• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.38-47
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• 2001

In this paper, a new scheme of adaptive-neuro control system is presented to implement real-time control of robot manipulator using Digital Signal Processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of therir prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust perfor-mance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method.The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for the implementation of real-time control of robot system by the simulation and experi-ment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• KIEE International Transactions on Electrophysics and Applications
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• v.2C no.6
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• pp.304-308
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• 2002

We demonstrate a simple pulsed $CO_2$ laser with millisecond long pulse duration in a tube at a low pressure of less than 30 Torr. The novel power supply for our laser system switches the voltage of the AC power line (60Hz) directly. The power supply doesn't need elements such as a rectifier bridge, energy-storage capacitors, or a current-limiting resistor in the discharge circuit. To control the laser output power, the pulse repetition rate is adjusted up to 60Hz and the firing angle of SCR(Silicon Controlled Rectifier) gate is varied from 30。 to 150。. A ZCS (Zero Crossing Switch) circuit and a PIC one-chip microprocessor are used to control precisely the gate signal of the SCR. The maximum laser output of 35 W is obtained at a total pressure of 18 Torr, a pulse repetition rate of 60 Hz, and a SCR gate firing angle of 90。 . In addition, the resulting laser pulse width is approximately 3㎳(FWHM). This is a relatively long pulse width, compared with other repetitively pulsed $CO_2$ lasers.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.5
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• pp.257-263
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• 1999

Recently the performance of CO2 arc welding machine has been advanced significantly through the adoption of inverter circuit topology which made it possible to control the waveform of welding current and thus to suppress the spatter generation. However, the optimum waveform is still uncertain. As a first step for figuring out the promising waveforms, this study was performed to set-up the experimental system for studying the effect of waveform variables, The system designed in this study is a digital controller using single chip microprocessor of 80C196KC. As a result of performance test of this system, it was demonstrated all of the waveform variables could be set individually and the resultant waveforms appeared to be pretty much the same as the intended one.

• ETRI Journal
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• v.31 no.6
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• pp.770-777
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• 2009

We have developed a fully functional reconfigurable optical add-drop multiplexer (ROADM) switch module using a polymer integrated photonic lightwave circuit technology. The polymer variable optical attenuator (VOA) array and digital optical switch array are integrated into one polymer PLC chip and packaged to form a 10-channel VOA integrated optical switch module. Four of these optical switch modules are used in the ROADM switch module to execute 40-channel switching and power equalization. As a wavelength division multiplexer (WDM) filter device, two C-band 40-channel athermal arrayed waveguide grating WDMs are used in the ROADM module. Optical power monitoring of each channel is carried out using a 5% tap PD. A controller and firmware having the functions of a 40-channel switch and VOA control, optical power monitoring, as well as TEC temperature control, and data communication interfaces are also developed in this study.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.148-156
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• 2013

This paper suggests a multi-level and multi-output SMPS based on a shared digital logic controller through independently operating in each dedicated time periods. Although the shared architecture can be devised with small area and high efficiency, it has critical drawbacks that real-time control of each DPWM generators are impossible and its output voltage can be unstable. To solve these problems, a real-time current compensation scheme is proposed as a solution. A current consumption of the core block and entire block with four driver buffers was simulated about 4.9mA and 30mA at 10MHz switching frequency and 100MHz core operating frequency. Output voltage ripple was 11 mV at 3.3V output voltage. Over/undershoot voltage was 10mV/19.6mV at 3.3V output voltage. The noise performance was simulated at 800mA and 100KHz load regulation. Core circuit can be implemented small size in $700{\mu}m{\times}800{\mu}m$ area. For the verification of proposed circuit, the simulations were carried out with Dong-bu Hitek BCD $0.35{\mu}m$ technology.

• Journal of Astronomy and Space Sciences
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• v.17 no.1
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• pp.53-66
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• 2000

We developed low light CCD imaging system using thermoelectric cooling method collaboration with a company to design a commercial model. It consists of Kodak KAF-0401E(768$\times$512 pixels) CCD chip, thermoelectric module manufactured by Thermotek. This TEC system can reach an operative temperature of $-25^{\circ}C$. We employed an Uniblitz VS25s shutter and it has capability a minimum exposure time 80ms. The system components are an interface card using a Korea Astronomy Observatory (hereafter KAO) ISA bus controller, image acquisition with AD9816 chip, that is 12bit video processor. The performance test with this imaging system showed good operation within the initial specification of our design. It shows a dark current less than 0.4e-/pixel/sec at a temperature of $-10^{\circ}C$, a linearity 99.9$\pm$0.1%, gain 4.24e-/adu, and system noise is 25.3e-(rms). For low temperature CCD operation, we designed a TEC, which uses a one-stage peltier module and forced air heat exchanger. This TEC imaging system enables accurate photometry($\pm$0.01mag) even though the CCD is not at 'conventional' cryogenic temperatures(140k). The system can be a useful instrument for any other imaging applications. Finally, with this system, we obtained several images of astronomical objects for system performance tests.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.2
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• pp.128-137
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• 1999

Recently the pelionnance of CO2 arc welding machine has been advanced significantly through the adoption of i invelter circuit topology. which made it possible to improve welding perfonnances such as spatter generation and bead s state. But the conventional inverter arc welding machine generates constant output voltage which cause much spatter g generation dUling short-circuit and arc start time because it is unable to control output current instantaneously. So this p paper representes wavefCnm controlled inverter arc welding machine which control the wavefonn of welding current and t thus to suppress the spatter generation. And the system designed in this paper is the digital controller using single chip m microprocessor of 80C196KC. As a result of perfonnance test for this system, the spatter generation is reduced and s shOlt-circuit time period is stabilized compared to conventional one. And more by using switched mode rectifier for A AC/DC power convelter. unity power factor is maintained and low order halmonic spectrum is supressed.

• Journal of Biosystems Engineering
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• v.20 no.3
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• pp.226-235
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• 1995

An unmanned speed sprayer was developed using a remote control and an inductive cable guidance systems to protect operators and environment from hazardous pesticides. The sprayer consists of a remote control system, an induction system, obstacle detectors, control actuators and an one-chip microcomputer. The sprayer can be operated by the induction guidance and/or remote control. The following summarize characteristics of the developed speed sprayer. 1) Both the remote control and the induction guidance operation were possible with the developed speed sprayer. 2) Sixteen functions of the forwarding, backing, halting, steering, 3-way valve for nozzles and fan operating etc. were utilized on the remote control system. 3) It was concluded that the DTMF method, having less transmitting error, performed better than the FSK method for an agricultural remote controller. A radio station may be necessary. 4) The digital inductive guidance system, consisting of five low-impedance detection coils and a window comparator circuit, performed better than the analog detecting system, guiding route using inductive voltage differential from tow detection coils.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.4
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• pp.485-492
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• 2006

This paper deals with implementation of network for distributed control system of a humanoid robot ISHURO(Inha Semyung Humanoid Robot). A humanoid robot needs much degree of freedom structurally and much data for having flexible movement. To realize such a humanoid robot, distributed control method is preferred to the centralized one since it gives a compactness, modularity and flexibility for the controllers. For organizing distributed control system of a humanoid robot, a control processor on a board is needed to individually control the joint motor and communication technology between the processors is required to transmit its information within control time. The processor is DSP-based processor and includes CAN network on a chip. It shares the computational load such as monitoring the sensor information and controlling the actuator between each of modules. In this paper, the communication architecture is suggested and its message protocol are discussed including message structure, time consumption for transmission, and controller structure at the view of distributed control for a humanoid robot. All of the sequence are simulated with Matlab and then verified with real walking experiment by ISHURO.