• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• The Journal of the Convergence on Culture Technology
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• v.10 no.3
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• pp.861-864
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• 2024

The self-driving roller conveyor system, which transports target products by controlling multiple rollers with a motor, is a logistics system suitable for branching and joining logistics and controlling the alignment of target products, and its utilization is increasing, especially in the food manufacturing process. In this paper, we build a simulation environment using Unity software based on 3D graphic modeling of a self-driving roller conveyor system. In a situation where target products are supplied irregularly in terms of time, a method is proposed that can align products to maintain constant spacing by controlling the rollers. Simulation results show that effective alignment of products is possible by controlling the motor that drives the roller based on sensor data of the product position.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.5
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• pp.109-120
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• 2017

It is important to estimate objectively in the driving test. Especially, the driving test is examined by totally driving ability, rule observation and situational judgement. For this, a grading automation system for driving test was presented by using GPS, sensor data and equipment operation informations. This system is composed of vehicle mounted module, automatic grading terminal, data controller, data storage and processing server. The vehicle mounted module gathters sensor data in the car. The terminal performs automatic grading using the received sensor data according the driving test criterion. To overcome the misposition of vehicle in the map due to GPS error, we proposed the automatic grading system by map matching method, path deviation and return algorithm. In the experimental results, it was possible to grade automatically, display the right position of the car, and return to the right path under 10 seconds when the vehicle was out of the shadow region of the GPS. This system can be also applied to the driving education.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.852-857
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• 2011

The shipbuilding industry needs automation and mechanization to solve reduction of skilled workers and labor shortage. Ship manufacturing process is the lack of automation than standardized manufacturing field. In this paper, we design and development an process automation system for hand rail production. Mechanical parts of the cutting process was designed with efficiency, productivity and reliability, CATIA and ANSYS, the stability of the mechanical structure was confirmed. System control using a PCNC controller to provide an open and scalable, and operate using touch-screen display control and monitoring of the system was performed. The automatic system successfully passed the driving test and processing test, and it showed an excellent performance.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1402-1408
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• 2015

A MOSFET's gate driver based on magnetic coupling is investigated. The gate driver can meet the demands in applications for wide range of duty cycles and high frequency. Fully galvanic isolation can be realized, and no auxiliary supply is needed. The driver is insensitive to the leakage inductor of the isolated transformer. No gate resistor is needed to damp the oscillation, and thus the peak output current of the gate driver can be improved. Design of the driving transformer can also be made more flexible, which helps to improve the isolation voltage between the power stage and the control electronics, and aids to enhance the electromagnetic compatibility. The driver's operation principle is analyzed, and the design method for its key parameters is presented. The performance analysis is validated via experiment. The disadvantages of the traditional magnetic coupling and optical coupling have been conquered through the investigated circuit.

• Journal of the Korean Society for Railway
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• v.8 no.4
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• pp.379-384
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• 2005

To maintain the stability during the operation of railway vehicle, the perfect installation of rail, namely the orbit as well as the performance of the railway vehicle itself is required. The orbit of railway needs the intensity and elasticity that stands the shock and vibration due to the weight of the railway vehicle enough, Also, the driving safety during the operation of vehicle should be guaranteed, comfortable feeling of the passenger should be maintained, and the influence of the noise and vibration to the environs should be minimized. Therefore, it is necessary to develop a program that calculates the change of construction cost according to the selection of railway orbit. This study introduces the orbit design automation program according to the selection of railway orbit, and discuss the principle and the way to use of the program.

• International Journal of High-Rise Buildings
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• v.9 no.1
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• pp.105-111
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• 2020

In recent years the construction sector has grown significantly in terms of investment and research on robotics and automation, yet it is still a low-tech and disjointed industry. One of the main scopes of this paper is to determine how robotic automation can provide the answers to the needs this industry has. To that end, an overall framework and development agenda of current technological innovation in the field has been outlined. Possible drawbacks and driving forces in the development of robots in the construction site have been identified. In addition, the review provides for state-of-the-art policies and regulations, as well as the short and medium-term outlook in different markets and countries. Ultimately, the forecast impact on traditional processes, construction sites, emerging technologies and related professions has been summarized in order to delineate prospective repercussions and future directions towards self-sufficiency.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.11a
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• pp.500-501
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• 2007

Automation systems for higher performance and efficiency in railway electrification systems are driving ever more demanding needs for new condition monitering systems which can consist of sensors connected to the substation and catenary systems. This paper reviews the recently developed condition monitering system, based on a IP network-based multi-agent system, wireless communications and sensor networks for railway electrification system. A new concept for information management, condition monitoring and control of power transmission are considered as railway automation in electrification system.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.7
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• pp.114-119
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• 2022

The analysis conditions were established using the self-weight of the FCT automation equipment, and natural frequency analysis was performed under the same conditions. For the structural analysis, 3D modeling was performed using Inventor, and structural analysis was performed using the Ansys workbench. From the structural analysis, it was concluded that the resulting values of the stress and deformation of the equipment do not affect the equipment. From the dynamic analysis, the resonance does not occur in the equipment driving area, and thus it is judged to be stable.