• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1053_1054
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• 2009

A significant number of renewable energy systems have been connected to the grids as supplement power source. The renewable energy systems require control algorithm to maintain the power-supply reliability and quality. This paper proposes a novel control algorithm for smart Power Conditioning System (PCS) with harmonics and reactive power compensation. The smart PCS is used to feed Photovoltaic (PV) power to utility and compensate harmonics and reactive power at the same time. The experimentation is carried out on the proposed grid-connected PV generation system, and controlled by digital signal processor. The grid-connected PV generation system injects PV energy into the grid and performs as Active Filter (AF) and Static Synchronous Compensator (STATCOM) without additional devices. The experiment results show that the proposed control algorithm is effective for smart PCS with harmonics and reactive power compensation.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1051_1052
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• 2009

This paper deals with operational characteristic analysis of a single-phase PCS (Power Conditioning System) for PV (Photovoltaic) power generation system with AF (Active Filter) function. The theory of dq transformation has been applied to the control strategy of a single-phase PV power generation system to implement the AF function. Application of the virtual two-phase using phase-shift makes it possible to use the dq theory for the single-phase PV power generation system. The authors are sure that the proposed system is a very useful to compensate harmonics caused by nonlinear loads in a single-phase utility system. In this paper, not only a theoretical aspect of the single-phase PV-AF system is discussed, but also the DSP (Digital Signal Processor) based experiment results are presented to demonstrate the effectiveness of the single-phase PV-AF system.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.35 no.1
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• pp.19-24
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• 1999

This paper is second part on the auditory thresholds and fish behaviors to the underwater sounds for luring of target species at the set-net in the coast of Cheju. In order to obtain the critical ratio of yellow tails(Seriola quinqueradiata) and the emission level of underwater sound for luring of them, we make experiments to measure the auditory threshold of them using conditioning with electric shock. In state that the white noise with 10dB higher sound pressure level than ambient noise is emitted, the auditory thresholds of yellow tails are measured with 100~116.5dB and they are higher than those in state of no emission of white noise by the masking effects of it. Although sound pressure level of background noise go down, the auditory thresholds go up with frequency above than 300Hz.The critical ratio of yellow-tails in frequency of 80Hz, 100Hz, 200Hz, 500Hz, 800Hz are 46dB, 40dB, 50dB, 52dB, 60dB, 70dB respectively. The sound pressure level of which the signal sound is recognized by yellow tails under the ambient noise is above 100dB and the critical ratio of them is above 40dB.

• Journal of Biosystems Engineering
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• v.32 no.5
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• pp.348-353
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• 2007

A solid state ion sensor module has been developed and evaluated for hydroponic nutrients analysis. The sensor module consisted of five ion-selective electrodes (ISE) fabricated by screen-printing technology. The electrochemical responses of ion sensors for nitrate, ammonium, potassium, calcium, and pH were measured with specially designed 7-channel low voltage signal transducers. The analytical characteristics of the sensors were comparable with those of conventional ISE sensors. The solid state ion sensors exhibit linear relationships over five concentration decades. Detection limit of the sensors were $5.6{\times}10^{-5}{\sim}1.6{\times}10^{-7}M$ depends on ions. Performance test results showed that relative errors of measured ion concentrations were less than 5% for $NO_3{^-},\;K^+,\;Ca^{2+}$ ion, and pH. The concentration of $NO_3{^-},\;NH_4{^+},\;K^+,\;Ca^{2+}$, and pH ion in standard solution and nutrient solutions could be determined by direct potentiometric measurements without any conditioning before measurements.

• Journal of the Korea Safety Management & Science
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• v.16 no.3
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• pp.239-248
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• 2014

Most systems used in industrial sites, actually have non-linearity and uncertainty. Therefore there are a lot of difficulties in evaluating conditions of these systems. Generally, the quantitative analysis and expression are found hard because the general public cannot easily make an accurate interpretation on the systems. Thus development of a system that utilizes an expertise from skilled analysts is required. In this research, a real-time sensor signal conditioning system and Fuzzy-expert system have been separately set up into an inference algorithm. So that it ensures a fast, accurate, objective and quantitative operational condition value provided to the manager. Therefore, FE_AFCDM is suggested in this literature, as an effective system for diagnosing the problems related to the air compressor. It can quantify the uncertain and absurd condition to operate the air compressor facilities safely and financially.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.165-168
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• 1995

The recent rapid growth of air conditioning load has become a major reason of peak load increase in summer. In connection with this, we surveyed the load management projects of utilities world-wide and their detailed activities. This study is to develop a remote load control system using computer and radio communications. We finished the field-test of this system on August 1995 in Seoul area. During the field-test, the remote load control of air conditioners was proved to be well-timed. Two control modes, group control and all control, are available for the user to select. The transmission reliability of the load control signal was very good and the functions of system hardware as well as the software were excellent. So we confirmed the applicability of the load control system including the paper communication network. In this paper, detailed information on the system functions and experimental results are described.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.1
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• pp.52-58
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• 2005

Among various modern control theories, PID control has been well used for several decades. PID algorithms need some tuning methods which are used for selecting PID parameters. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that controllers, output characteristics and disturbance rejection property meet some specifications. In this paper, linear conbinational type of performance index using error signal, time, control input and robustness is used to the PID control of air conditioning system. By use of the 2 DOF PID parmeters minimizing perfromacne index controllers, output characteristics and robustness properties are analyzed. Simulations are done by use of MATLAB with Simulink.

• Journal of Biosystems Engineering
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• v.17 no.4
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• pp.344-353
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• 1992

This study was carried out to develop a fully-controlled plant growth system for studying the effects of environmental factors on plant growth. The plant growth system consists of the growth chamber, the measurement system for sensing and signal conditioning the environmental factors and the control system which includes control algorithm required for optimum operation and on-line monitoring. The results of the study on the performance of the controlled plant growth system are summarized as follows : 1. Under the light intensity of 18,000~20,000 lux, the temperature was controlled in the range of $22{\pm}0.4^{\circ}C$, the relative humidity of $70{\pm}5%$ respectively. 2. The $CO_2$ concentration was controlled in the range of $1,000{\pm}40ppm$(from 1st to 4th day) and $1,500{\pm}40ppm$(from 4th to 9th day). 3. The electric conductivity(EC) and pH of the nutrient solution were controlled in the range of $1.9{\pm}0.2mS/cm$ and $6.8{\pm}0.5pH$ respectively. 4. Under the above environmental conditions, the average fresh weight of leaf lettuce increased from 10g to 74g in 9 days with 24 hour lighting.