• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.7
• /
• pp.741-749
• /
• 2014

This paper proposes a machine vision module for PLCs (Programmable Logic Controllers). PLC is the industrial controller most widely used in factory automation system. However most of the machine vision systems are based on PC (Personal Computer). The machine vision system embedded in PLC is required to reduce the cost and improve the convenience of implementation. In this paper, we newly propose a machine vision module based on PLC. The image processing libraries are implemented and integrated with the PLC programming tool. In order to interface the libraries with ladder programming, the ladder instruction set was also designed for each vision library. By use of the developed system, PLC users can implement vision systems easily by ladder programming. The developed system was applied to sample inspection system to verify the performance. The experimental results show that the proposed system can reduce the cost of installing as well as increase the ease-of-implementation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.742-747
• /
• 2015

The quality of steel plate products is determined by the number of defects and the process problems are estimated by shapes of defects. Therefore pinholes defects of cold rolled steel have to be controlled. In order to improve productivity and quality of products, within each production process, the product is inspected by an adequate inspection system individually in the lines of steelworks. Among a number of inspection systems, we focus on the pinholes detection system. In this paper, we propose an embedded system using FPGA which can detect pinholes defects. The proposed system is smaller and more flexible than a traditional system based on expensive frame grabbers and PC. In order to detect consecutive defects, FPGAs acquire two dimensional image and process the image in real time by using correlation of lines. The proposed pinholes detection algorithm decreases arithmetic operations of image processing and also we designed the hardware to shorten the data path between logics due to decreasing propagation delay. The experimental results show that the proposed embedded system detects the reliable number of pinholes in real time.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.12
• /
• pp.1198-1206
• /
• 2007

It is common to use PC or Digital picture frame in stand-alone fashion to view images, movies, or to listen MP3 musics which are considered as multimedia contents, However, such existing methods have weakness for expanding network requirements or augmenting extra data, in such case inevitably requiring external devices. With keeping in mind for such expansion, in this study, we have suggested a new concepts of network module which may utilize an image server for data transmission, in the proposed module, data alarm packet was defined for alerting incoming data from the image server and it became possible to synchronize between the image server and device not only in wired but also in wireless environments through UART. The method consists of a control module for an image server and a synchronization module between the server and the device. We have also tested the feasibility for future commercial usages such as advertisements through performance evaluations.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.12 no.1
• /
• pp.1-10
• /
• 2017

Recently, with the ever-increasing complexity of industrial robot systems, it has been greatly attention to adopt a multi-core based motion controller with high cost-performance ratio. In this paper, we propose a software architecture that aims to utilize the computing power of multi-core processors. The key concept of our architecture is to use shared memory for the interplay between threads running on separate processor cores. And then, we have integrated our proposed architecture with an industrial standard compliant IDE for automatic code generation of motion runtime. For the performance evaluation, we constructed a test-bed consisting of a motion controller with Preempt-RT Linux based dual-core industrial PC and a 3-axis industrial robot platform. The experimental results show that the actuation time difference between axes is 10 ns in average and bounded up to 689 ns under $1000{\mu}s$ control period, which can come up with real-time performance for industrial robot.

• Proceedings of the KIPE Conference
• /
• 2014.07a
• /
• pp.65-66
• /
• 2014

본 논문에서는 부하평준화를 통한 전기요금 절감효과, 무효전력 보상을 통한 역률 개선 및 비상부하 전원공급을 위한 독립운전 기능을 갖는 MW급 ESS에서 PCS뿐 아니라 배터리, 변압기, 각종부하 및 디젤발전기 등 계통 내 구성 요소들을 실제 사양 및 데이터를 기반으로 모델링하였다. 또한 1MW PCS를 위한 유 무효전력, CC-CV 충전 및 독립운전 제어알고리즘을 개발하였으며 시뮬레이션 및 축소시험을 통해 본 논문의 타당성을 검증하였다.

