• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1144-1148
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• 1991

The problems occurred when developing a automatic wheel deburring system are to make effective flexibility in model change and the irregularity of the position/shape of the burr, to select optimal robotic manufacturing process and to develope optimal end effector. The locations where burr exists are on flange, rim and spoke. Here will be discussed the optimal solution for the removal of rim burr by using robot. The research can be summarized as the automatic robot path generation by recognizing rim contour and automatic deburring process technique. Various rim contour data is generated automatically when the sensor which is fixed to robot is moving with the parallel motion to the wheel center axis and this generated data is transferred to the data storage system and converted to the robot path data. The robotic tool system which is suitable to the rim deburring process is developed by integrating tool, compliance function and sensor. And factory automation system controlled by robot controller and PC is developed. This system shows good productivity and flexibility.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2076-2078
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• 2002

This paper presents an Intelligent Balance Beam Controller(IBBC) which can estimate the inertia of load automatically. Balance Beam controller is a kind of construction tool which can control the attitude of the load hanging in the air such as a beam carried by crane. In our previous work, Balance Beam had been built to control the object in air using a mechanical gyro system having a position controllable gimbal structure. In field application the load inertia for operation is not easy to figure out because the weight and shape which determines the inertia, varies depending on the object to be carried. Therefore it is difficult for a worker to operate a Balance Beam and an accident could be caused occasionally. We designed an automatic load estimator to measure the inertia of arbitrary load by using an angular velocity sensor that is installed on the Balance Beam. Simulation results and current status for implementation are presented.

• Journal of Biosystems Engineering
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• 제21권3호
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• pp.283-292
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• 1996

Automatic guidance of farm tractors would improve productivity by reducing operator fatigue and increasing machine performance. To control tractors within $\pm$5cm of the desired path, fuzzy and adaptive steering controllers were developed to evaluate their characteristics and performance. Two input variables were position and yaw errors, and a steering command was fed to tractor model as controller output. Trapezoidal membership functions were used in the fuzzy controller, and a minimum-variance adaptive controller was implemented into the 2-DOF discrete-time input-output model. For unit-step and composite paths, a dynamic tractor simulator was used to test the controllers developed. The results showed that both controllers could control the tractor within $\pm$5cm error from the defined path and the position error of tractor by fuzzy controller was the bigger of the two. Through simulations, the output of self-tuning adaptive controller was relatively smooth, but the fuzzy controller was very sensitive by the change of gain and the shape of membership functions. Contrarily, modeling procedure of the fuzzy controller was simple, but the adaptive controller had very complex procedure of design and showed that control performance was affected greatly by the order of its model.

• Nuclear Engineering and Technology
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• 제24권2호
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• pp.183-192
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• 1992

한국 표준 원전의 부하추종운전 능력 향상을 위하여 노심 축 방향 출력분포 제어에 기존의 regulating bank와는 별개의 heavy bank를 사용하는 노심 제어 기법인 Mode K를 제시하였다 이 경우 heavy bank는 제어할 수 있는 축방향 출력 변화의 범위가 크며, 또한 bank의 움직임과 축 방향 출력 변화가 단조적 관계를 항상 유지할 수 있으므로 운전을 용이하게 할 뿐 아니라 자동제어가 가능하도록 한다. Mode K기법을 이용한 노심 제어 자동화는 부하추종운전에 대한 운전원의 부담을 경감시킬 수 있으며, 특히 주파수 제어 운전등 미리 예측되지 않은 부하변동에 응동할 수 있는 능력을 갖게 한다. 표준 원전의 참조 발전소인 영광 3,4호기의 운전을 모의 계산함으로써 Mode K 의 설계 개념을 평가하였는데 그 결과를 통하여 한국 표준 원전의 실제적 부하추종운전을 위하여 Mode K 기법을 적절하게 사용할 수 있음을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.123-123
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• 2000

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. And, to easily onerate the developed polishing system, this stud)r developed a integrated program in the Windows environment. This program consists of 4 modules: polishing module, a graphic simulator, a polishing data generation module, and a teaching. Also, the automatic teaching system was developed to easily obtain a teaching data. The developed teaching system consists of a three dimensional joystick and a proximity sensor. In order to evaluate stability of the driving program and the leaching system, polishing experiments of the die of saddle shape were carried out.

