• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.1054-1057
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• 2015

실제적인 산업분야에서 실시간 처리는 중요하다. 본 논문에서는 LabVIEW를 이용하여 RS-485 직렬통신 기반 Modbus/RTU 프로토콜을 구현하였다. 토크(Torque) 센서와 전압/전류계로부터 측정값을 입력받기 위하여 Modbus/RTU 프로토콜을 구현하였다. 입력받은 토크 값, 전압, 전류 값을 이용하여 기계적인 손실을 계산할 수 있다. LabVIEW 툴을 이용하여 소스코드를 작성하였고, 이러한 소스코드는 실제 산업현장에 적용할 수 있음을 확인하였다.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1996년도 춘계학술대회
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• pp.179-183
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• 1996

Most of the conventional electrocardiogaphies fail to detect signals other than P-QRS-T due to the limited SNR and bandwidth. High-resolution electrocardiography (HRECG) provides better SNR and wider bandwidth for the detection of micro-potentials with higher frequency components such as ventricual late potentials(LP). In this paper, we developed a HRECG using uncorrected XYZ lead. The overall gain of the amplifier is 4000 and the bandwidth is $0.5{\sim}300Hz$ without using 60Hz notch filter. Three 16-bit AH converters sample X, Y, and Z signals simultaneously with a sampling frequency of 2000Hz. Sampled data are transmitted to PC via a DMA-controlled serial communication channel using RS-485 and HDLC protocol. The noise level of the developed HRECG is less than $5{\mu}V_{rms,\;RTI}$. In order to further reduce the noise level, signal averaging technique is implemented utilizing template matching method. The SNR of the developed HRECG is high enough for the detection of LP.

• Journal of Biosystems Engineering
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• 제28권1호
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• pp.53-58
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• 2003

This study was carried out to design, construct, and test a greenhouse monitoring system fur the environment and status of control devices in a greenhouse from a remote site using internet. The measuring items selected out of many environmental factors were temperature, humidity, solar radiation, CO$_2$, SOx, NOx concentration, EC, pH of nutrient solution, the state of control devices, and the image of greenhouse. The developed greenhouse monitoring system was composed of the network system and the measuring module. The network system consists of the three kinds of monitors named the Croup Monitor. the Client Monitor and the Server Monitor. The results of the study are summarized as follows. 1. The measuring module named the House Monitor. which is used to watch the state of the control device and the environment of the greenhouse, was developed to a embedded monitoring module using one chip microprocessor 2. For all measuring items. the House Monitor showed a satisfactory accuracy within the range of ${\pm}$0.3%FS. The House Monitors were connected to the Croup Monitor by communication method of RS-485 type and could operate under power and communication fault condition within 10 hours. The Croup Monitor was developed to receive and display measurement data received from the House Monitors and to control the greenhouse environmental devices. 3. The images of the plants inside greenhouse were captured by PC camera and sent to the Group Monitor. The greenhouse manager was able to monitor the growth state of plants inside greenhouse without visiting individual greenhouses. 4. Remote monitoring the greenhouse environment and status of control devices was implemented in a client/server environment. The client monitor of the greenhouse manager at a remote site or other greenhouse manager was able to monitor the greenhouse environment and the state of control devices from the Server Monitor using internet.

• 한국정보통신학회논문지
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• 제20권10호
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• pp.1949-1954
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• 2016

스마트 그리드(smart grid) 기술은 전력 공급자와 소비자 사이를 실시간으로 전력정보를 교환함으로써 전력의 효율성을 높이는 전력망 관리 기술이다. 최근에는 유지보수 및 설치가 용이한 태양광 발전시스템에 대한 적용이 늘고 있다. 그러나 태양광 발전 시스템은 고장진단이 어려우며, PV(PhotoVoltaics) 어레이 및 인버터(inverter) 등의 결함과 기타 잠재적인 출력저하 요소로 인하여 발전량이 감소하기도 한다. 이처럼 태양광 발전 시스템을 통하여 안정적인 에너지 포집과 관리 및 조속한 고장 검출이 필수 요구사항이라 할 수 있다. 본 논문에서는 태양광 발전 시스템을 대상으로 전력 생산량 및 이상 동작 현상을 모니터링하고 외부 환경을 계측하는 계측모듈을 개발하고, 계측된 정보 데이터를 전송할 수 있는 통신모듈을 통하여 원격지에서 태양광 발전 시스템의 동작 상태를 모니터링 하도록 설계하였다. 또한 스마트폰을 기반으로 구축된 태양광 발전 시스템을 실시간으로 관리하고 모니터링 할 수 있는 모바일 관리 시스템을 제시하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1480-1484
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• 2003

