• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.878-886
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• 2012

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV's hovering on top of ground target within about several meters under geenral windy environment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2264-2269
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• 2003

This paper presents an improved method that constructs an equivalent T-S fuzzy model for nonlinear systems expressed by nonlinear differential equations including terms of power series. The method in this paper has fewer numbers of the rules than the previous methods as well as exactly expresses nonlinear systems. Moreover, this method can get wider feasible area satisfying the stability conditions than the previous methods. We show the improvement of modeling by comparing the proposed method with two previous methods through an inverted pendulum on a cart.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.709-712
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• 2015

This paper will introduce the development case study about virtual-reality-based operation training system for steel making process. Steel making process consist iron making process to create liquid steel, pig iron, by reduction process, steel making process to make molten steel by refining, continuous casting process to make slab, and rolling process to make final product like coil, plate. This steel making process deals with liquid and solid products, so facilities of steel making process are very various and complicated. In addition, according to various customer requirements, the recycle of facilities and recipes changing have been fast. So the training for skilled operators is very important point. In this paper, we develop steel making training system based virtual reality for training skilled operator. This system consists of virtual machine, virtual HMI, and virtual control panel. And for fitting the characteristics of each process and increasing the education effectiveness, we develop dynamic methods like the method of dynamic education system configuration, initial facilities setup operation education system, and etc.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.441-444
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• 1988

This paper presents a methodology for developing the graphic simulator for a robotic workcell. The Petri Net model is applied to described the system state and the workcell simulation is performed by the event scheduling approach of the model. For the graphic display of simulation process, the information of the workcell resources are stored in hierachically-structured data_babe, and the geometry of the resources is described by robot modelling, component modelling, and world modelling.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.4
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• pp.244-247
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• 2000

In this paper, a discrete-time sliding mode controller for linear time-varying systems with disturbances is proposed. The proposed method guarantees the systems state is globally uniformly ultimately bounded(G.U.U.B) under the existence of time-varying disturbances.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.470-473
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• 1989

본 논문은 상태 변수 모델 하에서 유도된 최적 FIR 필터의 해를 이용한 새로운 이산 퓨리에 변환 방법을 제시한다. 이 방법은 측정 잡음 하에서 시변 하모닉스 성분을 추정하는데 특히 유용하여, 기존의 이산 퓨리에 변환 보다 훨씬 효과적인 노이즈 억제성능을 얻을 수 있으며 또한 칼만 필터를 사용한 하모닉스 추정 방법에서 발생하는 발산 문제를 해결할 수 있다. 그것은 유일한 필터 구간 내에서 BIBO 안정도를 향상 보장하는 FIR필터의 구조에서 야기된다. 한편 기존의 하모닉스 추정 방법들과 여러 가지 측면의 성능 비교가 있었고 시뮬레이션 예제를 통해 본 논문에서 제시한 방법의 효용성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.79-82
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• 1995

The problem of temperature control for rapid thermal processing (RTP) in semiconductor manufacturing is discussed in this paper. Among sub=micron technologies for VLSI devices, reducing the junction depth of doped region is of great importance. This paper investigates existing methods for manufacturing wafers, focusing on the RPT which is considered to be good for formation of shallow junctions and performs the wafer fabrication operation in a single chamber of annealing, oxidation, chemical vapor deposition, etc., within a few minutes. In RTP for semiconductor manufacturing, accurate and uniform control of the wafer temperature is essential. In this paper, a robustr controller is designed using a recently developed optimization technique. The controller designed is then tested via computer simulation and compared with the other results.

• Journal of the Korean Professional Engineers Association
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• v.43 no.2
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• pp.45-52
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• 2010

At the end of last year, Korean nuclear power plants, APR-1400 and a research reactor have been contracted to build plants at United Arab Emirates and Jordan. Since 1959, a historical background of nuclear technologies in Korea is summarized. The safety requirements for Instrumentation and Control (I&C) systems in Nuclear Power Plants (NPP) are discussed. Specific descriptions on the typical safety classification of I&C systems, the definitions of the electrical class 1E and the countermeasures against common caused failures are provided. And summaries of typical I&C systems such as the protection systems, the control systems, the instrumentations, the monitoring systems and a control room in NPP are introduced. Strict requirements on the development of the digital computer systems in nuclear applications are described.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.109-112
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• 1997

A Discrete Event Dynamic System is a system whose states change in response to the occurrence of events from a predefined event set. A major difficulty in developing analytical results for the systems is the lack of appropriate modeling techniques. This paper proposes the use of Real-time Temporal Logic as a modeling tool for the modeling and control of fixed-time traffic control problem which by way of a DEDS. The Real-time Temporal Logic Frameworks is extended with a suitable structure of modeling hard real-time constraints. Modeling rules are developed for several specific situations. It is shown how the graphical model can be translated to a system of linear equations and constraints.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.463-465
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• 1998

In this paper, we consider the problem of robust stability of large-scale uncertain linear systems with time-varying delays. The considered uncertainties are both unstructured uncertainty which is only known its norm bound and structured uncertainty which is known its structure. Based on Lyapunov stability theorem and $H_{\infty}$ theory. we present uncertainty upper bound that guarantee the robust stability of systems. Especially, robustness bound are obtained directly without solving the Lyapunov equation. Finally, we show the usefulness of our results by numerical example.