• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.939-943
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• 2001

PLC(programmable Logic Controller)s essential components of modern automation systems encompassing almost every industry. Ladder Diagrams (LD) have been widely used in the design of such PLC since the LD is suitable for the modeling of the sequential control system. However, the synthesis of LD itself mainly depends on the experience of the industrial engineer, which may results in unstructured or inflexible design. Hence, in this paper, we propose a ladder diagram conversion algorithm which systematically produces LDs for PLCs based on discrete event models to enhance the structured and flexible design mechanism.

• 대한의용생체공학회:의공학회지
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• 제30권4호
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• pp.271-278
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• 2009

Recently, robot research and development was interesting the inside and outside of the country. Medical robot surgery showed diverse advantages according to advanced technical robot research. Also the academic society, research institute and industry showed concerning to the medical robot system. There is a growing need to introduce medical research for aging society. The surgical landscape is quickly changing because of the major driving force of robotics. Robot system and biomedical engineering research as defined a new engine of development show present ways of future revitalization of medical robot system. Medical robot system will be even more utilized when we keeps trying to combine high biomedical technique, IT research, and robot technique. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.371-376
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• 2004

Distributed Network Protocol Version 3.0 (DNP3.0) is the communication protocol developed for the interoperability between a RTU and a central control station of SCADA in the power utility industry. In this paper DNP3.0 is implemented by using HDL with FPGA and C program on Hitachi H8/532 processor. DNP3.0 is implemented from physical layer to network layer in hardware level to reduce the computing load on a CPU. Finally, the ASIC for DNP3.0 has been manufactured from Hynix Semiconductor. The commercial feasibility of the hardware through the communication test with ASE2000 and DNP Master Simulator is performed. The developed protocol becomes one of IP, and can be used to implement SoC for the terminal device in SCADA systems. Also, the result can be applicable to various industrial controllers because it is implemented in HDL.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.334-340
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• 2004

In this paper, a Web-based management system for the building network is described. A multi-protocol converter based on SoC and embedded Linux is designed. The open source licensing, reliability, and broad hardware support are key reasons for use of embedded Linux in embedded industry. The multi-protocol converter integrates control network of RS-485 and LonWorks devices through TCP/IP protocol for a client with Java applet. The system consists of three-tier architecture, such as a client, a server that is performed on a multi-protocol converter, and control devices. The developed system includes the inverter motor control system with modbus protocol for the RS-485 network. The experiment results show that the multi-protocol converter using embedded Linux is a flexible and effective way to builda Web -based monitoring and control system.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.888-893
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• 2000

This paper deals with the development of an automatic design software for DC servo motor control, which provides good performance with rapid response and velocity control accuracy. In the proposed method, the design is automatically executed using Matlab, and iterative learning control algorithms are used in the design process. We applied this method to 50W, 100W, 200W, 300W, 500W, 750W, 1.8kW and 4.5kW DC servo motors which are widely used in the industry. We compare the results of the manual tuning design method with that of the automatic design method presented in this paper. From the experimental results, we can find that the performance of the proposed method is better than that of the manual tuning design method.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.61-66
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• 1997

로보트 매니퓰레이터가 일정한 접촉 힘을 유지하며 공작물의 표면을 따라가게 하는 작업은 많은 자동화 생산공정에서 유용하게 이용될 수 있다. 일반적인 위치제어용 산업용 로보트를 이러한 공정에 사용하기 위해서는 접촉힘이 계측되어 로보트의 제어에 이용되어야만 한다. 이 연구는 accommodation force control 방식으로 산업용 로보트를 제어하여 edge-following에 응용하도록하며, 접촉 힘의 계측에는 wrist force sensor를 사용한다. 이 시스템의 궤도추적속도와 force regulation 등이 예견제어에 의해 향상될 수 있다. 예견제어에 의해 설계된 전체 제어 시스템은 feedback 제어기와 feedforward 예견제어기로 구성된다. 여기서, 시스템의 안정성은 feedback 제어기에 의해서 결정되며, 예견제어기는 시스템에 미치는 외란을 통제하는 것을 주 기능으로 한다. 일반적으로 선형제어 방식을 채택한 경우와 예견제어를 이용한 edge-following을 실험을 통해 비교함으로써, 예견제어의 효용성을 확인한다.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.459-464
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• 2015

An on-line quality control of hot steel products is one of the important issues in the steel industry because of cost minimization. In recent years, relative depth information of surface defects is increasingly required for strict quality control. In this paper, a 3D shape reconstruction scheme for defects on a hot steel surface based on a multi-spectral photometric stereo method is proposed. After simultaneously illuminating a hot steel surface by using vertical/horizontal linearly polarized lights of green and blue light sources, the corresponding 4 images are obtained. The photometric stereo method is then applied with the aid of a GPU (Graphic Processing Unit) to reconstruct the shape of the target surface based on these images. The proposed scheme was validated through experiments.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.235-244
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• 2014

This article introduces recent trends in RHC (Receding Horizon Control), also known as MPC (Model Predictive Control), that has been well recognized in industry and academy as a systematic approach for optimal design and constraint management. Constrained and robust RHCs will be briefly reviewed with milestone results. Among the diverse developments and achievements of RHCs, implementation issues will be focused on, together with the latest applications. In particular, this article introduces results on how to solve a finite horizon open-loop optimal control problem in an efficient way, together with code generation for real-time execution and easy implementation. Instead of traditional applications such as refineries and petrochemical plants, this article highlights some selected emerging applications, such as energy management systems and mechatronics, that have resulted from state-of-the-art high performance computing power and advanced numerical schemes.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.968-973
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• 2013

In the transportation industry, especially in the shipbuilding process, 3D surface measurement of large-scale hull pieces is needed for fabrication and assembly. We suggest an efficient method for checking the shape of curved plates under the forming operation with short time by measuring 3D profiles along the multi lines of the target surface. For accurate profile reconstruction, 2D camera calibration and 3D calibration using gauge blocks were performed. The evaluation test shows that the measurement accuracy is within the boundary of tolerance required in the shipbuilding process.

• 로봇학회논문지
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• 제6권2호
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• pp.141-146
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• 2011

In the TV manufacturing industry, a demand for chic design of TVs is increasing. As a reult of this trend in TV design, more curved surfaces in a TV cabinet are introduced, which enforces the use of fixers to combine a front cabinet with a TV main body. In this paper, we introduce a robot system for attaching various types of fixers to a TV cabinet. The developed system consists of three main blocks. The first one is the dispensing block, in which transferred cabinet is centered and UV adhesives are dispensed on the cabinet. The second one is the fixer attaching block, in which a cabinet is centered again and fixers are attached to pre-determined places on a cabinet by a robot with several end effectors. The last one is the UV hardening block, in which very strong ultraviolet rays are applied to the cabinet for attaching fixers tightly to the cabinet. The developed system is successfully adopted in a TV manufacturing process.