• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.4
• /
• pp.247-252
• /
• 2016

In this paper, we propose a new defect detection technology for micro-defect on the surface of steel products. Due to depth and size of microscopic defect, slop of surface and vibration of strip, the conventional optical method cannot guarantee the detection performance. To solve the above-mentioned problems and increase signal to noise ratio, a novel retro-schlieren method that consists of retro reflector and knife edge is proposed. Moreover dual switching lighting method is also applied to distinguish uneven micro defects and surface noise. In proposed method, defective regions are represented by a black and white pattern. This pattern is detected by a defect detection algorithm with Gabor filter. Experimental results by simulator for sample defects of cold rolled steel show that the proposed method is effective.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.9
• /
• pp.881-886
• /
• 2009

This paper presents a manipulation system consisting of a coarse/fine XY positioning system and an out-of-plane manipulator. The object of the system is to conduct tine positioning and manipulation of micro parts. The fine stage and the out-of-plane manipulator have compliant mechanisms with flexure hinges, which are driven by stack-type piezoelectric elements. In the fine stage, the compliant mechanism plays the roles of motion guide and displacement amplification. The out-of-plane manipulator contains three piezo-driven compliant mechanisms for large working range and fine resolution. For large displacement, the compliant mechanism is implemented by a two-step displacement amplification mechanism. The compliant mechanisms are manufactured by wire electro-discharge machining for flexure hinges. Experiments demonstrate that the developed system is applicable to a fine positioning and fine manipulation of micro parts.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1344-1348
• /
• 2003

A precision micro-positioning system with a high displacement resolution and wide motion range has been required for industrialized applications in variety fields. This paper discusses the design of a precision micro-rotation stage with flexure hinges. Proposed system is applied to grinding machine for micro parts. Rotational motion is generated with this system. For this systems having a full rotation motion with high precision, a dual servo system with a coarse stage and a fine stage is proposed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.409-413
• /
• 1986

This paper deals with a micro computer based CAD(Computer Aided Design/Drafting) software developed by SERI/KAIST. The objectives of this software(hereinafter, CADMATE) development are to develop a low-cost CAD/CAE system, which means the micro-computer based graphic handling software including its geometrical primitives, graphic editor, external interface and output(drawing) control routine.

• The Magazine of the IEIE
• /
• v.15 no.1
• /
• pp.114-121
• /
• 1988

The advent of microprocessor controls and robotics is rapidly changing the face of manufacturing throughout the world. Large and small companies alike are adopting these new methods to improve the efficiency of their operations. Factory Automation, which is in reality by robots, is playing more important role in economic competition and growth. Its core technology, i.e. robotics, is advanced in accordance with the remarkable progress of the computer technology and micro-electronics. Roughly speaking, its future might determine the fate of a national economy. In this paper, the future trends of such robotics and factory automation are described from a point of view of industrial application.

• ICROS
• /
• v.14 no.1
• /
• pp.34-42
• /
• 2008

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1655-1658
• /
• 2004

In this paper, we design and implement remote servo motor control system with real-time micro embedded operating system. The system, where controller and camera image grabber are mounted, handles control commands transmitted from a remote PC web browser. A hard real-time servo motor driver running on the real-time micro embedded OS and then a digital control application which confirms precise sampling time intervals is constructed. Frame grabber images transmitted from camera are saved in a image data format to view on remote PC web browser.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.32.5-32
• /
• 2001

There has been many teleoperation systems handling the micro object. However, the stability problem for these systems has not been mentioned yet. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains significance inertial behavior, Passivity condition for Transparency-optimized architecture is not satisfied. In this paper we propose one method which satisfies passivity condition for the micro-teleoperation system handling a insignificant inertial object and is based on the structure of Lawrence and Hashtrudi-Zaad[2] and velocity-force scaling.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.418-421
• /
• 1988

Elevator system requires position and speed control at the same time recently. The control device of existing Elevator system making hardware is simplified by using micro-processor that have been developed. In this papers, it consists of contactless logic circuit using miro-processor and digital components. This paper shows that as this system control voltage and frequency using PWM inverter at the same time, speed control is accurate, acceleration and deceleration is soft and passengers can be feel comfortably because speed change is a little during driving.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.178-180
• /
• 1986

본 연구에서는 산업용 팩키지 보일러의 최적한 연소제어를 위하여 O/sub 2/ 제어기의 구성 및 PID제어 알고리즘을 도입하고 그것에 따른 하드웨어 및 소프트웨어를 고찰하였으며 그 결과 하드와이어드 논리제어기나 기존의 PC보다 분산제어의 효율적 처리가 가능하였다. BD/Micro PC 시스템에서 시퀀스 제어를 필요로하는 기능은 BD PC가, 아날로그 시스템을 다루는 PID 제어같은 기능은 .mu.C가 담당함으로서 제어범위가 넓어져 각종의 연산기능확대, BD PC와 .mu.C와의 데이터 링크, 그리고 고장진단등의 기능이 추가되었다.