• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.6
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• pp.251-255
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• 2015

In this paper, we propose a fuse controller which is used for storing the optimal value or the correction value for the surrounding product of the IoT applications and it is implemented serial communication circuit using a single pin. Because of the proposed single pin protocol is simpler in the hardware than the conventional $I^2C$ and SPI using two or more pins, it is suitable for the area of small amount of data transmission. The function of the one pin protocol is verified by logic simulation and the FPGA test board and it is fabricated using CMOS 0.35um technology. It is expected to use the IoT product that require the low power consumption and simple hardware.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.2
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• pp.43-50
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• 1997

Refuse incineration plant operations involve many kinds of uncertain factors, such as the variable physical properties of refuse as fuel and the complexity of the burning phenomenon. This makes it very dificult to apply conventional control methods to the combustion control of the refuse. So most of the refuse incineration plant are operated by operators. In this paper, an multi-variable fuzzy model predictive controller is proposed for the combustion control of the re:fuse. Adaptive network based fuzzy inference system is used for modeling of the refuse incineration plant and multi-variable fuzzy model predictive controller is designed based on the identified fuzzy model. And computer simulation was carried out to evaluate performance of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.140-146
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• 2007

This paper demonstrates the development of a mobile robot for patrol. We fuse differential GPS, angle sensor and odometry data using the framework of extended Kalman filter to localize a mobile robot in outdoor environments. An important feature of road environment is the existence of curbs. So, we also propose an algorithm to find out the position of curbs from laser range finder data using Hough transform. The mobile robot builds the map of the curbs of roads and the map is used fur tracking and localization. The patrol robot system consists of a mobile robot and a control station. The mobile robot sends the image data from a camera to the control station. The remote control station receives and displays the image data. Also, the patrol robot system can be used in two modes, teleoperated or autonomous. In teleoperated mode, the teleoperator commands the mobile robot based on the image data. On the other hand, in autonomous mode, the mobile robot has to autonomously track the predefined waypoints. So, we have designed a path tracking controller to track the path. We have been able to confirm that the proposed algorithms show proper performances in outdoor environment through experiments in the road.

• The KIPS Transactions:PartC
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• v.17C no.1
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• pp.129-134
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• 2010

Intelligent Power Switch (IPS) is a semiconductor device which contains a logic circuit in itself. It has received significant attention as a switching component to substitute the fuse and relay components in common automobile since the internal logic provides the controllability on the loads. However, a control system for the IPS status control and a network system to share the status information of IPS are required to fully exploit the capabilities of IPS. In this paper, we propose a control circuit and algorithm using IPS. Also the communication system between the control systems and IPS components using Control Area network (CAN) are proposed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.11
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• pp.5465-5470
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• 2012

FPGA(Field Programmable Gate Array) devices are widely used due to their merits in circuit development time, and development cost. Among various FPGA technologies, SRAM-based FPGAs have large cell capacity so that they are attractive for complex circuit design and their reconfigurability. However, they are weak in space environment where radiation energy particles cause Single Event Upset(SEU). In this paper, we designed a controller supervising SRAM-based FPGA to protect configuration memory inside. The controller is implemented on an Anti-Fusing FPGA. Radiation test was performed on the implemented computer board and the result show that our controller provides better SEU-resilience than TMR-only system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1201-1207
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• 2010

This paper shows to stabilize a balancing robot. We derive the dynamics of a balancing robot and design its controller using LQR method. For stabilizing balancing robot, we introduce a method to detect an angle using inertial sensors. In this study, we use a complementary filter to fuse signals by frequency response of gyroscope and accelerometer in order to measure the inclined angle of balancing robot. The filter coefficients are obtained by least square to minimize error in angle-detecting filter design. And then, after we derive a dynamics of balancing robot using Lagrange method, we linearize that dynamics for using LQR method.

• Proceedings of the KSR Conference
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• 1998.11a
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• pp.249-254
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• 1998

This paper describes the control methods to cut out the NFB(No Fuse Breaker) of shorted load in the auxiliary power supply, Generally, when the short-circuit occurs in the load of the auxiliary power supply, the auxiliary power supply stops the operation according to the protection sequence. Finally, the other auxiliary power supply stops the operation by the same fault, To resolve this problem, we suggest the control method to trip the NFB of shorted load. That is, when the short circuit occurs, the controller changes control mode from voltage mode to current mode without the operation of output contactor(SIVK) in the auxiliary power supply. The auxiliary power supply provides a large current for the short-circuit load. After some time, the NFB of the short-circuit load is cut off and the auxiliary power supply Provides stable voltage for the loads except for the short-circuit load.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.1
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• pp.101-107
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• 1997

Recently, as the raw water quality becomes to be polluted and the seasonal and local variation of water quality becomes to be severe, an exact control of coagulant dosing have been required in the water treat- ment plant. The amounts of coagulant is related to the raw water quality such as turbidity, alkalinity, water temperature, pH and edectrical conductivity. However the process of chemical reaction has not been clarified so far, so the dosing rate has been decided by jar-test, which is taken one or two hours. For the sake of this coagulant dosing control, fuzzy neural network to fuse fuzzy logic and neural network was proposed, and the scheme was applied to automatic determination of coagulant dosing rate. This controller can automatically identify the if-then rules and tune the membership functions by utilizing expert's cintrol data. It is shown that determination of coagulant dosing rate according to real time sensing of water quality is very effect.

• Journal of the Korean Society of Safety
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• v.28 no.2
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• pp.21-25
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• 2013

The purpose of this study is to provide basic data for the safety assessment of a water purifier when water leaks due to inappropriate maintenance and the examination of the cause of accidents related to the leak. Due to its inspection and management by non-specialists, if a leak occurs in a water purifier with the water level controller being inclined, it may result in the failure of the compressor, power supply line, PCB, etc. The analysis of the thermal diffusion pattern of water purifier compressors using a thermal image camera shows that its maximum temperature was approximately $80^{\circ}C$. In addition, its operating current was a maximum of 13 A and the system's operating current was approximately 1.7 A after the compressor was charged. It was found that the housing type power cable cover of the compressor had the effect of preventing electric shock but has poor flame resistance. Furthermore, the performance of the overload protector, PTC relays, etc., was excellent but they have potential for problems as metallic terminals were exposed, resulting in the potential of a safety related accident. The terminals and their surface damaged by the tracking showed a trace of carbonization and the resistance between terminals was measured to be approximately $8{\Omega}$. In addition, while the tracking was proceeding, the fuse and circuit breaker installed for system protection did not operate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).