• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.912-917
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• 2006

A strain gauge weight measuring instrumentation system was designed with RF sensor network facilities. In the sensor module system data conversion and a series of signal processing were totally equipped. 16 strain gauges are incoming sensors and each output of the strain gauge was amplified and filtered for proper analog signal processing. Several measuring instrumentation OP amps and general purposed OP amps were used. 12 bits A/D converters converted analog signals to digital bits and a PIC microprocessor controlled the 16 channels of strain gauges. RF RS232 modules were used for wireless communication between the PIC microprocessor and an Ethernet host far a remote sensor monitoring system development.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1254-1257
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• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.2
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• pp.171-177
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• 2004

Many instrumentations have been used to acquire the performance data of military systems fer many years. But they could not satisfy environmental specifications(vibration, shock, temperature) and processing speed to apply for the performance test of military systems because of having developed as common vehicles/fixed installation equipments. Thus a new rugged embedded measurement system is required to process large data in high processing speed(Maximum sample rate:1.25Mhz/ch) with rugged environmental specifications. We have developed embedded measurement systems by using PXI(PCI extension for Instrumentation)bus interface composed of a stand alone controller and versatile data acquisition boards(analog, digital, vision, temperature and small signal conditioner) on PC-based environment to solve these problems. Operation programs have been developed using Lab_View and the performances have been validated experimentally.

• Journal of Korea Society of Digital Industry and Information Management
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• v.18 no.2
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• pp.39-48
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• 2022

The application of digital technology to instrumentation and control systems in nuclear power plants has overcome many shortcomings of analog technology, but the threat of cybersecurity has increased. Along with other systems, the reactor protection system also uses digital-based equipment, so responding to cybersecurity threats is essential. We generally determine cybersecurity threats according to the role and function of the system. However, since the instrumentation and control system has various systems linked to each other, it is essential to analyze cybersecurity threats together between the connected systems. In this paper, we analyze the cybersecurity threat of the reactor protection system with the associated facilities. To this end, we quantitatively identified the risk of the reactor protection system by considering safety functions, a communication type, the use of analog or digital-based equipment of the associated systems, and the software vulnerability of the configuration module of the reactor protection system.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.49-55
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• 1992

In this paper, we developed a Receding Horizon Predictive Control for Stochastic state space models(RHPCS). RHPCS was designed to minimize a quadratic cost function. RHPCS consists of Receding Horizon Tracking Control(RHTC) and a state observer. It was shown that RHPCS is equivalent to Generalized Predictive Control(GPC) when the underlying state space model is equivalent to the I/O model used in the design of GPC. The equivalence between GPC and RHPCS was shown through. the comparison of the transfer functions of the two controllers. RHPCS provides a time-invarient optimal control law for systems for which GPC can not be used. The stability properties of RHPCS was derived. From the GPC's equivalence to RHPCS, the stability properties of GPC were shown to be the same as those for RHTC.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.197-203
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• 1997

In this paper, we present a GP-PID(Generalized Predictive PID) controller which has the same structure as a generalized predictive control with steady-state weighting. The proposed controller can perform better than the conventional PID controller because it includes intrinsic delay-time compensator. The PID tuning parameters and delay-time compensator are calculated by equating the two degree of freedom PID to a linear form of GPC. The proposed controller is combined with a supervisor for safe start and self-tuning. GP-PID controller has been tested for various numerical models and an experimental stirred tank heater. As a result, it was observed that the proposed controller shows a satisfactory performance for variable delay as well as stochastic disturbance.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.376-379
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• 1989

In this paper a direct adaptive control scheme which minimizes N-step cost function is proposed. It is derived via GPC control algorithm under the assumption that we know N-step unit step response of the given system. The proposed adaptive scheme is shown to have the same stability properties with the RHTC control, and require very small amount of calculation compared with other adaptive algorithms which minimize N-step cost function. And it is shown through simulations that the proposed adaptive algorithm is robust to the variation of the unit step response which is assumed to be known.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.701-706
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• 1998

A design method of rule -based fuzzy modeling is presented for the model identification of complex and nonlinear systems. The proposed rule-based fuzzy modeling implements system structure and parameter identification in the efficient form of " IF..., THEN,," statements. using the theories of optimization and linguistic fuzzy implication rules. The improved complex method, which is a powerful auto-tuning algorithm, is used for tuning of parameters of the premise membership functions in consideration of the overall structure of fuzzy rules. The optimized objective function, including the weighting factors, is auto-tuned for better performance of fuzzy model using training data and testing data. According to the adjustment of each weighting factor of training and testing data, we can construct the optimal fuzzy model from the objective function. The least square method is utilized for the identification of optimum consequence parameters. Gas furance and a sewage treatment proce s are used to evaluate the performance of the proposed rule-based fuzzy modeling.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1002-1010
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• 2016

This paper describes the design of a cellphone curved glass measuring device using by camera. The measuring device was composed of two camera, two backlight system, a body and so on, and the program was made for a camera calibration and noise removal, and also the program was made for height measurement of a cellphone curved glass using by subpixel algorism. And then a new technique for measuring the height of the cell phone curved glass was proposed. The characteristics test of height measurement of gage blocks and cell phone curved glasses was carried out, the error of the height measurement of gage block is less than ${\pm}0.005$ and the error of the height measurement of the cell phone curved glasses is less than ${\pm}0.005$. Thus it thought that the designed cellphone curved glass measuring device and the new technique for measuring the height was used to measure the height of the cellphone curved glass.