• Journal of Electrical Engineering and Technology
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• 제12권2호
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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.

• International Journal of Advanced Culture Technology
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• 제7권2호
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• pp.209-217
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• 2019

Due to the development of artificial intelligence and image recognition technology that play important roles in the field of 4th industry, office automation systems and unmanned automation systems are rapidly spreading in human society. The proposed algorithm first finds the variances of the differences between the tile values constituting the learning characters and the experimental character and then recognizes the experimental character according to the distribution of the three learning characters with the smallest variances. In more detail, for 100 learning data characters and 10 experimental data characters, each character is defined as the number of black pixels belonging to 15 tile areas. For each character constituting the experimental data, the variance of the differences of the tile values of 100 learning data characters is obtained and then arranged in the ascending order. After that, three learning data characters with the minimum variance values are selected, and the final recognition result for the given experimental character is selected according to the distribution of these character types. Moreover, we compare the recognition result with the result made by a neural network of basic structure. It is confirmed that satisfactory recognition results are obtained through the processes that subdivide the learning characters and experiment characters into tile sizes and then select the recognition result using variances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.243-247
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• 2004

The dynamometers which had made in a long time ago could not control the input/output quantity of water minutely and was sensitive to a noise since it was controlled by an analog control method. Therefore, a fully digital controlled system was urgently required to be robust against various noises. In this paper, the new system which can control the amount of circulated water in dynamometer was developed. This system is consisted of an industrial digital type controller and a servo motor. The industrial PLC was used as a main controller for the developed system, and the actuator and servo motor were used to control the inlet and outlet valve independently. The torque signal of load cell was fed back to the main controller to regulate the diesel engines load. Generally, an input/output valve position of the old dynamometer was fixed with a proper situation for an engine output test and the torque was changed according to the time interval. However, the torque value for the dynamometer could not be constantly kept because of the variation of the input water flow and fluid characteristic. Therefore, the automatic control of an inlet and outlet valve should be performed to keep the constant torque. So, the PID control method was applied to solve this problem. Also, the development of a web-based remote control system was described in this paper. This software will give us the convenience of operation, the more efficient operations, and the reduced operator workload for operation of the dynamometer. The application results of the system have been verified at actual diesel engine field.

• 한국측량학회지
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• 제15권2호
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• pp.141-148
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• 1997

지속적인 PC의 발전 및 이에 반비례한 가격의 하락, Windows 95. Windows N/T로 이어지는 PC운영체제의 확장은 소규모 단지의 경우 PC에서도 도시기반시설관리정보체계의 운영가능성을 신중히 모색케 하고 있다. 이와 같은 점을 고려하여 AutoCAD를 이용하여 한국토지공사의 단지기반시설 업무인 pipe-based도시기반시설-상수, 우수, 오수-및 도로의 도면정보와 속성정보를 PC상에서 동시에 관리할 수 있는 자료자동화 시스템을 구축하였고, 향후 구축 방향 및 문제점을 논하였다.

• 정보교육학회논문지
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• 제20권6호
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• pp.585-596
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• 2016

2018학년도부터 초중고등학교에서 소프트웨어 교육이 시행될 예정이다. 소프트웨어 교육의 목표는 학생들에게 Computational Thinking 능력을 길러주는 데 있다고 할 수 있다. Computational Thinking은 크게 추상화와 자동화로 구성되는데 추상화와 관련된 개념을 국가마다 전공마다 다르게 정의하고 있어 학생들과 교사들한테 혼란을 주고 있다. 따라서 본 논문에서는 추상화에 대한 여러 정의들을 비교하여 합리적으로 정의하였다. 합리적인 정의를 바탕으로 초등학교에서에서의 추상화 교육 방법과 평가 기준에 대하여 제안하였다. 본 논문에서 제시한 추상화에 대한 정의는 앞으로 소프트웨어 교육을 진행하면서 만나게 되는 문제에 대한 해결 방법을 제시할 수 있을 것으로 기대된다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제32권8호
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• pp.704-716
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• 2005

