• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1022-1027
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• 2003

The Motion controllers provide the sophisticated performance and enhanced capabilities we can see in the movements of robotic systems. Several types of motion controllers are available, some based on the kind of overall control system in use. PLC (Programmable Logic Controller)-based motion controllers still predominate. The many peoples use MCU (Micro Controller Unit)-based board level motion controllers and will continue to in the near-term future. These motion controllers control a variety motor system like robotic systems. Generally, They consist of large and complex circuits. PLC-based motion controller consists of high performance PLC, development tool, and application specific software. It can be cause to generate several problems that are large size and space, much cabling, and additional high coasts. MCU-based motion controller consists of memories like ROM and RAM, I/O interface ports, and decoder in order to operate MCU. Additionally, it needs DPRAM to communicate with host PC, counter to get position information of motor by using encoder signal, additional circuits to control servo, and application specific software to generate a various velocity profiles. It can be causes to generate several problems that are overall system complexity, large size and space, much cabling, large power consumption and additional high costs. Also, it needs much times to calculate velocity profile because of generating by software method and don't generate various velocity profiles like arbitrary velocity profile. Therefore, It is hard to generate expected various velocity profiles. And further, to embed real-time OS (Operating System) is considered for more reliable motion control. In this paper, the structure of chip-based precision motion controller is proposed to solve above-mentioned problems of control systems. This proposed motion controller is designed with a FPGA (Field Programmable Gate Arrays) by using the VHDL (Very high speed integrated circuit Hardware Description Language) and Handel-C that is program language for deign hardware. This motion controller consists of Velocity Profile Generator (VPG) part to generate expected various velocity profiles, PCI Interface part to communicate with host PC, Feedback Counter part to get position information by using encoder signal, Clock Generator to generate expected various clock signal, Controller part to control position of motor with generated velocity profile and position information, and Data Converter part to convert and transmit compatible data to D/A converter.

• JSTS:Journal of Semiconductor Technology and Science
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• v.14 no.5
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• pp.658-665
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• 2014

The neural stimulators have been employed to the visual prostheses system based on the functional electrical stimulation (FES). Due to the size limitation of the implantable device, the smaller area of the unit current driver pixel is highly desired for higher resolution current stimulation system. This paper presents a 16-channel compact current-mode neural stimulator IC with digital to analog converter (DAC) sharing scheme for artificial retinal prostheses. The individual pixel circuits in the stimulator IC share a single 6 bit DAC using the sample-and-hold scheme. The DAC sharing scheme enables the simultaneous stimulation on multiple active pixels with a single DAC while maintaining small size and low power. The layout size of the stimulator circuit with the DAC sharing scheme is reduced to be 51.98 %, compared to the conventional scheme. The stimulator IC is designed using standard $0.18{\mu}m$ 1P6M process. The chip size except the I/O cells is $437{\mu}m{\times}501{\mu}m$.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.6
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• pp.35-41
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• 2000

This paper describes a merged-capacitor switching (MCS) technique to improve the signal Processing speed and resolution of CMOS analog-to-digital converters (ADCs). The proposed MCS technique improves a sampling rate by reducing the number of capacitors used in conventional pipelined ADCs. The ADC capacitor mismatch can be minimized without additional power consumption, die area, and the loss of sampling rate, when the size of each unit capacitor is increased as much as the number of capacitors reduced by the MCS technique. It is verified that the ADC resolution based on the proposed MCS technique is extended further by employing a conventional commutated feedback-capacitor switching (CFCS) technique.

• The Journal of the Korea Contents Association
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• v.6 no.1
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• pp.8-13
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• 2006

In this thesis, an automatic door lock system using a dual tone multiple frequency(DTMF) signal generated as pushing the key button of mobile phone is proposed and implemented. This system consists of a transmitter module and a receiver module for processing the DTMF signal of mobile phone. The DTMF signal of mobile phone connected with ear-phone jack enter into the input terminal of DTMF receiver and those are encoded by a code-converter with 4-bits binary format in the DTMF receiver. The encoded output signals are transmitted to the amplitude shift keying(ASK) modulator of transmitter module and the modulated ASK signals which are converted into radio frequency(RF) signals propagate in a free space. The RF signals passed through a free space are demodulated by the ASK demodulator of receiver module and the demodulated ASK signals are sent to a micro-controller unit(MCU). The output signals processed by the MCU are compared with the secreted identification number which is prerecorded in a microprocessor and are transferred to a power relay. If the result is the same, the automatic door lock system opens a door. In the opposite case, it maintains closing the door. The implemented automatic door lock system operates well in mobile environments.