• Proceedings of the Korean Information Science Society Conference
• /
• 2006.10a
• /
• pp.475-478
• /
• 2006

실감형 게임은 사람의 신체 움직임 및 오감을 최대한 반영한 리얼리티를 추구하는 전문적인 게임이다. 현재 개발된 실감형 게임들은 비 장애우를 대상으로 만들어 졌기 때문에 많은 움직임을 필요로 한다. 하지만 신체적 불편함을 가진 장애우들은 이러한 게임들을 이용하는데 어려움이 있다. 따라서 본 논문에서는 PC상에서 최소의 얼굴 움직임을 사용하여 수행할 수 있는 실감형 게임 시스템을 제안한다. 제안된 실감형 게임 시스템은 웹 카메라로부터 얻어진 영상에서 신경망 기반의 텍스쳐 분류기를 이용하여 눈 영역을 추출한다. 추출된 눈 영역은 Mean-shift 알고리즘을 이용하여 실시간으로 추적되어지고, 그 결과로 마우스의 움직임이 제어된다. 구현된 flash게임과 연동하여 게임을 눈의 움직임으로 제어 할 수 있다. 제안된 시스템의 효율성을 검증하기 위하여 장애우와 비 장애우로 분류하여 성능을 평가 하였다. 그 결과 제안된 시스템이 보다 편리하고 친숙하게 신체 장애우 에게 활용 될 수 있으며 복잡한 환경에서도 확실한 얼굴 추적을 통하여 실감형 게임 시스템을 실행 할 수 있음이 증명되었다.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2009.04a
• /
• pp.1539-1542
• /
• 2009

최근 모바일 단말 기술과 정보통신 기술의 급격한 발달로 국내외 이동통신사들은 새로운 킬러 콘텐츠로 주목받고 있는 모바일 3D 게임을 앞 다투어 제작 및 서비스하고 있다. 모바일 3D 게임의 경우, 용량 증가로 인한 데이터 통신비 부담을 줄이기 위하여 PC 다운로드 S/W을 통한 다운로드 방법이 제공되면서 불법 복제 우려에 대한 관심이 높아지고 있다. 현재 불법 복제 방지와 관련하여 GVM/GNEX 인증 모듈이 적용되고 있으나, 모바일 3D 콘텐츠에 대한 저작권 보호 기술 및 워터마킹 기술을 적용함으로써 콘텐츠 접근제어 및 불법배포 추적을 동시에 달성할 수 있다. 따라서 본 논문에서는 모바일 3D 콘텐츠의 저작권 보호를 위하여 익명 Buyer-Seller 워터마킹 프로토콜 상에서 3D 콘텐츠 내의 공간영역 및 암호화 영역 내에 다중 워터마크를 삽입하는 방법을 제안한다. 성능평가를 위한 비가시성 및 강인성 실험을 통하여 본 제안 기법의 콘텐츠 접근제어가 가능하며 비가시성, 강인성 면에서 우수함을 확인하였다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.11b
• /
• pp.836-841
• /
• 2002

This paper is concerned with the development of remote control and measurement systems system using the internet. Recently, various techniques are developed based on the advance of the internet environment. In this study, we developed the remote control and measurement system using the internet server programming technique, stepper motor control and the data acquistion programming techniques. Hence, we can perform measurement and control remotely. The feasibility of the system is validated using the experimental setup. A personal computer is equipped with the stepping motor controller which control the weight and the A/D board which measures the strain of the beam, server program was then installed on the PC and can be accessed through internet.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.3
• /
• pp.125-131
• /
• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Proceedings of the Korean Information Science Society Conference
• /
• 2007.10d
• /
• pp.281-285
• /
• 2007

일반 공학용계산기를 모델로 WIPI를 이용한 어플리케이션인 모바일 공학용계산기를 개발하였다. 모바일 공학용계산기는 사용빈도가 높은 함수연산(삼각함수, log, $\surd$(루트), $\Pi$(파이), !(팩토리얼), 제곱 등)을 지원하며 식의 저장(Save), 불러오기(Load) 기능으로 이용의 편리함을 더하였다. 입력받은 문자열을 숫자로 변환하여 한자리씩 계산한 후 문자열로 재결합하는 구조로 결과값의 길이에 대한 제한 없이 출력이 가능하다. 성능은 PC나 일반 공학용계산기의 처리속도와 결과의 정확도면에서 뒤떨어지지 않는다. 모바일 공학용계산기는 휴대폰에 탑재되어 이동성이 탁월하며 언제어디서나 사용가능하고, 한번의 다운로드로 수명이 영구적이다. 또한 소프트웨어 업그레이드로 프로그램의 확장성이 특징이다.