• 한국정보기술응용학회:학술대회논문집
• /
• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
• /
• pp.229-232
• /
• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• 한국전자통신학회논문지
• /
• 제10권5호
• /
• pp.623-628
• /
• 2015

현재의 시설하우스에서의 난방 방식은 한 곳에 고정되어져서 위치에 따른 온도 편차가 심해 질 수밖에 없는 실정이다. 채소나 과일 작물 등을 재배하는 시설하우스는 적정 온도의 유지가 필수적인데 하우스 내부의 상하 온도 차이로 인해 적정 난방 또는 냉방을 위한 에너지 소모가 많다. 본 논문에서는 하우스 내부의 공기 순환을 효율적으로 할 수 있는 새로운 형태의 난방 방식인 수직형 교반 히터 자동 제어 시스템을 제안한다. 시설하우스 상 하부의 온도를 이용하여 수직형 교반 히터의 공기 순환 팬과 히팅을 상황에 맞게 독립적으로 제어함으로써 최소한의 전기 소비로 난방의 효율을 극대화 시켜 계획 가능한 작물 생산과 난방비 절감이 가능하다.

• 한국콘텐츠학회논문지
• /
• 제10권2호
• /
• pp.481-489
• /
• 2010

관계 추출 시스템의 중요성이 날로 부각되면서 이러한 시스템을 평가하기 위한 테스트 컬렉션의 구축이 중요한 과제로 떠오르고 있다. 본 논문에서는 반자동화된 처리 과정을 거쳐서 규모 있는 관계 추출용 테스트 컬렉션을 구축하는 프레임워크를 제안한다. 그리고 개발된 프레임워크를 이용하여 실제적으로 과학기술 문헌에 존재하는 기술용어 간 연관관계 추출 시스템의 성능 평가를 위한 테스트 컬렉션을 구축하고(관계유무 파악 및 관계분류 식별을 검사할 수 있는 1,707건의 문장 규모) 결과를 분석한다. 제안된 방법론은 정형화되고 시간이 많이 소요되는 문서분석 작업을 처리과정별로 자동화함으로써 구축에 들어가는 비용을 최소화할 수 있고, 시스템의 알고리즘을 기반으로 동작하기 때문에 구축자의 성향에 따른 편차를 줄이고 일관된 결과물을 얻을 수 있다. 또한 문헌 집합(과학기술 전 분야에 걸친 30,858,830건의 학술 데이터베이스) 및 용어 사전(16개 분야 253,603건 규모의 전문용어) 선정 시 특정 분야에 편중되지 않도록 노력함으로써 균형 잡히고 객관화된 테스트 컬렉션을 생성할 수 있다.

• 대한전자공학회논문지TC
• /
• 제40권7호
• /
• pp.273-281
• /
• 2003

본 논문에서는 AIS(Automatic Identification System)를 위한 새로운 시각 동기 방안을 제안한다. 제안방안은 TCXO(Temperature Compensated Crystal Oscillator)를 기준 클록으로 사용하고, 디지털 제어 발진기(DCO : Digitally Controlled Oscillator), 분주기, 위상 비교기, 그리고 레지스터블록으로 시각 동기를 유지하도록 구성되어 있다. 주 시각 동기원으로는 UTC(Universal Time Coordinated)와 동기된 GPS(Global Positioning System) 수신기의 IPPS(1 Pulse Per Second)를 사용하며 GPS 신호 수신이 불가능할 경우에는 수신 AIS 신호를 사용한다. 전송 클록과 GPS 수신기 IPPS 사이의 시각 오차를 측정하고, DCO를 조정해 측정한 시각 오차를 보상함으로써 전송 클록을 UTC(Universal Time Coordinated)에 동기시킨다. 동기된 전송 클록(960㎐)은 전송 슬롯 발생을 위해서 분주된다. 본 논문에서는 제안한 시각 동기 방안을 시험 제작한 자동 식별 장치와 상용 자동 식별 장치의 연동을 통하여 검증하였고, 실험 결과는 AIS 기술 표준(ITU-R M.1371-1)에서 제시한 시작 동기 사양을 만족함을 확인하였다.

• Journal of Biosystems Engineering
• /
• 제13권2호
• /
• pp.38-45
• /
• 1988

This study was intended to develop the system automatically controlling travel direction of combine by means of sensing paddy rows. The control system was composed of three detecting levers having different length, micro-switch, microcomputer and electro-hydraulic control system. Sensor and control system developed was tested to estimate optimum design values and its actual performance as installed in combine. The computer simulation and performance test at simulated and actual field were conducted to test for possibility of practical use. The results of the study arc summarized. as follows: 1. The travel traces of combine hiving the conventional sensor with 2 levers and the new sensor detecting the slope of paddy rows were compared through computer simulation. Turning frequency of combine having new sensor was fewer than that of conventional sensor, but the rate of turning for the combine with new sensor was much greater than that of conventional sensor. 2. As sensor was established behind the tip of divider, the sensor itself well followed paddy rows but the tip of divider did not, resulting in divider being deviated from paddy rows. It was analyzed that the sensor should be attached closer to the tip of divider to have a better performance of the control system. 3. The greater the length of sensor lever for given location of sensor attachment and combine forward speed, the higher sensitivity of turning in control system. Moreover, increasing combine speed resulted in a worse performance of control system following paddy rows. Consequently, it was necessary that an optimum length of sensor attachment and for the range of combine operational speed. 4. Field test of combine installed with the sensor and electro-hydraulic system developed in this study showed that it may be operated smoothly and well behaved to paddy rows to 4th gear of combine speed which was 59cm/s. Consequently. it was concluded that the combine with the guidance control system developed in this study may be successfully used for paddy combining.