• Journal of Biosystems Engineering
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• v.7 no.2
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• pp.18-29
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• 1983

A low cost and versatile data acquisition system for the field and laboratory use was developed by using a single board microcomputer. Data acquisition system based on a Z80 microprocessor was built, tested and modified to obtain the present functional system. The microcomputer developed consists of 6 kB ROM, 5 kB RAM, 6-seven segment LED display, 16-Hex. key and 8 command key board. And it interfaces with an 8 channel, 12 bits A/D converter, a microprinter, EPROM programmer for 2716, and RS232C interface to transfer data between the system and HP3000 mini-computer manufactured by Hewlett Packard Co., A software package was also developed, tested, and modified for the system. This package included drivers for the AID converter, LED display, key board, microprinter, EPROM programmer, and RS232c interface. All of these programs were written in 280 assembler language and converted to machine codes using a cross assembler by HP3000 computer to the system during modifying stage by data transferring unit of this system, then the machine language wrote to the EPROM by this EPROM programmer. The results are summarized as follows: 1. Measuring program developed was able to control the measuring intervals, No. of channels used, and No. of data, where the maximum measuring speed was 58.8 microsec. 2. Calibration of the system was performed with triangle wave generated by a function generator. The results of calibration agreed well to the test results. 3. The measured data was able to be written into EPROM, then the EPROM data was compared with original data. It took only 75 sec. for the developed program to write the data of 2 kB the EPROM. 4. For the slow speed measurements, microprinter instead of EPROM programmer proved to be useful. It took about 15 min. for microprinter to write the data of 2 kB. 5. Modified data transferring unit was very effective in communicating between the system and HP3000 computer. The required time for data transferring was only 1~2 min. 6. By using DC/DC converting devices such as 78-series, 79-series. and TL497 IC, this system was modified to convert the only one input power sources to the various powers. The available power sources of the system was DC 7~25 V and 1.8 A.

• Journal of Navigation and Port Research
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• v.40 no.3
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• pp.159-164
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• 2016

The goal of this study is to implement a communication system that can monitor the status of the nacelle using the power cable itself, without the dedicated communication lines such as an UTP cable and optical fiber for the offshore wind turbine. An inductive coupling powerline communication system for a MW class offshore wind turbine was proposed and its communication performance was demonstrated. The inductive couplers was designed for operation at up to 500 A using a ferrite composite materials. Field test was carried out on the wind farms of Jeju island. Using the iperf communication test program, we have obtained more than 15 Mbps data transmission rate through the 100 m power cable that was installed between the nacelle and the bottom of the power converter. In the data transmission stability test for a week, there was no failure ever. The minimum transmission rate was 15 Mbps and the average data rate was about 20 Mbps. Next, we have installed an infrared camera inside the nacelle in order to measure the temperature distribution and variation of the nacelle. The real-time thermal image taken by the camera was successfully sent to the monitoring system without error.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.7
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• pp.1-8
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• 2018

This paper describes new communication methods for transmitting torque commands between the vehicle controller that determines the amount of power generation in a range-extended electric vehicle and the engine controller that performs it. Generally, vehicles use CAN communication, but in this case, the hardware and software of the existing engine controller must be modified. For this reason, it is not easy to apply CAN communication to small and medium sized automotive reorganize companies. Therefore, this research presents a pin-pin communication method for applying the existing mass produced engine controller to range-extended electric vehicles. The pin-pin communication method converts the driver's demand torque control map inside an mass produced engine controller into a virtual accelerator opening position according to the target speed and target torque of the engine, and converts this to a voltage signal for the existing mass produced engine controller to recognize it. The virtual accelerator opening positions are mounted in the form of a control map in the vehicle controller through the reverse conversion process in an offline environment and are determined by the engine generating power requirements and engine optimal operating point algorithm. These algorithms and signal conversion circuits for engine torque transmission have been mounted on the vehicle controller to conduct the virtual accelerator opening position conversion process according to the engine target torque and to establish the virtual accelerator voltage signal using the signal converter.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.12
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• pp.1380-1393
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• 2010

This paper presents a design, fabrication and the test results of planar active electronically scanned array(AESA) radar prototype for airborne fighter applications using transmit/receive(T/R) module hybrid technology. LIG Nex1 developed a AESA radar prototype to obtain key technologies for airborne fighter's radar. The AESA radar prototype consists of a radiating array, T/R modules, a RF manifold, distributed power supplies, beam controllers, compact receivers with ADC(Analog-to-Digital Converter), a liquid-cooling unit, and an appropriate structure. The AESA antenna has a 590 mm-diameter, active-element area capable of containing 536 T/R modules. Each module is located to provide a triangle grid with $14.7\;mm{\times}19.5\;mm$ spacing among T/R modules. The array dissipates 1,554 watts, with a DC input of 2,310 watts when operated at the maximum transmit duty factor. The AESA radar prototype was tested on near-field chamber and the results become equal in expected beam pattern, providing the accurate and flexible control of antenna beam steering and beam shaping.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.