• 비파괴검사학회지
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• 제9권1호
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• pp.30-38
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• 1989

Since the nuclear power plants in Korea have been operated in 1979, the nondestructive testing (NDT) of pressure vessels and/or piping welds plays an important role for maintaining the safety and integrity of the plants. Ultrasonic method is superior to the other NDT method in the viewpoint of the detectability of small flaw and accuracy to determine the locations, sizes, orientations, and shapes. As the service time of the nuclear power plants is increased, the radiation level from the components is getting higher. In order to get more quantitative and reliable results and secure the inspector from the exposure to high radiation level, automation of the ultrasonic equipments has been one of the important research and development(R & D) subject. In this research, it was attempted to visualize the shape of flaws presented inside the specimen using a Modified C-Scan technique. In order to develope Modified C-Scan technique, an automatic ultrasonic scanner and a module to control the scanner were designed and fabricated. IBM-PC/XT was interfaced to the module to control the scanner. Analog signals from the SONIC MARK II were digitized by Analog-Digital Converter(ADC 0800) for Modified C-Scan display. A computer program has been developed and has capability of automatic data acquisition and processing from the digital data, which consist of maximum amplitudes in each gate range and locations. The data from Modified C-Scan results was compared with shape from artificial defects using the developed system. Focal length of focused transducer was measured. The automatic ultrasonic equipment developed through this study is essential for more accurate, reliable, and repeatable ultrasonic experiments. If the scanner are modified to meet to appropriate purposes, it can be applied to automation of ultrasonic examination of nuclear power plants and helpful to the research on ultrasonic characterization of the materials.

• 생물환경조절학회지
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• 제1권1호
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• pp.37-51
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• 1992

Quantizing and extracting visual features of mushroom(Lentinus edodes L.) are crucial to the sorting and grading automation, the growth state measurement, and the dried performance indexing. A computer image processing system was utilized for the extraction and measurement of visual features of front and back sides of the mushroom. The image processing system is composed of the IBM PC compatible 386DK, ITEX PCVISION Plus frame grabber, B/W CCD camera, VGA color graphic monitor, and image output RGB monitor. In this paper, an automatic thresholding algorithm was developed to yield the segmented binary image representing skin states of the front and back sides. An eight directional Freeman's chain coding was modified to solve the edge disconnectivity by gradually expanding the mask size of 3$\times$3 to 9$\times$9. A real scaled geometric quantity of the object was directly extracted from the 8-directional chain element. The external shape of the mushroom was analyzed and converted to the quantitative feature patterns. Efficient algorithms for the extraction of the selected feature patterns and the recognition of the front and back side were developed. The developed algorithms were coded in a menu driven way using MS_C language Ver.6.0, PC VISION PLUS library fuctions, and VGA graphic functions.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.126-133
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• 2007

Lately, there exist growing demands to increase the firepower of mid-calibre automatic guns despite spatial limitations of armament. In this context, ammunitions of simple cylindrical shape are considered so advantageous that associated automatic guns are under development incorporating an intermittently rotating chamber mechanism. In this paper, relevant subsystems for such guns are to be described, and a digital controller to automate the entire system as well. Via dynamic simulations it proves to function well being able to drive the chamber at any constant speed up to 200spm, which is merely limited by the recoil performance. It is remarkable that the system synchronization idea in use is applicable to any other multi-actuator systems that should operate on the basis of event rather than time.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권5호
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• pp.318-324
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• 2004

In the recently, the necessity of linear position control motors have been increased in the various fields of the automatic control system. In this paper, we have designed the tooth models of the hybrid type linear stepping motor(HLSM); rectangular type(RT), triangle type(TrT), round type(RdT) and wedge type(WT), and proposed the optimum tooth shape of the HLSM by simulating(Flux2D) the thrust and normal force characteristics with the finite element method(FEM) and the virtual work method. And we have manufactured the prototype HLSM with the optimum tooth, and measured the various values by using experimental system. Thus, we have confirmed the justice of theory because the computed and the experimental results almost coincide with.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.268-271
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• 2001

In this paper, we propose a simplified pollution adaptive mesh generation algorithm using singular elements. The algorithm based on the element pollution error indicator concentrate on boundary nodes. The automatic mesh generation method is followed by either a node-relocation or a node-insertion method. The boundary node relocation phase is introduced to reduce pollution error estimates without increasing the boundary nodes. The node insertion phase greatly improves the error and the factor with the cost of increasing the node numbers. It is shown that the suggested r-h version algorithm combined with singular elements converges more quickly than the conventional one.