• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.42 no.6
• /
• pp.1-8
• /
• 2005

The calculation of parameters of a process model is modified to find better sliding mode controller for a process. A design method by Camacho has such problems as chattering and overshoot due to the Taylor the approximation errors for the time delay term of the first order model. In this paper, a new design technique for a sliding mode controller is proposed by introducing the modified Pade approximation considering the weight factor. With the proposed method, the process response can be directly used to estimate the system parameters without any numerical processing.

• Proceedings of the KIEE Conference
• /
• 2005.04a
• /
• pp.210-212
• /
• 2005

최근 급속도로 발전하고 있는 산업분야에서 요구되는 서보 시스템에서 빠른 응답특성, 고도의 정밀성 그리고 안전성에 대한 요구가 커지고 있는 실정이다. 본 논문에서는 이러한 요구에 따라 5상 IPM(Five-phase IPM)의 DTC(Direct torque control)에 대해 고찰하였으며, Texas Instruments사에서 전동기 제어 전용으로 개발된 DSP칩인 TMS320F2812를 이용하여 디지털적으로 제어 알고리즘을 구성하였다. 5상 전동기는 현재 산업현장에서 일반적으로 널리 사용되고 있는 삼상 전동기에 비해 안정성이 높고, 상당 전압의 변화 없이 고정자 전류를 줄일 수 있고, 토크 맥동의 주파수를 높이고 결과적으로 토크의 크기를 감소시킬 수 있다는 여러 가지 장점을 가지고 있으며, 특히 안정성을 요구하는 항공기(Aerospace applications), 전기자동차 및 하이브리드 자동차(Electric or hybrid vehicles)등의 특수한 영역에서 요구가 계속 증가되고 있다. 따라서 본 논문에서는 5상 IPM의 DTC에 대한 특성을 실험을 통하여 확인하였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.5
• /
• pp.538-542
• /
• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• Journal of Digital Convergence
• /
• v.13 no.1
• /
• pp.185-190
• /
• 2015

The trend of Internet of things are changed from public and examples of corporate center to B2C service. As you can see, through the practice of domestic and international services Internet of Things, conventional disaster, disasters, such as the case of the public sector, factory automation company now mainly direct B2C (Business to Consumer) services are affecting the individual has spread. In this paper we propose a method of platforms and components, and network configuration plan for exploration robot design based on remote control and monitoring system with IoT.

• Journal of the Korea Society of Computer and Information
• /
• v.10 no.3 s.35
• /
• pp.119-132
• /
• 2005

The health care system revolutionized by the use of information and communication technologies. Computer information processing and electronic communication technologies play an increasingly important role in the area of health care. We propose a new role based access control model for pervasive health care systems, which changed location, time, environment information. Also our model can be solved the occurrence of an reduction authority problem to pervasive health care system at emergency environment. We propose a new role based access control model for pervasive health care systems, which combines role-to-role delegations, negative permission, context concept and dynamic context aware access control. With out approach we aim to preserver the advantages of RBAC and offer groat flexibility and fine-grained access control in pervasive healthcare information systems.

• Journal of Korea Society of Industrial Information Systems
• /
• v.7 no.1
• /
• pp.10-15
• /
• 2002

It is presented to extended to an interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances. With only an assumed upper bound on the order of the system and an assumed upper bound on the number of disturbance frequencies, it is shown that both the disturbance-free model and disturbance effect can be recovered exactly from disturbance-corrupted input-output data without direct measurement of the periodic disturbances. The rich information returned by the identification can be used by an iterative learning or repetitive control system to eliminate unwanted periodic disturbances. Those can be helped to apply to the multiple dynamic systems for precision quality assurance.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.10 no.4
• /
• pp.397-402
• /
• 2005

A new control algorithm of soft starter is proposed for the reduction of the inrush current during the grid connection of the induction-type wind power generator. Currently, the fixed speed wind turbine using induction generator is the most popular wind generation system in Korea. It is shown that the amount of inrush current mainly depends on the control algorithm of the soft starter, a thyristor-based grid connection device. For the simulation study, a 600kw wind turbine simulation model is developed and the transient waveforms are investigated with conventional md proposed methods. Also experimental results using 3.7kW experimental set-up show that the peak value of inrush current is reduced about 20$\%$ using proposed algorithm.

