system offers real-time fault detection and data acquisition of tower parking system.

Based on fuzzy control algorithm this paper constructed fuzzy controller for automated vehicles. For passenger's convenience especially comfortability controller need to reduce the frequency of input variable's changing. So we established membership functions for comfortability as well as speed following. It made possible to control comfortability directly. To demonstration the efficiency of fuzzy controller, we carried out simulation with a automobile's transfer function. Also we compared the difference of input variable. By comparing two controller's response, we can confirm the merit of fuzzy controller about comfortability. Fuzzy controller can reduce input changing frequency.

This paper is aimed to handle quick work for all the workers and to improve the productivity by adding more effective content in Crane Monitoring System. The contributing proportion of the increase of port productivity is more increasing concerning not only the port industry, but also all the informations of container crane which is the representative equipment by the rapid increase of the volume of freight of port. The basic of rapid service is the improvement of the productivity, the information of operation as to the productivity of crane for the quick handling within yard and especially the informations of breakdown and to handle breakdown as soon as possible has a great effect on the increase of productivity.

Many I/o cards such as AOCs, DICs, DOCs and ROCs are used to deal with I&C instruments of control panel in full-scope power plant simulator. To help the maintenance of I/O cards, an I/o card fault diagnosis system is implemented in this paper. The implemented fault diagnosis system has the automatic fault diagnosis function and manual card test function for fault diagnosis. Finally, the test result using I/O cards shows the validity of the implemented fault diagnosis system.

Narrowband active noise control (ANC) techniques to reduce the noise in thermal power plant are considered. To reduce the computational burden of the ANC system, an adjoint LMS algorithm instead of a filteredx LMS algorithm is used for adaptive filters. The square wave signal is used for the reference signal of adaptive filters to reduce the higher order harmonics as well as the fundamental frequency of noise. A computer simulation has done to show the effectiveness of a proposed algorithm.

엘리베이터의 고장 상태를 원격지에서도 상시 감시할 수 있는 시스템을 구현하였다 엘리베이터에 고장이 발생하는 경우에는 신속한 수리가 매우 중요하지만, 엘리베이터마다 전문 기술 인을 상시 근무시키는 일은 쉽지 않다. 본 논문은 최근 발달한 컴퓨터와 통신망 기술을 이용하여 대량의 엘리베이터를 원격지에서 전문적으로 감시하게 하여 엘리베이터 이용자에게는 보다 안전한 운전과 신속한 수리를 보장받게 하고 엘리베이터 관리회사는 신용과 효율성을 확보할 수 있게 하기 위한 것이다. 이 시스템은 엘리베이터 상태 감시 모듈, 비상사태 상태감시 모듈, 음성 및 데이터 통신망 및 원격 모니터링 시스템으로 구성된다. 상태 감시모듈은 엘리베이터의 비정상적인 동작을 상시 감시하여 이상 발생 시 엘리베이터의 관리회사에 즉시 통보하며, 비상사태 감시 모듈은 엘리베이터 내부의 소음 상태를 측정하여 강도나 엘리베이터의 갇힘 상태 등을 감시한다. 또, 음성 및 데이터 통신망은 기존의 전화 연결 망에 모뎀을 통하여 연결되게 함으로써 저렴한 가격으로 구성이 가능하게 하며, 원격 모니터링 시스템은 관리회사에 보고된 엘리베이터의 이상 상태를 그래픽을 통하여 적절히 표시하고 응급 조치 연락망에 연락하거나 수리에 필요한 기구나 부품들을 제시한다.

In general, analog tester or strip chart recorder have been used to measure the corrosion potential of structures such as gas pipelines, oil pipelines, hot water pipelines, power cables etc. Recently, automatic digital data logger substitutes for these manual equipment because using these manual equipments are tedious and time consuming. However, digital data logger also has a shortcoming, that is, short measuring time because of the short lifetime of batteries. Therefore, we developed a long lifetime and low power loss battery taking advantage of galvanic series. In this paper, the results of development for power generator using two metals and DC/DC converter in order to obtain enough voltage for the operation of digital data logger. DC/DC converter operates with 0.5[V]. Its output voltage is 3.5[V] and output current is from 60[mAh] to 1,200[mAh].

X-ray CT(Computed Tomography) has been a good modality for non-invasive diagnosis and recently, Conventional CT has been replaced rapidly with Spiral CT in recent. In X-ray CT, spiral scanning has various advantages such as better image quality, reduced scan time (in a single breath-hold), a lower x-ray dose. But, it requires very fast and high performance image processing system to reconstruct slice images from spiral scanning. This paper describes the fast image reconstruction techniques with filtered back projection from the viewpoints of fast algorithm as well as hardware implementation for real-time imaging.

