• Journal of Platform Technology
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• v.9 no.3
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• pp.78-83
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• 2021

The new industry drone research is increasing through convergence between 4th industrial revolution technology. In particular, the government indicates the D.N.A platform as a countermeasure of 4th industrial revolution. So, the research topics are remarkable which are using D.N.A platform. On the other hand, the drone for industrial and research has spatial factor based on sequential because, they performance scenario-based mission through control operation. When the drone flights as a control operation, they have necessity apply multi-dimensional methods to improve the security level. So, this study researched a scenario based drone platform to improve the security level. As a result, the space classified as a ground control system, drone, drone data server and designed the application method based on scenario security technology.

• Nuclear Engineering and Technology
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• v.41 no.4
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• pp.447-454
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• 2009

This paper is a technical review of the research and development results of the Korea Nuclear Instrumentation and Control System (KNICS) project and Nu-Tech 2012 program. In these projects man-machine interface system architecture, two digital platforms, and several control and protection systems were developed. One platform is a Programmable Logic Controller (PLC) for a digital safety system and another platform is a Distributed Control System (DCS) for a non-safety control system. With the safety-grade platform PLC, a reactor protection system, an engineered safety feature-component control system, and reactor core protection system were developed. A power control system was developed based on the DCS. A logic alarm cause tracking system was developed as a man-machine interface for APR1400. Also, Integrated Performance Validation Facility (IPVF) was developed for the evaluation of the function and performance of developed I&C systems. The safety-grade platform PLC and the digital safety system obtained approval for the topical report from the Korean regulatory body in February of 2009. A utility and vendor company will determine the suitability of the KNICS and Nu- Tech 2012 products to apply them to the planned nuclear power plants.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.2 s.191
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• pp.86-94
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• 2007

In this paper, a dual stage servo mechanism has been developed for image tracking system to improve control performances such as small rise time, small overshoot, small settling time, small stabilization error etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving responses and attenuating the disturbance response related with dynamic coupling.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.166-175
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• 2001

The high speed tracking control of a 6-6 Stewart platform manipulator (SPM) normally requires knowledge of its complex full dynamics and measurement of its base motion when the SPM operates on a motion nit. In this study, an enhanced sliding mode control scheme has been developed, which is based on the reduced dynamics, not necessitating measurement of the base motion. The enhanced sliding mode control implemented with the perturbation compensation and modified reaching phase alleviation functions has been successfully employed for high speed tacking control of the laboratory SPM, when it is subjected to a virtual base motion.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.932-935
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• 2004

In this paper, we present a framework that is easy to develop, modify, maintain and extend a control and monitoring software for any kinds of instruments. The presented framework is composed of three XML documents (IID, MAP, and CMIML) and two tools (Virtual Instrument Wizard, Generator). Interface information about behaviors and states of instruments is written on IID. Mapping information between the interface information in IID and API of a real instrument driver is written on MAP. Finally information about control and monitoring software is written on CMIML. IID, MAP and CMIML are written with XML format to provide common usage and platform independence of the suggested framework. VI Wizard generates CMIML (platform independent intermediate document) using IID and existing CMIML, and Generator generates source code of a control and monitoring software (platform dependent code) automatically using CMIML and MAP. The suggested framework that automatically generates control and monitoring software based on GUI provides easy development and maintenance. Also, reusability can be increased by reusing platform independent software description documents.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.639-648
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• 2002

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

• Journal of the Korean Society of Safety
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• v.21 no.6 s.78
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• pp.1-6
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• 2006

Subway platform is divided into Side-platform type and Center-platform type. In this study does quantitative fire risk assesment of subway platform types in numerical analysis by using CFD model. From the result of this study, 1) All exhaust mode was low-end result it seems most fire risk at Side-platform station. 2) All exhaust mode was low-end result it seems most fire risk at Center-Platform station. 3) When comparing same type exhaust mode of Side-platform and Center-platform that last thing was visible $9.1{\sim}72.34%$ low-end fire risk. Center-platform is more opera-tive than Side-platform that reduce fire risk when that was same dimension and external environment. Designer look upon a fire characteristic of subway platform types when he make smoke control air volume and platform area design.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.194-200
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• 2006

The SoC and digital technology development recently enabled the emergence of information devices and control devices because the SoC presents many advantages such like lower power consumption, greater reliability, and lower cost. However, it is nearly impossible to use the SoC without operating systems because the SoC is included with many peripherals and complex architecture. It is required to use embedded operating systems and real-time operating systems may be used as an embedded operating system. So far, real-time operating systems are widely used to implement a Real-Time system since it meets developer's requirements. However, real-time operating systems have disadvantages including a lack of standards, expensive development, and license. Embedded Linux is able to overcome their disadvantages. In this paper, the implementation of control system platform for a mobile robot using real-time Embedded Linux is described. As a control hardware system platform, XScale board is used. As the real-time Embedded Linux, RTAI is adopted which is open source and royalty free, and supports various architectures and real-time devices, such like real-time CAN and real-time COM. This paper shows the implementation of RTAI on XScale board that means the porting procedure. We also applied the control system platform to the mobile robot and compared the Real-Time serial driver with non real-time serial driver. Experimental results show that that using RTAI is useful to build real-time control system with powerful functionalities of Linux.

• Structural Monitoring and Maintenance
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• v.3 no.2
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• pp.175-194
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• 2016

Based on the change of traditional viscoelastic damper structure, a brand-new damper is designed to control simultaneously the translational vibration and the rotational vibration for platforms. Experimental study has been carried out on the mechanical properties of viscoelastic material and on its multi-dimensional seismic response control effect of viscoelastic damper. Three types of viscoelastic dampers with different shapes of viscoelastic material are designed to test the influence of excited frequency, strain amplitude and ambient temperature on the mechanical property parameters such as circular dissipation per unit, equivalent stiffness, loss factor and storage shear modulus. Then, shaking table tests are done on a group of single-storey platform systems containing one symmetric platform and three asymmetric platforms with different eccentric forms. Experimental results show that the simulation precision of the restoring force model is rather good for the shear deformation of viscoelastic damper and is also satisfied for the torsion deformation and combined deformations of viscoelastic damper. The shaking table tests have verified that the new-type viscoelastic damper is capable of mitigating the multi-dimensional seismic response of offshore platform.