• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2001.10a
• /
• pp.128-133
• /
• 2001

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Proceedings of the KSR Conference
• /
• 2004.06a
• /
• pp.1495-1500
• /
• 2004

The interface link for railway signaling systems is generally point-to-point communication scheme, but there have been several efforts to apply the network technology to these interface link in overseas country. However general Ethernet scheme has several drawbacks, so this scheme cannot meet the very high reliability, safety and real-time properties. To overcome these drawbacks, there have been studies reduction and modeling of data collision probability for this ethernet at the industrial and academic world. Therefore, in this paper we analyzed describe a interface trend using network technology between railway signaling equipments and will describe a major technology and framework of a network for railway signaling system.

• Applied Science and Convergence Technology
• /
• v.27 no.1
• /
• pp.14-18
• /
• 2018

In order to understand the mechanism of the synthesis of particles using a plasma torch, it is necessary to understand the reaction mechanisms using a computer simulation. In this study, we have developed a simulation method to combine the Lagrangian scheme to follow microparticles and a nodal method to treat nanoparticles categorized with different particle sizes. The Lagrangian scheme includes the Coulomb force which affects the dynamics of larger particles. In contrast, the nodal method is adequate for the nanoparticles because the charge effect is negligible for nanoparticles but the number of nanoparticles is much larger than that of microparticles. This method is helpful to understand the dynamics and growth mechanism of micro- and nano-powder mixture observed in the experiment.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.11
• /
• pp.1759-1769
• /
• 1989

This paper presents the development of a simulator for an industrial robot. The simulator is characterized by a fully integrated dynamic model and a hardware oriented control scheme. The dynamic model includes the actuator dynamics as well as the manipulator dynamics to integrate the entire dynamics of the robot system. On the other hand, the control scheme is oriented as a hardware structure which is usually implemented in the industrial robot. That is to say, a conventional PI control law is used to regulate the position, the speed, and the current. A Pulse Wave Modulation (PWM)generator modulates the supplied voltage to the actuator. Since the simulator is consistent with the industrial robot system, it provides the essential design concepts for the development process of the robot. In practice, the simulator is applied to the SCARA robot which has been developed in GSIS. Here, it investigates the characteristics and performance of the robot with changing design parameters. Thus, the investigation furnishes criteria for the selection of acfuator, control gain, trajectory planning, etc.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.04a
• /
• pp.472-477
• /
• 1996

This paper presents a new approachtothe design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.45.4-45
• /
• 2002

In EIT, an array of disjoint electrodes is attached on the boundary of the object and a set of small alternating electrical currents is injected into the object through these electrodes, and then the corresponding set of voltages is measured on the same array of the electrodes. The objective in EIT is to estimate the resistivity distribution inside the object based on the set of measured voltages and injected currents. In this paper, we proposed a new dynamic EIT reconstruction scheme based on the interacting multiple model (IMM) algorithm. The main contribution of the proposed scheme is that multiple models are employed for the state evolution to get around the modeling uncertainty. Extensi...

• Journal of Advanced Marine Engineering and Technology
• /
• v.27 no.2
• /
• pp.218-228
• /
• 2003

A hydraulic system is modeled as the second order differential equation with uncertain system parameters and disturbance composed of modeling errors. To Position the load of the hydraulic system to a desired point. the servo valve of the hydraulic system is controlled. As a control scheme. a global sliding mode control(GSMC) is Proposed Since the servo valve has a torque limit. the GSMC is designed to coordinate the position of the load along the minimum time trajectory within the torque limit. The Proposed control scheme can be designed with ranges of parametric uncertainties and specified torque limits. By the proposed control scheme, the closed form solution of the arriving time at the desired position can be estimated.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.182-186
• /
• 1997

This paper presents a mathematical approach to implementing distributed optimal power flow (OPF), wherein a regional decomposition technique is adopted to parallelize the OPF. Three mathematical decomposition coordination methods are introduced firs to implement the proposed distributed scheme: the Auxiliary Problem Principle (APP), the Predictor-Corrector Proximal Multiplier Method (PCPM), and the Alternating Direction Method (ADM). Then two alternative schemes for modeling distributed OPF are introduced; the Dummy Generator-Dummy Generator (DGDG) scheme and Dummy Generator-Dummy Load (DGDL) scheme. We present the mathematical analyses of the proposed approach, and demonstrate the approach on several test, systems, including IEEE Reliability Test Systems and parts of the ERCOT (Electric Reliability Council of Texas) system.

• Journal of Korean Institute of Industrial Engineers
• /
• v.26 no.2
• /
• pp.95-100
• /
• 2000

Presented in this paper is a scheme for constructing ball rolling blends of a non-uniform B-spline surface(NUBS) patches. Ball rolling blending is a popular technique for blending between parametric surfaces. Along the "common edge" of a pair of "base surfaces" to be blended, a sequence of "ball positions" is sampled. The radius of the ball may vary along the line. At each sampling point, a ball center point and a pair of ball contact points are computed by applying a Jacobian inversion method. Using ball contact points, the constructing scheme of blend NUBS patches consists three steps; 1) determination of intermediate control vertices; 2) determination of boundary vectors; 3) determination of B-spline control vertices. The proposed blending scheme has been tested in a Omega CAM system and found to be working satisfactorily.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.154-161
• /
• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.