• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.342-346
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• 1991

산업공정현장에서는 독립적으로 운영되고 있는 프로그램식 단위제어기기들에 대한 연계운영을 위하여 실시간 처리 소규모 네트워크가 도입되어 구축운영되고 있다. 특히 제조생산공정에서는 계층화된 분산 구조로서 공정정보처리를 위하여 공장환경에 적절한 네트워크 구축을 MAP등의 표준화된 규격에 의하여 권고되고 구현되어 운영되고 있다. 본 논문에서는 공장 환경에서의 표준규격으로 제안된 Mini MAP을 기준으로 하여 물리 및 데이타 링크계층을 Petrinet 기법을 활용하여 실시간 처리를 위한 개선된 모델을 제안하고 네트워크의 성능측정 및 시뮬레이션을 수행하였다. 또한 이 모델에 의하여 토큰버스 네트워크를 구성하여 전송 서비스시간과 메세지 처리율을 분석하고 Mini MAP 규격과 함께 성능을 해석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.928-933
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• 1991

In this study, the authors developed a hydraulic motor performance test system which automatically accomplishes the procedure of basic performance test and represents the data obtained in the test as performance curves. The software is made as conversation style between a computer and a user, so even to novices it is very easy to use. The most important point of this study is to get desirable isoefficiency curves. As some defined number of data are obtained at actual test, additional data necessary for desirable isoefficiency curves are generated numerically by interpolation. Basis spline function is used to get more smooth representative performance curves.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.342-347
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• 2008

Bridge circuit was developed such that the pressure wave in the inkjet can be measured. In order to test the circuit, the microfab single ejector was used. For the experiment, the head was filled with nano silver ink (20wt%). In order to generate waveform voltage for jetting signal, the Agilent 33120 was used in order to generate arbitrary waveform. For the driver, PZD 350 from TREK was used in order to amplify the waveform. Experimental results show that the designed circuit can effectively detect the pressure wave in the inkjet head.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.479-486
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• 2012

In this paper, a ranging system is proposed that is able to measure 360 degree omnidirectional distances to environment objects. The ranging system is based on the structured light imaging system with catadioptric omnidirectional mirror. In order to make the ranging system robust against environmental illumination, efficient structured light image processing algorithms are developed; sequential integration of difference images with modulated structured light and radial search based on Bresenham line drawing algorithm. A dedicated FPGA image processor is developed to speed up the overall image processing. Also the distance equation is derived in the omnidirectional imaging system with a hyperbolic mirror. It is expected that the omnidirectional ranging system is useful for mapping and localization of mobile robot. Experiments are carried out to verify the performance of the proposed ranging system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.751-755
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• 2010

In this paper, we proposed an omnidirectional ranging system that is able to obtain $360^{\circ}$ all directional distances effectively based on structured light image. The omnidirectional ranging system consists of laser structured light source and a catadioptric omnidirectional camera with a curved mirror. The proposed integro-differential structured light image processing algorithm makes the ranging system robust against environmental illumination condition. The omnidirectional ranging system is useful for map-building and self-localization of a mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.804-809
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• 2010

This paper proposes a Taylor-series design method which reduces the height error of the tag when readers are arranged at the same height in 3-dimensional space. The proposed method consists of two steps. Firstly, the planar position is estimated by the Taylor-series method using the TDOA measurement. Next, the height is estimated from the estimated planar position. In order to show the validity of the proposed method, computer simulations were performed for the static case and linear trajectory of the tag. Results show that the proposed method gives convergent estimated position and better height estimate than the Taylor series method.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.5
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• pp.1587-1600
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• 1991

본 연구에서는 로봇조작기를 강체부와 유연한 외팔보로 이루어진 모델로 설정 한 후 확장된 Hamilton의 원리를 적용하여 제어계의 운동방정식을 유도하였다. 계를 유한개의 제어 모드와 잔류 모드로 구분하고, 제어 모드에 대해 최적제어를 수행하기 위해 관측기를 설계하였으며, 진동에 관련된 측정 불가능한 상태변수를 추정하였다. 분석과 검토는 서보모터가 모든 제어를 담당하는 방식과 서보모터의 제어 방식에 작동 기를 추가시켜 병행 제어하는 다입출력 방식으로 구별하여 수행하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.931-936
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• 1992

In operational pont of view, the batch reactor is quite different from the continuous reactor in that it is completely in unsteady states. This makes process variables swing over wide ranges and the process disclose its nonlinerarities. For the most part these nonlinearities are due to reaction heat. Accordingly it is very important to know the informations of reaction heat. This paper presents the method of reaction heat measurement in industrial batch reator which furnishes the limited measurable points. The informations of reaction heat are utilized in modeling of the batch reactor as well as deciding the stability and control variables.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.272-275
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• 1992

Recently, the digital circuit technique has had great success and gained importance in all industries. For the measurement of degree of freshness of plant and animal's tissue, many devices has been developed. But it's data was inaccurate and it had difficulty in making database because it was depend on analog circuit technique. The purpose of this paper is the development of a device based on digital circuit for measurement of freshness degree of wet fish such that its accuracy is very trustworthy and it can be measured in a short time. The device is developed by using micro-computer with some interface modules of A-D/D-A converter and digital circuit with IC modules and its effectiveness has been evaluated through two experimental results of electrical Q-value test and chemical K-value test.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.787-793
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• 1999

A self-sensing magnetic suspension system utilizing a LC resonant circuit is proposed by using the characteristic that the inductance of the magnetic system is varied with respect to the air gap displacement. An external capacitor is added into the electric system to make the levitation system be statically stable system, which much relieves the control effort required to stabilize the magnetic suspension system of haying an intrinsic unstable nature. For the realization of the self- sensing magnetically levitated system, an amplitude modulation / demodulation method is used with a positive position feedback controller Experimental results are presented to validate the proposed method.