We designed and manufactured 300MHz NMR RF Transceiver. NMR system is composed of NMR Spectrometer, Superconductive Magnet and Pulse Programmer, GUI. NMR RF Transceiver is composed of transmitter, receiver, frequency synthesizer. T/R switch, main power amp., RF coil. To phase modulation, transmitter is composed of mixer, splitter and combiner et al. To weak signal detection, receiver is composed of pre-amp., filter, mixer et al. Each module is manufactured PCB. And installed NMR system to detect chemical component of specimen. In result, we can get the information of specimen.

뇌자도 신호의 측정은 뇌에서 발생하는 자장 성분을 정밀하게 측정할 수 있으나, 신호의 크기가 매우 작기 때문에 노이즈에 매우 민감하게 동작하며 이러한 노이즈 성분의 발생원인은 외부 환경에 의하여 발생하거나 시스템 내부에서 발생하는 두가지로 나눌 수 있다. 따라서 뇌자도 신호를 측정하는데 있어서 가장 중요한 작업은 신호에 존재하는 노이즈 성분을 제거하는 것이다. 특히 뇌자도 측정 시스템에서는 외부 노이즈 성분을 제거하기 위하여 레퍼런스 채널이 존재한다. 따라서 본 논문에서는 청각 자극 신호에 의한 뇌자도 신호를 측정하고 측정한 데이터를 사용하여 레퍼런스 채널과 입력신호에 대하여 LMS 알고리즘을 이용한 적응 필터를 모델링 하였다. 그리고, 구현한 적응 필터를 이용하여 뇌자도 신호의 평균값, 표준편차의 통계적 결과를 비교하여 모델링한 적응 필터 방법의 유용성을 확인하였다.

Projection-type Fast Spin Echo (PFSE) imaging has robustness against motion artifacts due to patient motion during magnetic resonance imaging data acquisition, or reduce flow artifacts. However, it has difficulty in controlling T2 contrast. In this paper, T2 contrast in the PFSE method is analyzed. The contrasts in FSE and PFSE method are compared by computer simulation and experiments with volunteers.

본 논문에서는 바이오피드백(Biofeedback) 항문 괄약근 조절 시스템(Anal Spincter Control System)을 제작 및 구현하였다. 제작 및 구현된 시스템은 특발성 만성 변비증 및 특발성 만성 또는 신경인성 만성 변실금증 환자의 항문 괄약근 훈련 및 치료에 유용하다. 본 논문의 주된 내용은 마이크로 볼트 단위의 미세한 신호인 항문 괄약근 근전도 신호를 왜곡없이 증폭하여 검출하기 위한 바이오피드백 항문 괄약근 근전도 증폭기 (Anal EMG Amplifier) 및 신호처리기(Signal Processor)로 구성되어 있으며 사용자가 항문 괄약근 근전도 신호를 확인할 수 있도록 LED display와 스피커 출력 기능을 구현하여 monitoring을 가능하게 했다.

In this study, the variations of human physiological signals(EEG and ERG) were measured on a various optic stimulation. From the analysis of the physiological signals, it was cleared that the optimum intensity of light exits at its sensing.

본 논문은 청각 자극이 제시되었을 때 변화되는 뇌파로부터 의미 있는 특징을 찾아내서 정량화 할 수 있는 변수 추출 및 분류 기법을 제시한다. 건강한 피실험자로부터 방향성 있는 청각 자극을 인가했을 때의 뇌파를 검출, 분류하였다. 뇌파의 변수 추출 방법으로는 짧은 시간영역에서의 신호의 갑작스런 변화량도 정량적으로 분석할 수 있는 Mallat's A1gorithm을 이용한 웨이블릿 변환(wavelet transform)을 적용하였고, 분류 방법으로는 그 결과로 나온 웨이블릿 계수를 변수로 하여 Neural Network을 학습하여 사용하였다. 향후 피실험자의 훈련을 통해서 청각 자극이 없이 순수한 생각만으로 방향을 검출할 수 있는 뇌파분석기를 만든다면 생각만으로도 물체의 방향을 제어할 수 있을 것이다.

DR (Digital Radiography) system will be the best candidate for next generation x-ray diagnosis system. DR system will replace x-ray film by computer monitor and provide various merits like reduced processing time, easy recording, remote diagnosis and etc. In this paper, we propose the pre-processing algorithm which is designed to compensate dead and defected pixel for x-ray detector panel. We also designed DSP(Digital Signal Processor) based DR image processing board for real-time processing of suggested algorithm.

