• 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.

• International Journal of Advanced Culture Technology
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• v.7 no.2
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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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• 2004.08a
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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.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.15 no.2
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• pp.141-148
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• 1997

Continuous development of Personal Computer(PC) combined with the decrease of price and the expansion of operating system in PC like Windows 95, and Windows N/T makes it possible for the user to consider PC-bas-ed Automated Happing/Facilities Management (AM/FM) system. Therefore, the purpose of this study is to establish a PC-based data automation system of pipe infrastructures-water, sewer, and drainage-and road in Korea Land Corporation. In order to achieve this goal, relevant literature survey was done first. Secondly, the study site was determined by discussion with Korea Land Institute. Thirdly, PC-based CAD software for AM/FM in the world market were surveyed, and AutoCAD Map was selected because KLC had been using hundreds of AutoCAD copies already. After that user needs assessment was done to visit on-site office, local branch office, and the corresponding city office for the system design and database design. After the graphic data were digitized and the attribute data were entered into the batabase, the data automation system was established, and tested for application. Finally, the guidelines and problems for PC-based data automation in AM/FM was discussed.

• Journal of The Korean Association of Information Education
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• v.20 no.6
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• pp.585-596
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• 2016

Software Education will be implemented at elementary, middle and high schools starting in 2018. The goal of software education is to help students develop Computational thinking skills. Computational thinking is largely composed of abstraction and automation. However, the concepts related to abstraction are defined differently for each country, giving confusion to students and teachers. Therefore, in this paper several definitions of abstraction are compared and defined reasonably. And we proposed an abstraction teaching method and evaluation criteria in elementary school based on a reasonable definition. The definition of abstraction presented in this paper is expected to be able to present a solution to the problems encountered in the course of software education in the future.

• Journal of KIISE:Software and Applications
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• v.32 no.8
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• pp.704-716
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• 2005

Assembling new software systems from Prepared components is an attractive alternative to traditional software development method to reduce development cost and schedule dramatically. However, if separately developed components are tested, integrated and verified with unreasonable effort and high cost, it would not be an effective way to software development. Components are not distributed in the shape of white-box source code so that should be hard to validate and test in new application environment. For solving this problem, built-in tester components are suggested to check the contract-compliance of their server components. If components have various and complex function, built-in tester should be heavy and unflexible to test in composition of components. This paper suggests enhancing automated wrapper technique which substitutes with built-in tester components and shows the usability of the wrapper by design and implementation. Component testing in this way reduces the cost and effort associated with preparation of component testing and makes the various test experiments in components assembly.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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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.

• Proceedings of the KIEE Conference
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• 1992.07a
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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.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.42-52
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• 1998

This paper proposes an extended TCP/IP protocol, LAN/TCP, that can be used for the distributed soft real-time systems connected through the Ethernet-based local area network. Since LAN/TCP shows soft real-time performance with keeping compatibility and interoperability with the standard TCP/IP, the existing application software can be used without any modification. LAN/TCP also provides the periodic transmission mode(PTM) with which the periodical data collection and updating the control signals can be efficiently implemented with relatively small traffic overhead. This paper includes the computer simulation and experimental results of the proposed protocol.

• Journal of Biosystems Engineering
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• v.26 no.1
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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.