• Nuclear Engineering and Technology
• /
• 제44권4호
• /
• pp.369-378
• /
• 2012

A load-following operation in APR+ nuclear plants is necessary to reduce the need to adjust the boric acid concentration and to efficiently control the control rods for flexible operation. In particular, a disproportion in the axial flux distribution, which is normally caused by a load-following operation in a reactor core, causes xenon oscillation because the absorption cross-section of xenon is extremely large and its effects in a reactor are delayed by the iodine precursor. A model predictive control (MPC) method was used to design an automatic load-following controller for the integrated thermal power level and axial shape index (ASI) control for APR+ nuclear plants. Some tracking controllers employ the current tracking command only. On the other hand, the MPC can achieve better tracking performance because it considers future commands in addition to the current tracking command. The basic concept of the MPC is to solve an optimization problem for generating finite future control inputs at the current time and to implement as the current control input only the first control input among the solutions of the finite time steps. At the next time step, the procedure to solve the optimization problem is then repeated. The support vector regression (SVR) model that is used widely for function approximation problems is used to predict the future outputs based on previous inputs and outputs. In addition, a genetic algorithm is employed to minimize the objective function of a MPC control algorithm with multiple constraints. The power level and ASI are controlled by regulating the control banks and part-strength control banks together with an automatic adjustment of the boric acid concentration. The 3-dimensional MASTER code, which models APR+ nuclear plants, is interfaced to the proposed controller to confirm the performance of the controlling reactor power level and ASI. Numerical simulations showed that the proposed controller exhibits very fast tracking responses.

• Journal of Welding and Joining
• /
• 제12권1호
• /
• pp.102-115
• /
• 1994

This paper is to evaluate the fatigue strength of lap joints of materials applied to LNG carrier cargo containment of GAZ-TRANSPORT(GT) type, which was welded by manual and automatic TIG welding process. The thicknesses of lapped members were 1.5mm/1.5mm or 1.5mm/0.7mm in Invar to Invar joint, and 1.5mm/8.0mm in Invar to stainless steel joint, respectively. These lap joints were mainly applied to the membrance fabrication of GT-LNG carrier. Fatigue tests of Invar/Inar lap joints were conducted under the stress ratio R=0 at room temperature. The effect of mean stress and cumulative fatigue damage on the allowable stress of Invar lap joint was evaluated on the basis of test results. Fatigue test was also conducted on Inver/Stainless steel lap joints welded by automatic TIG process without filler metals. The fatigue test of the joint was carried out under the same conditions as those of Invar/invar lap joints. The fatigue strength of the joint welded without filler metal was comparable to those welded with filler metal quoted from reference. The fatigue strength of Invar/stainless steel lap joint was only dependent on the lap throat thickness, and not on the welding process. Based on test results, the applicability of TIG welding process without filler metal in Invar/stainless steel lap joint was reviewed by controlling welding variables to assure the valid throat thickness of lap joints.

• 한국진공학회:학술대회논문집
• /
• 한국진공학회 2013년도 제45회 하계 정기학술대회 초록집
• /
• pp.277.1-277.1
• /
• 2013

Molecular diagnostics consists of three processes, which are a sample pretreatment, a nucleic acid amplification, and an amplicon detection. Among three components, sample pretreatment is an important process in that it can increase the limit of detection by purifying nucleic acid in biological sample from contaminants that may interfere with the downstream genetic analysis such as nucleic acid amplification and detection. To achieve point-of-care virus detection system, the sample pretreatment process needs to be simple, rapid, and automatic. However, the commercial RNA extraction kits such as Rneasy (Qiagen) or MagnaPure (Roche) kit are highly labor-intensive and time-consuming due to numerous manual steps, and so it is not adequate for the on-site sample preparation. Herein, we have developed a rotary microfluidic system to extract and purify the RNA without necessity of external mechanical syringe pumps to allow flow control using microfluidic technology. We designed three reservoirs for sample, washing buffer, and elution buffer which were connected with different dimensional microfluidic channels. By controlling RPM, we could dispense a RNA sample solution, a washing buffer, and an elution buffer successively, so that the RNA was captured in the sol-gel solid phase, purified, and eluted in the downstream. Such a novel rotary sample preparation system eliminates some complicated hardwares and human intervention providing the opportunity to construct a fully integrated genetic analysis microsystem.

• 제어로봇시스템학회논문지
• /
• 제12권4호
• /
• pp.405-410
• /
• 2006

This paper presents the design of a USB home controller and a home control system that specially is focused on controlling home appliances as a part of home network systems, the implementation of the USB device access class in an OSGi service platform and a home security system as an application. Designed USB home controllers are able to control various home appliances. They can be used not only to control big home appliances like a boiler but also to control small home appliances like a toaster because they are low-cost solutions. The USB home controller supports real time control using the interrupt transfer of the USB specification. And It is easy to use by homemakers who have no technical knowledge of the system because they just plug and unplug it in a home server then it automatically joins and leaves a home control system. This technique is based on hot-plug and the USB Device Access class in an OSGi Service Platform. The USB Device Access class supports the coordination of automatic detection and attachment of the USB home controller on an OSGi Service Platform, and it downloads and installs device drivers on demand. For an application, we implemented and tested a home security system using two USB home controllers and a CDMA module.

• 한국CDE학회논문집
• /
• 제20권3호
• /
• pp.298-311
• /
• 2015

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.