• The KIPS Transactions:PartB
• /
• v.8B no.1
• /
• pp.89-97
• /
• 2001

대용량 멀티미디어 미디어 서버를 구성함에 있어 I/O 병목현상을 극복하기 위하여 저장 서버들과 제어 서버로 구성되어진 2계층 분산 클러스터 서버구조가 많이 사용된다. 2 계층 분산 클러스터 서버는 부하 균등, 대역폭 관리 및 저장 서버의 관리 측면에서 유리한 반면, 저장 서버와 제어 서버간의 통신 오버헤드를 발생시킨다. 이러한 오버헤드를 줄이기 위해서는 저장 서버에서 읽은 미디어 데이터를 제어 서버를 거치지 않고 직접 클라이언트에 전송할 수 있어야 한다. 그리고, 저장 용량을 확장하거나 손상된 디스크를 교체하는 경우를 대비하여 분산 클러스터 서버는 다양한 성능의 이기종 디스크를 지원하여야 한다. 또한, I/O 장치와 운영체제가 빠르게 발전됨에 따라 미디어 서버는 새로운 I/O 장치 및 운영체제 등에 쉽게 이식될 수 있어야 하고, 응용 소프트웨어 개발자가 시스템의 환경에 따라 블록크기, 데이터 배치정책, 사본 정책 등을 유연하게 조절할 수 있어야 한다. 본 논문에서 위에서 언급한 멀티미디어 서버의 요구를 고려하여 Fast Ethernet 환경에서 병렬 멀티미디어 파일 시스템(PMFS : Parallel Multimedia File System)을 설계 및 구현하고 실험을 통해 PVFS(Parallel Virtual File System)와 성능을 비교 분석하였다. 이 실험의 결과에 따르면 PMFS는 멀티미디어 데이터에 대하여 PVFS보다 3%∼15%의 향상된 성능을 보였다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2002.04b
• /
• pp.1345-1348
• /
• 2002

기존의 TCP/IP 네트워크 상에서 혼잡을 제어하는 일반적인 방법은 end-to-end 피드백 방식이다. 혼잡이 발생했는지의 여부는 수신측의 ACK 신호로 예측할 수밖에 없으므로 RTT(round trip time)가 길어질 경우 혼잡처리 시간이 길어지게 된다. Active Network 기술을 이용한 ACC(Active Congestion Control)의 경우 혼잡이 발생한 라우터에서 전송자에게 직접적으로 정보를 전송하기 때문에 보다 빠른 혼잡처리가 가능하다. 비록 코어 라우터에서 패킷을 누락시키는 방법에 있어 상태정보를 필요로 하는 단점이 있지만 모의 실험 결과 향상된 처리량을 보여주었다. 혼잡처리에 있어 새로운 처리 방식은 AQM(Active Queue Management)이다. 이 방식은 RED 를 기본 모델로 변형된 것이 대부분이며 RED 가 갖는 단점을 개선하고 혼잡처리와 공평성(fairness)을 향상 시키는데 목적이 있다. 본 논문에서는 ACC 의 피드백 메커니즘과 AQM 의 융통성 있는 큐 관리 기법을 이용하여 보다 향상된 혼잡제어 기법을 보이겠다.

• Korean Journal of Optics and Photonics
• /
• v.16 no.4
• /
• pp.313-318
• /
• 2005

We propose an active stabilization method for the receiver of NRZ-DPSK transmission. The 1-bit delayed Mach-Zehlder interferometer is thermally controlled to maintain the largest DC component power ratio between the constructive and destructive output ports, for the optimum transmission condition. This method is very cost effective since no additional components are required. Experimental results show that the proposed scheme guarantees error free performance even when there was ~ 1 GHz optical carrier frequency fluctuation in 10 Gbps transmission.