A new method for HRV(heart rate variability} detection from the R-wave signal, based on the IPFM (integral pulse frequency modulation) model and its similarity to pulse position modulation, is presented. The proposed method exert lowpass filtering with a Kaiser window. In this paper, The proposed method presents a powerful, but simple, tool for investigation of HRV. It also guarantees real-time behavior, simplicity in design, and phase linearity. Even without the basic assumption of IPFM model, the new algorithm can still be used on-line and with higher performance. It is thoroughly proved that lowpass filtering is an ideal method for PSD (Power Spectrum Density) analysis of HRV.

본 논문에서는 의료 영상분야에서 많이 활용되고 있는 기존의 영상 획득,저장 및 전송 시스템(PACS)에 스테레오 내시경 영상이 추가될 수 있도록 기존의 PACS에 스테레오 기능의 관찰(viewing) 시스템을 추가하였으며 기본 기능으로 1) 3차원 스테레오 좌,우 독립 영상의 선택과 합성 2) 기존의 합성된 스테레오 영상의 선택이 가능하도록 하였으며 3) 스테레오 영상의 Dicom 표준이 없는 상황을 고려하여 기본적인 카메라 관련 사항(카메라 사양, 초점 거리, 베이스라인 등)을 입력할 수 있는 기록 필드를 삽입하였다. 또한 임상적으로 수용 가능한 3차원 스테레오 영상의 PACS내 효율적 저장법을 제시하기 위하여 의료 영상에 많이 활용되는 JPEG과 Wavelet 압축법을 각각 이용하여 3차원 좌,우 독립영상과 복합 영상의 효율적 압축비를 PSNR을 중심으로 비교하였다.

본 논문의 목적은 음주섭취로 인한 혈중 알코올 농도에 따른 뇌의 활동도변화를 측정, 분석하는데 있다. 1차원 시계열데이터인 EEG신호는 생체 비선형 동역학 시스템으로부터 발생하는 Deterministic Nonlinear Chaos신호로써 무작위적인 신호와는 구분되어질 수 있다. EEG시계열데이터를 위상공간에 적절한 어트랙터로 재구성하여 상관차원 최대발산지수 등의 카오스 지수들을 추출하여보면 EEG시계열데이터가 무작위적인 계에서 발생하는 랜덤한 신호가 아닌 카오스계에서 기인함을 알 수 있고, 인간의 정신상태에 따른 뇌의 활동도를 정성적, 정량적으로 판별해 볼 수 있다. 이러한 카오스 분석방법을 토대로 음주전의 뇌의 활동도와 음주후 혈중알코올 농도에 따른 뇌의 활동도변화를 EEG의 카오스 지수들의 변화를 통해 분석해 보았다.

Recent progress in the medical informatics enables us to use the medical information regardless on the time or place limit, to make a diagnostic and therapeutic plan, according to increasing need about health of general population. There are many database oriented sites on the web, which provide medical common senses, hospital information, and medical counselling on the web. But there are few oriental pulse database on the web. The purpose of this study is to develope the Clinical Oriental Pulse Database Management System over the WWW.

From ancient times, the diagnosis method of the oriental medicine has been performed by curing diseases by means of rectifying and adjusting the unbalance in the physiological function of the five viscera and the six bowels of a human body. Diseases have been diagnosed by the condition of blood circulation that cycles a human body through blood vessels by dint of the vitality of the heart. Based on such a systematic pulse diagnosis method, the article presents parameters that will be beneficial to clinical application on the basis of its analysis of the filtering for eliminating noises from pulse signals inputted from sensor group, the digital hardware dealing with signals necessary for recognition algorithm, and the structure of diagnosis algorithm and components of pulse waveform.

We present an interactive virtual bronchoscopy method, which uses a tree structure of the objects and physically based camera control model. The proposed method archieves faster response by rendering only visible branches using the tree structure of the bronchus. A collision detection algorithm supplies a convenient and intuitive mechanism for examining the bronchus inner surface while a voiding collisions. We have improved the performances of navigation speed in virtual bronchoscopy.

So many terms of electrical engineering are nationalized words and Japanese words written in Chinese characters because electrical engineering is introduced from foreign countries. Many students who are not familiar to Chinese characters are difficult to study with this terms in the first step of electrical engineering. In this study, the systematic compilation method of electrical dictionaries is proposed, which is based on the method of the standard Korean dictionary. Through this method, more systematic Korean electrical dictionaries will be compiled.