• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.12
• /
• pp.1106-1112
• /
• 2000

In this paper, we present a vision system which measures the cross-section of a hot wire-rod in the steel plant. We developed a mobile vision system capable of accurate measurement, which is strong to vibration and jolt when moving. Our system uses green laser light sources and CCD cameras as a sensor, where laser sheet beams form a cross-section contour on the surface of the hot wire-rod and the reflected light from the wire-rode is imaged on the CCD cameras. We use four lasers and four cameras to obtain the image with the complete cross-section contour without an occlusion region. We also perform camera calibrations to obtain each cameras physical parameters by using a single calibration pattern sheet. In our measuring algorithm, distorted four-camera images are corrected by using the camera calibration information and added to generate an image with the complete cross-section contour of the wire-rod. Then, from this image, the cross-section contour of the wire-rod is extracted by preprocessing and segmentation, and its height, width and area are measured.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.66.3-66
• /
• 2002

1. Introduction 2. CRCS 3. Fault Detection 4. Simulation 5. Conclusions

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.12
• /
• pp.174-181
• /
• 1997

A proposed hybrid self-tuning control scheme for single rod hydraulic cylinder which has varying loads is presented here. An adaptive controller is developed for the system that use feedforward and P feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the hybrid self-tuning controller with a constant gain P contro- ller clearly shows its superior ability in handling load changes in quiescent states.

• Journal of KSNVE
• /
• v.8 no.3
• /
• pp.441-449
• /
• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• Proceedings of the KSME Conference
• /
• 2001.11a
• /
• pp.515-520
• /
• 2001

Due to the high power to weight ratio and fast response under heavy load, the hydraulic systems are still applied to the development of many industrial facilities such as heavy duty construction vehicles, aerospace/military weapon actuating systems and motion simulators. Unlike the other actuators, single-rod hydraulic cylinder exhibits a lot different dynamic characteristics between the extending and retracting stroke because of the difference in pressure acting areas. In this research, in order to overcome this nonlinear feature, $H_{\infty}$ optimal controller was designed and implemented with DSP board that was specifically developed for the experiment. From the experimental result, we could confirm that the overall performance of single-rod hydraulic servo system is similar with the results as we expected in the design stage.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.04b
• /
• pp.278-282
• /
• 1995

We developed a part of storke sensing cylinder using magnetic sensor and estimated is performance. In this paper, for the performance estimation of stroke sensing cylinder. We consist of hydrallic system using solenoid valve with ON/OFF motion. In order to the control of solenoid valve for the position control of cylinder rod, PWM (Pulse Width Modulation) method which modulates time pulse width in proportion to error was used. A performance of cylinder rod with magnetic scales was evaluated by its hydraulic system.

• Nuclear Engineering and Technology
• /
• v.29 no.2
• /
• pp.167-174
• /
• 1997

The method that the operating condition of Control Rod Drive Mechanism (CRDM) can be monitored without mounting sensors within CRDM housing was developed, and by using this developed method the closed-loop controller for the CRDM was designed which can optimize the performance and maximize the reliability of CRDM operation. Neural network is utilized as pattern recognition engine in detecting CRDM actuation. In this paper, most problems in previous open loop system are resolved. The control algorithms for closed-loop system ore developed and implemented within the hardware of timing controller based on microprocessor. All functions in the timing controller ore verified by means of real time CRDM simulator. The results show that the timing controller performs its intended functions properly.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2146-2148
• /
• 2002

In this paper, PID control method using genetic algorithm to control the nonlinear multivariable system is presented. Genetic algorithms are global search techniques for nonlinear optimization. For experiment, the x-y rod balancing system with driver circuit board is fabricated. Experiments such as angle and position control for system are performed. The validity and control performance of the GA-based PID controller are confirmed by experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.4
• /
• pp.402-407
• /
• 2014

In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.7
• /
• pp.647-650
• /
• 2011

This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.