This paper presents the design and development of network for housing estate security system. The system can cover up to 961 houses which can be up to 1,200 meters long transfer rate of 9,600 bps. This system uses checking and warning the abnormal situation. More over this system has ability to control switch on/off the electrical equipment in the house via AC line control system. The system consists of 4 parts. The first part is a security system of each house using MCS-51 microcontroller as a central processing unit scan 32 sensors and control 8 appliances and send alarm. The MCS-51 microcontroller received control signal via telephone used DTMF circuit. The second part is distributed two levels master/slave network implementing after RS-485 serial communication standard. The protocol its base on the OSI (Open Systems Interconnection) 7 layers protocol model design focus on speed, reliability and security of data that is transferred. The network security using encrypt by DES algorithm, message sequence, time stamp checking and authentication system when user to access and when connect new device to this system. Flow control in system is Poll/Select and Stop-and-Wait method. The third part is central server that using microcomputer which its main function are storing event data into database and can check history event. The final part is internet system which users can access their own homes via the Internet. This web service is based on a combination of SOAP, HTTP and TCP/IP protocols. Messages are exchanged using XML format [6]. In order to save the number of IP address, the system uses 1 IP address for the whole village in which all homes and appliance in this village are addressed using internal identification numbers. This proposed system gives the data transfer accuracy over 99.8% and maximum polling time is 1,120 ms.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2004년도 학술대회 논문집
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• pp.371-374
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• 2004

Induction motors are a critical component of many industrial processes and are frequently integrated in commercially available equipment. Safety, reliability, efficiency, and performance are some of the major concerns of induction motor applications. Preventive maintenance of induction motors has been a topic great interest to industry because of their wide range application of industry. Since the use of mechanical sensors, such as vibration probes, strain gauges, and accelerometers is often impractical, the motor current signature analysis (MACA) techniques have gained murk popularity as diagnostic tool. Fault tolerant control (FTC) strives to make the system stable and retain acceptable performance under the system faults. All present FTC method can be classified into two groups. The first group is based on fault detection and diagnostics (FDD). The second group is independent of FDD and includes methods such as integrity control, reliable stabilization and simultaneous stabilization. This paper presents the fundamental FDD-based FTC methods, which are capable of on-line detection and diagnose of the induction motors. Therefore, our group has developed the embedded distributed fault tolerant and fault diagnosis system for industrial motor. This paper presents its architecture. These mechanisms are based on two 32-bit DSPs and each TMS320F2407 DSP module is checking stator current, voltage, temperatures, vibration and speed of the motor. The DSPs share information from each sensor or DSP through DPRAM with hardware implemented semaphore. And it communicates the motor status through field bus (CAN, RS485). From the designed system, we get primitive sensors data for the case of normal condition and two abnormal conditions of 3 phase induction motor control system is implemented. This paper is the first step to drive multi-motors with serial communication which can satisfy the real time operation using CAN protocol.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1996년도 춘계학술대회
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• pp.315-319
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• 1996

We have developed a prototype patient monitoring system including module-based bedside units, interbed network, and central stations. A bedside unit consists of a color monitor and a main CPU unit with peripherals including a module controller. It can also include up to 3 module cases and 21 different modules. In addition to the 3-channel recorder module, six different physiological parameters of ECG, respiration, invasive blood pressure, noninvasive blood pressure, body temperature, and arterial pulse oximetry with plethysmogaph are provided as parameter modules. Modules and a module controller communicate with up to 1Mbps data rate through an intrabed network based on RS-485 and HDLC protocol. Bedside units can display up to 12 channels of waveforms with any related numeric informations simultaneously. At the same time, it communicates with other bedside units and central stations through interbed network based on 10Mbps Ethernet and TCP/IP protocol. Software far bedside units and central stations fully utilizes gaphical user interface techniques and all functions are controlled by a rotate/push button on bedside unit and a mouse on central station. The entire system satisfies the requirements of AAMI and ANSI standards in terms of electrical safety and performances. In order to accommodate more advanced data management capabilities such as 24-hour full disclosure, we are developing a relational database server dedicated to the patient monitoring system. We are also developing a clinical workstation with which physicians can review and examine the data from patients through various kinds of computer networks far diagnosis and report generation. Portable bedside units with LCD display and wired or wireless data communication capability will be developed in the near future. New parameter modules including cardiac output, capnograph, and other gas analysis functions will be added.

• 예술인문사회 융합 멀티미디어 논문지
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• 제8권9호
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• pp.169-178
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• 2018

냉동기는 얼음을 만드는 기계이다. 이를 제조 및 판매하는 회사는 대부분 중소기업으로, 판매 후 사후 관리에 어려움을 겪고 있다. 사후관리의 어려움은 대부분 구매처의 불필요한 고객 서비스 요청에 기인하며, 이 요청은 결국 판매처와 구매처의 불필요한 비용 지출로 이어진다. 하지만 재정적으로 열악한 냉동기 제조 기업은 이 비용을 최대한 줄이고자 한다. 뿐만 아니라, 국외에 냉동기를 판매하고 싶어도 사후 관리 때문에 주저하고 있는 상황이다. 이러한 이유로 냉동기 제조업체는 직접 방문 없이 원격지에서 냉동기의 상태를 확인하고 적절한 조치를 취할 수 있는 시스템을 필요로 하고 있다. 따라서 본 논문에서는 원격지에서 냉동기의 상태를 모니터링하고 필요에 따라 제어할 수 있는 냉동기 원격 제어 및 운전 상태 모니터링 시스템을 구현하였다. 개발된 시스템을 통해, 냉동기 제조업체와 냉동기 구매업체는 냉동기의 상태를 빠르게 파악함으로써 즉각적으로 고장에 대응할 수 있다. 게다가, 판매 후 유지보수 및 관리를 효율적으로 할 수 있어 비용절감에 큰 효과가 있을 것으로 예상된다.