미리 만들어진 컴포넌트를 조립하여 새로운 소프트웨어를 개발하는 방법은 개발비용과 기간을 획기적으로 줄일 수 있다는 장점으로 전통적인 방법의 대안이 되고 있다. 하지만 컴포넌트를 통합 조립하면서 신뢰도를 확인하고 새 환경에 맞는지 테스트하는 과정이 복잡하고 비용이 많이 소요된다면 효과적인 방법이 될 수 없다. 대규모 시스템에 효율적으로 사용, 조림될 컴포넌트들은 원시코드 형태로 배포되지 않아서 새 환경에 적합한지 시험하고 관찰하는 철저한 테스트가 어렵다. 이러한 문제점을 해결하기 위하여 컴포넌트가 재사용되었을 때 쉽게 검증되도록 미리 테스트 모듈을 내장한 Built-In 테스트 방법이 있지만 컴포넌트의 기능이 다양하고 복잡하게 되면 컴포넌트에 포함된 테스트 모듈의 규모가 커지고 다양하고 융통성 있는 테스트가 어려워진다. 이 논문에서는 컴포넌트의 Built-In 테스트 기능을 대체할만한 컴포넌트 테스트를 위한 래퍼(wrapper)를 제안하고 이를 설계, 구현하여 실용성을 보였다. 래퍼를 자동 생성하여 테스트하면 컴포넌트의 테스트 준비 과정에 드는 노력이 줄어들고 테스트를 다양한 측면에서 테스트해 볼 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.547-550
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• 2005

Gauge blocks are the most widely used material measure in length field in industry. The gauge block interferometer, which is the gauge block measuring system, comprises Twyman-Green type interferometer optics and light sources having precisely known wavelengths. This paper describes the work done for advancing the measurement system and automating the measurement process. The advancing of the system was done mainly by exchanging the spectral lamp with the frequency stabilized lasers, and the automation of measurement was achieved by modifying the hardware and developing the automatic measuring software. As the results of this work, the contrast of interferometric fringes of gauge blocks longer than 100 mm s enhanced about 20 times, and the measurement time has reduced down to 50% by automation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.365-368
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• 1992

This paper presents an approach to the design of real time task scheduling for a line controller of continuous manufacturing process automation. The line controller has multiprocessor-based architecture with shared memory and is operated by firmware. This firmware contains menu-driven software supporting real-time database management and fuction-block control language. The multitasking line control processor performs the following three functions: 1) interprets the function block control language by virtue of shared memory in the database; 2) invokes an interupt service routine as required by external hardware; 3) detects errors and notifies the user. We propose real time task scheduling method.

• 전기전자학회논문지
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• 제2권1호
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• pp.42-52
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• 1998

본 논문에서는 이더넷을 기반으로 연결되어 있는 분산 soft real-time 시스템에 적용될 수 있는, LAN/TCP라 명명된 확장된 TCP/IP 프로토콜을 제안하고 있다. LAN/TCP는 기존의 TCP/IP 환경에서 아무런 충돌 없이 호환성을 유지하면서 soft real-time 특성을 제공하기 때문에 기존의 응용 프로그램을 별 다른 수정 없이 사용할 수 있다. LAN/TCP는 주기적으로 수집, 갱신되는 제어 신호를 상대적으로 낮은 트래픽으로 전송할 수 있는 PTM(Periodic Transmission Mode)전송 방식을 제공한다. 본 논문은 제안된 프로토콜의 시뮬레이션 및 실험 결과를 제시하고 있다.

• Journal of Biosystems Engineering
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• 제26권1호
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• pp.21-28
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• 2001

Major deficiencies of current automation scheme including various robots for bioproduction include the lack of task adaptability and real time processing, low job performance for diverse tasks, and the lack of robustness of take results, high system cost, failure of the credit from the operator, and so on. This paper proposed a scheme that could solve the current limitation of task abilities of conventional computer controlled automatic system. The proposed scheme is the man-machine hybrid automation via tele-operation which can handle various bioproduction processes. And it was classified into two categories. One category was the efficient task sharing between operator and CCM(computer controlled machine). The other was the efficient interface between operator and CCM. To realize the proposed concept, task of the object identification and extraction of 3D coordinate of an object was selected. 3D coordinate information was obtained from camera calibration using camera as a measurement device. Two stereo images were obtained by moving a camera certain distance in horizontal direction normal to focal axis and by acquiring two images at different locations. Transformation matrix for camera calibration was obtained via least square error approach using specified 6 known pairs of data points in 2D image and 3D world space. 3D world coordinate was obtained from two sets of image pixel coordinates of both camera images with calibrated transformation matrix. As an interface system between operator and CCM, a touch pad screen mounted on the monitor and remotely captured imaging system were used. Object indication was done by the operator’s finger touch to the captured image using the touch pad screen. A certain size of local image processing area was specified after the touch was made. And image processing was performed with the specified local area to extract desired features of the object. An MS Windows based interface software was developed using Visual C++6.0. The software was developed with four modules such as remote image acquisiton module, task command module, local image processing module and 3D coordinate extraction module. Proposed scheme shoed the feasibility of real time processing, robust and precise object identification, and adaptability of various job and environments though selected sample tasks.