• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.211-215
• /
• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.433-437
• /
• 1988

Direct measurement of the relative position between the end effector of robot and moving objects reduces difficulties caused by the joint encoder reading and transformation. For those purpose, the on-line sensing method using PSD sensor was developed in this paper. The sensor was calibrated on the precision table. Then, the relative position of a moving objects on the conveyor was measured while the robot was tracking the one.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.22 no.49
• /
• pp.135-142
• /
• 1999

The objective of this paper is to provide an automatic color image testing system capable of synthetically testing a color element like a color tone and a luminance for a color image displayed on the screen, using a CCD camera and a microprocess. The system consists of a CCD camera, a line conveyor, a camera driving part, a remocon, a remote sensing part, a display and a PC including a color vision board and a CPU board. By applying the system to a process, reliability for a testing result can be improved and the absolute criterion to judge a part can be made.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.644-647
• /
• 2003

This paper describes a neural network based machine vision system designed for inspecting yellow beans in real time. The system consists of a camera. lights, a belt conveyor, air ejectors, and a computer. Beans are conveyed in four lines on a belt and their images are taken by a monochrome line scan camera when they fall down from the belt. Beans are separated easily from their background on images by back-lighting. After analyzing the image, a decision is made by a multilayer artificial neural network (ANN) trained by the error back-propagation (EBP) algorithm. We use the global mean, variance and local change of gray levels of a bean for the input nodes of the network. In an our experiment, the system designed could process about 520kg/hour.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.5
• /
• pp.401-406
• /
• 2002

As product lifecycles become shorter, factories are pushed to develop small batches of many different products. The highly flexible control systems has become a necessity. The majority of existing automated industrial systems are controlled by programmable logic controllers(PLCs). In most cases, the control programs for PLCs are developed based on ladder diagrams(LDs). However, it is difficult to debug and maintain those LDs because the synthesis of LD itself mainly depends on the experience of the industrial engineer via trial-and-error methods. Hence, in this paper, we propose a discrete event model conversion algorithm for systematic analysis of LDs. The proposed discrete event model conversion algorithm is illustrated by an example of a conveyor system.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2018.07a
• /
• pp.339-340
• /
• 2018

산업 현장에서 사용되는 산업용 로봇은 자동화 시스템 도입에 따라 큰 성장세를 보이고 있다. 본 논문에서는 컨베이어 벨트에 올라온 물체의 무게를 측정하고, 로봇 팔이 무게별로 물건을 지정 위치에 분류하는 시스템을 구현하였다. 또 로봇 팔끼리 서로 데이터를 주고받으며 데이터 값에 따른 동작을 수행하고 클라우드에 데이터 값을 업로드하여 쉽게 모니터링 가능한 로봇 팔을 이용한 무게 분류 시스템을 설계하였다.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2018.07a
• /
• pp.27-28
• /
• 2018

본 논문에서는 구동 장치의 다양한 상태를 나타내는 소음과 진동으로부터 특징데이터를 추출하여 이를 학습 한 후 실시간으로 장치의 상태를 진단하는 하였다. 실제 현장에서 발생할 수 있는 예측 외 소음환경에 유연하게 대처하기 위해 CNN모델 사용과 소리, 진동 데이터의 Butterworth filter와 Kalman filter를 적용하여 노이즈 배제처리 하였다. 제안된 시스템의 유용성을 확인하기 위해 제안된 시스템과 기존 CNN기반 시스템을 소음환경에서 비교 실험하였다.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.50 no.12
• /
• pp.80-87
• /
• 2013

A novel instrumentation amplifier(IA) using positive polarity current-conveyor(CCII+) for electronic measurement systems with low cost, wideband, and gain control with wide range is designed. The IA consists of two CCII+, three resistor, and an operational amplifier(op-amp). The principal of the operating is that the difference of two input voltages applied into two CCII+ used voltage and current follower converts into same currents, and then these current drive resistor of (+) terminal and feedback resistor of op-amp to obtain output voltage. To verify operating principal of the IA, we designed the CCII+ and used commercial op-amp LF356. Simulation results show that voltage follower used CCII+ has offset voltage of 0.21mV at linear range of ${\pm}$4V. The IA had wide gain range from -20dB to 60dB by variation of only one resistor and -3dB frequency for the gain of 60dB was 400kHz. The IA also has merits without matching of external resistor and controllable offset voltage using the other resistor. The power dissipation of the IA is 130mW at supply voltage of ${\pm}$5V.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.1241-1246
• /
• 2007

In recent years, the semiconductor industry and the optical industry are developed rapidly. The recent demands have expanded for optical components such as the optical lens, the optical semiconductor and the measuring instrument. Object transport systems are driven typically by the magnetic field and the conveyer belt. Recent industry requires more faster and efficient transport system. However, conventional transport systems are not adequate for transportation of optical elements and semiconductors. The conveyor belts can damage precision optical elements by the contact force and magnetic systems can destroy the inner structure of semiconductor by the magnetic field. In this paper, the levitation transport system using ultrasonic wave is developed for transporting precision elements without damages. The steady state flexural vibration of the beam is expressed using Euler-Bernoulli beam theory. The transport direction of an object is examined according to phase difference and frequency. The theoretical results are verified by experiments.

• IE interfaces
• /
• v.20 no.4
• /
• pp.438-447
• /
• 2007

This paper presents an aspect-oriented approach to simulation design and analysis in system design phase for integrated logistics system simulation. The integrated logistics system composed of AS/RS (Automated Storages and Retrieval System), AGVs (Automated Guided Vehicle System), STVs (Sorting Transfer Vehicle System) and Conveyor System is designed by using the aspect-oriented approach and UML (Unified Modeling Language). The multi-factorial design of experiments and regression analysis are used for design parameters of the system and Evolution Strategies is used to verify each parameter. Aspect-oriented approach for the integrated logistics system simulation shows the advantages of code reusability, extendible, modulation, easy improvement and a better design technique.