• 한국정밀공학회지
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• 제22권1호
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• pp.61-72
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• 2005

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2 DOF PID controller. The experimental results for an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial applications

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1972-1977
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• 2005

In this work, an inverse dynamic control method is developed to enhance tracking performance of industrial robots, which effectively deal with the nonlinear dynamic interferential forces. In general, the DFF (Dynamic Feed-Forward) controller and the CTM (Computed-Torque Method) controller are used for dynamic control for industrial robots. We study on the practical issues for implementing these inverse dynamic controllers via simulations and experiments. We develop the dynamic models in two different ways. One is a model designed through Newton-Euler method for real time computation and the other is a model designed through SimMechanics for evaluating the developed controller via simulations. We evaluate the nominal performance and robustness of the controller via simulations and experiments using serial 4-DOF HyRoHILS (Hyundai Robot Hardware-In-the-Loop Simulation) system. The results show that the inverse dynamic controller is effective and practically useful for a real control structure.

• 한국지능시스템학회논문지
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• 제12권1호
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• pp.27-32
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• 2002

본 논문은 MR(magneto-resistive)센서를 이용한 실외형 자율 이동 로봇의 퍼지 조향 제어기에 대한 연구이다. 2개의 MR 센서를 이용한 지구자기장의 제거방법을 제안하고, 각각의 센서에서 측정된 자기장 차이값(dBy, dBz)을 입력변수로 사용한 퍼지 조향 제어기를 설계하였다. 자율 이동 로봇 시뮬레이션 프로그램을 개발하기 위해 MR센서의 모델링, 이동로봇의 동적모델링, 좌표변환 등을 하였다. 컴퓨터 시뮬레이션은 퍼지 로직을 이용한 이동로봇 제어기의 주행성능을 검증하기 위해 사용되었고 그 시뮬레이션을 통하여 제안한 퍼지 조향제어기의 강인성을 검증하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권1호
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• pp.1-13
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• 2006

This paper presents the problems of designing low-order controller for a linear time-invariant(LTI) system in parameter space, wherein both transient response requirements and stability shall be considered in the same space. For a LTI system, we, (1) develop a method determining the existence of low-order stabilizers of the first-order and PID structures, (2) develop an algorithm of finding such a stabilizing region. (3) Both procedures are carried out by means of a parametric approach in the same frame work. This leads to easily obtain a subset of controller gains from the stabilizing set, that meet good time response requirements. It is illustrated by examples.

• 시스템엔지니어링학술지
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• 제16권1호
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• pp.84-97
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• 2020

This paper aims to develop an optimized inventory management method for safety critical Instrument and Control (I&C) components. In this regard, the paper focuses on estimating the consumption rate of I&C components using demand forecasting methods. The target component for this paper is the Foxboro SPEC-200 controller. This component was chosen because it has highest consumption rate among the safety critical I&C components in Korean OPR-1000 NPPs. Three analytical methods were chosen in order to develop the demand forecasting methods; Poisson, Generalized Linear Model (GLM) and Bootstrapping. The results show that the GLM gives better accuracy than the other analytical methods. This is because the GLM considers the maintenance level of the component by discriminating between corrective and preventive.

• 한국ITS학회 논문지
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• 제18권6호
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• pp.43-59
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• 2019

현재 국내에서 사용되고 있는 교통신호제어기는 220V의 고전압을 신호등에 일대일로 직접 전달하는 스위치 제어 방식이다. 이러한 방식은 교통신호제어기와 신호등들을 연결하는 데 상대적으로 많은 케이블이 소요되고, 또한 감전에 대한 우려가 있다. 이에 따라 도로교통공단에서는 경찰청 교통신호제어기 표준규격서에 디지털 통신 방식을 이용한 디지털 교통신호제어기의 규격을 추가하였다. 본 연구에서는 이러한 표준규격서를 바탕으로 디지털 교통신호제어기를 개발하고자 하였다. 또한 디지털 교통신호제어기와 아날로그 교통신호제어기가 혼재되어 있어도 현재 운영 중인 신호제어시스템에서 운영이 가능함을 검증하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.735-738
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• 1998

To develop an effective virtual prototyping methodology for the PLC(Programmable Logic Controller) based real-time systems, a conversion algorithm from RLL(Relay Ladder Logic) to statechart is presented in this paper. The RLL is the main programming language to represent the operation of the PLC, and the statechart is the most widely used tool in the field of virtual prototyping in order to represent the behaviour of real-time systems. A virtual prototyping for an example case is implemened to evaluate the benefit of the proposed algorithm.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2008년도 International Meeting on Information Display
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• pp.1499-1502
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• 2008

This paper proposes an efficient data compression for the conventional method of reducing EMI in a 10 bit LCD timing controller (TCON). In addition, we develop a new method to reduce EMI in a LCD TCON through repeated data on adjacent blocks. The novel technique reduced EMI by 10 dB for a 52" FHD 10it LCD TV.

• 한국의류학회지
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• 제32권3호
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• pp.395-407
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• 2008

As global interest in clothing spreads over the smart clothing which arouses high added-value in the apparel industry, this study is to develop a smart jacket with an electrically-vibrating device maintaining excellent appearance and comfort. The vibrating device has a massage function that could relieve muscle pain near shoulders and neck. The purposes of this research are to develop jacket pattern for men in their thirties considering body shapes and fashion trend, to develop a wearable device that is composed of motor and controller and integrate it into a jacket, and to assess the external appearance and functional satisfaction of the smart jacket through the wearing test. The results are as follows: 1. In order to develope an appropriate jacket pattern for men in their thirties, several patterns were assessed for their fitting comfort. The final pattern was completed after making alterations some parts, and showed high satisfaction as 3.6(on a five-point scale) in all categories. 2. A vibrating device was developed by connecting motor, controller, battery and switch. Developing this device, focus was maximizing the strength of motor and minimizing the heat generated from motor and controller. Snaps were placed between inner and outer cloth of jacket so that the vibrating device could be easily attachable and detachable. The motor was located around Trapezius where muscles often get stiff. A switch was designed to be used in selecting the modes of Strong, Weak, and Cross Tapping. 3. The wearing test was conducted to examine outer appearance, comfort for motion, and functionality of the smart jacket. The results of assessing outer appearance showed that the location for attaching the vibrating device was not noticeable but looked natural, and there is almost no change in outer appearance when the vibrating device operates. The result of assessing comfort of action revealed that wearer's satisfaction was high in all categories about activity, wearer's comfort, etc. The result also showed that wear's satisfaction for effects of vibrating massage, easiness in using the device, heat generation was not less than 3.5 in all categories except a category about noise.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.364-374
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• 2015

The purpose of this research is to compare and analyze the advanced speed of ships with different rudder controller in wavy condition by using a simulation. The commercial simulation tool named AQWA is used to develop the simulation of ship which has 3 degree of freedom. The nonlinear hydrodynamic force acting on hull, the propeller thrust and the rudder force are calculated by the additional subroutine which interlock with the commercial simulation tool, and the regular wave is used as the source of the external force for the simulation. Rudder rotational velocity and autopilot coefficients vary to make the different rudder controller. An advanced speed of ships depending on the rudder controller is analyzed after the autopilot simulations.