• 한국산업융합학회 논문집
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• 제18권2호
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• pp.75-81
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• 2015

This study proposes an articulated robot control system using an on/off-line robot graphic simulator with multiple networks. The proposed robot control system consists of a robot simulator using OpenGL, a robot controller based on a DSP(TMS320) motion board, and the server/client communication by multiple networks. Each client can control the real robot through a server and can compare the real robot motion with the virtual robot motion in the simulation. Also, all clients can check and analyze the robot motion simultaneously through the motion image and data of the real robot. In order to show the validity of the presented system, we present an experimental result for a 6-axis vertical articulated robot. The proposed robot control system is useful, especially, in the industrial fields using remote robot control as well as industrial production automation with many clients.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2017년도 춘계학술발표대회
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• pp.1086-1087
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• 2017

최근 HMD 디바이스의 발달 및 그래픽 소프트웨어의 발달로 인해 현실과 유사한 느낌을 주는 가상현실 플랫폼 및 컨텐츠 개발이 활발히 이루어지고 있는 추세이다. 하지만, 현재 가상현실 플랫폼은 가상현실 환경과 사용자를 이어주는 UI가 불확실하고 사용법이 직관적이지 않다는 단점을 가지고 있다. 또한, 가상현실을 위한 컨트롤러들은 다양한 형태와 각각 다른 소프트웨어를 사용하고 있어 가상현실 컨텐츠를 이용하는데 제한적이라는 단점이 있다. 본 논문에서는 이러한 단점들을 보완하기 위해 플렉스 센서를 이용한 컨트롤러를 제작하고 이를 가상현실 내에서 출력한 모습에 대한 방법에 대해 설명하며, 추후 이를 활용하여 체감이 가능한 가상현실 컨텐츠로 발전시킬 수 있을 것을 기대한다.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2354-2363
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• 2018

This paper proposed a novel double closed control strategy for single-phase voltage source pulse width modulation (PWM) rectifier based on active disturbance rejection control (ADRC) and dq current decoupling control. First, the mathematical model of the single-phase PWM rectifier in the d-q axis synchronous rotating reference frame is established by constructing a virtual component using a second-order generalized integrator (SOGI). Then, the mathematical model is simplified according to the active power conservation, and the first-order equation of single-phase PWM rectifier voltage outer loop is acquired. A linear auto-disturbance rejection controller is used to design the voltage outer loop according to the first-order equation. Finally, the proposed control strategy and the traditional PI control are compared and verified by simulation and physical experiments. Both simulation and experimental results confirm that the proposed control strategy has excellent dynamic performance and strong rejection ability to disturbances.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.872-875
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• 1995

The strategy of open architecture control system intends to integrate manufacturing components on a single platform, so that a particular component can be easily added and/or replaced. Therefore, the control scheme is neither hardware dependent nor software dependent. In this paper a modular and object oriented approach for the open architecture structure of control systems is invesigated. A standard reference model for genetic manufacturer system, which consists of three modules; hardware module, operating system module, and application software module, is first proposed. Then a standard reference model for open architecture robot control system is suggested.

• 한국경영과학회지
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• 제18권1호
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• pp.45-54
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• 1993

Monitoring processor in a circuit switched network is considered. Monitoring processor monitors communication links offers a grade of service in each link to controller. Such an information is useful for an effective maintenance of system. Two links with asymmetric system parameters and multi-symmetric links are respectively considered. Each links is to be an independent M /M/ 1/ 1/ type. Markov modeling technique is used to represent a model of monitoring processor with FCFS steering protocol. Performance measures considered are ratio of monitored jobs in each link, availability of minitoring processor and throughput of virtual processor in each link. The value of the performance meausres are compared with existing and simulation results.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.374-378
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• 2007

As people's living standard is being improved, human works are being replaced by robots. However, because roost robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree of freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end effector.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 2000년도 춘계공동학술대회 논문집
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• pp.786-789
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• 2000

제품의 설계, 생산, 운영/제어과정에서의 신속화, 고효율화, 저비용 등을 실현하기 위한 방법으로서 가상생산이 일반화되고 있다. 즉, 생산활동의 전 분야에 걸쳐서 인간의 의사결정을 신속하고 정확하게 할 수 있도록 지원하는 환경인 것이다. FMS 분야에서도 FMS 설계, 제어 및 운영단계에서 이와 같은 가상생산 개념이 적용될 수 있다. 컴퓨터 시뮬레이션을 이용한 FMS 설계분석은 이러한 대표적인 예이다. 본 연구에서는 FMS 운영단계에서 FMS 운영자에 의하여 사용되는 FMS 시스템 컨트롤러에 대하여 가상생산 개념을 적용하여 실제의 FMS 없이 FMS 운전과 스케줄링을 모의로 실행할 수 있는 FMS 가상 시스템 컨트롤러를 개발한 내용과 이의 활용에 대하여 간략하게 소개하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.706-709
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• 1996

In this paper, an algorithm for PLC(Programmable Logic Controller) fault diagnosis system is proposed and experimentation is conducted with a PLC and a virtual plant. Wrong output backward tracking algorithm is proposed in order to find the external faults of PLC. And query with keywords of the fault systems and specially designed test sequence programs are used. We lay emphasis on the backward tracking algorithm to diagnose the faults of PLC. It is shown experimentally that the proposed algorithm can find the faults which a typical self diagnostics in the-commercially available PLC cannot.

• 제어로봇시스템학회논문지
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• 제5권5호
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• pp.622-629
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• 1999

This paper discusses a real time multi-tasking system model and a development environment for an elevator control system. Recently, as the elevator systems become large-scaled and operate with high speed, there are lots of software tasks to be processed with time constraints. Thus, the control systems are designed with distributed control structure and characteristics of typical real time systems. For stuructural design of such real time system, we introduce a multi-tasking model based on a real time operating system model and an software development environment based on virtual protopyping which simulates real system operation in the cross development of a new elevator system with distributed control structure and its system reliability can be verified through numerous field tests.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.330-333
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• 2005

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels.