• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.4
• /
• pp.470-477
• /
• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Journal of the Korea Convergence Society
• /
• v.6 no.5
• /
• pp.303-314
• /
• 2015

In This paper we study the interrelationship between firm's strategies, MCS (Management Control System), and financial and non-financial performance. And also the objective of this study is to advance the understanding of mediating effect of management accountant on these relationships. This is a suggestion on the study of contemporary settings as little contingency work was carried out on balanced scorecard, target costing, life cycle costing, which come under the broad array of non-financial performance indicators. The result of this study finds that the higher the unpredictability of the business, the more necessary it is to secure a controller within the business. This strongly implies that the controllers must be the main subject of continued growth as they perform an active role within the overall management control process of performance indicator development, performance measurement, feedback, and reward, starting from the very beginning stages of the strategy development within the business.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.480-480
• /
• 2000

In this paper, we proposed a fuzzy-neuro controller to control the speed of wound rotor induction motor with slip energy recovery. The speed is limited at some range of sub-synchronous speed of the rotating magnetic field. Control speed by adjusting resistance value in the rotor circuit that occurs the efficiency of power are reduced, because of the slip energy is lost when it passes through the rotor resistance. The control system is designed to maintain efficiency of motor. Recently, the emergence of artificial neural networks has made it conductive to integrate fuzzy controllers and neural models for the development of fuzzy control systems, Fuzzy-neuro controller has been designed by integrating two neural network models with a basic fuzzy logic controller. Using the back propagation algorithm, the first neural network is trained as a plant emulator and the second neural network is used as a compensator for the basic fuzzy controller to improve its performance on-line. The function of the neural network plant emulator is to provide the correct error signal at the output of the neural fuzzy compensator without the need for any mathematical modeling of the plant. The difficulty of fine-tuning the scale factors and formulating the correct control rules in a basic fuzzy controller may be reduced using the proposed scheme. The scheme is applied to the control speed of a wound rotor induction motor process. The control system is designed to maintain efficiency of motor and compensate power factor of system. That is: the proposed controller gives the controlled system by keeping the speed constant and the good transient response without overshoot can be obtained.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.9A
• /
• pp.1031-1038
• /
• 2004

The call admission control algorithm of hybrid scheme is proposed to enhance the QoS(quality of service) of attempted multimedia calls. In the initial stage of 3rd generation multimedia services networks, the major limitations include the small sefyice coverage and the limited radio link capacity. Because the initial massive deployment of network elements such as base stations, base station controllers, and mobile switching centers is restricted to populated areas and the other areas should be covered with the fewer network elements, the radio channel resources are hmited and coverage network is supposed to be established. Therefore the QoS of multimedia services is expected to be severely degraded when tentative traffic hot spot occurs frequently. Thus, the blocking probability of attempted calls mcreases when relatively large number of users try to place multimedia calls in a hot spot area of the wireless networks. In this situation, the proposed hybrid scheme can mitigate the degradation of the QoS of multimedia services by using the available radio channels of the neighboring cells.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.11
• /
• pp.1109-1117
• /
• 2017

In this work, a new control module and communication system associated with DSP are proposed to overcome the limitations of the contemporary prevailing PLC-based industrial equipment controller, and the performance of the proposed system was experimentally verified. In the light of this issue, a communication conversion scheme from RS-485 to Modbus, the dominant communication protocol used by PLC, was developed and shown to yield enhanced compatibility between devices. The proposed system allows for ~50％ cost reduction as well as downsizing of the industrial controllers. Furthermore, the design includes 24 V general digital I/O pins, which facilitate partial expansion of inputs and outputs. With Modbus communication implemented in DSP with the RS-485 interface, multi-to-multi communication may also be achieved.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.36 no.1
• /
• pp.25-32
• /
• 2000

A combination steering system was designed to provide the flexibility in controlling the steering wheel in fishing operations of the inshore and coastal fishing vessels. The designed steering system basically is consisted of three driving units, such as a electrically driven hydraulic pump unit with a solenoid control valve, a DC motor driven hydraulic pump unit and a manually driven hydraulic pump unit, and two controllers to provide remote steering on the deck, respectively. The steering torque was measured and analyzed to investigate the dynamic performance of the developed steering system. The steering system showed excellent linearity between the working pressure of cylinder and the torque of rudder post in case of increasing in rudder angle from $5^{\circ} to 35^{\circ}$ that is, the steering torque increased from $10.4 kgf{\cdot}m$ to $105.3 kgf{\cdot}m$ and then the working pressure of cylinder fluctuated from 6.3 kgf/cm super(2) to 16.4 kgf/cm super(2). The steering time of 3.2 sec in remote hydraulic steering by the on/off solenoid valve control was much faster than 13.2 sec in the manual steering by the helmsman and 11.6 sec in the electric steering by a DC motor, and then it was verified that operation of one unit does not affect other units in combination steering system in any way. Furthermore, the developed steering system can be remotely controlled in multiple stations of the deck during the fishing operation and the automatic pilot steering unit can be used to add hydraulic steering.

• Proceedings of the Korea Society for Industrial Systems Conference
• /
• 2000.11a
• /
• pp.357-365
• /
• 2000

In this paper, we proposed a new circuit construction method that reduced the number of CMOS devices of singleton fuzzy controller(SFC) through the proposing a new membership function circuit(MFC) which uses the language variable selecting and the coefficient selecting circuit. According to the range of input values, we can choose the language variables beforehand which will be used in the inference. So we proposed the new MFC which generates the only necessary language variables. Also, we removed all rules of which adapting degree of their antecedents is zero through proposing the coefficient selecting circuit which beforehand selects the coefficients which will influence the inference result. Though this method, we simplified the structure of SFC and reduced the size of hardware. And to solve the problem in the current mode with respect to the restriction of the fan-out number, voltage-input and current-out membership function circuits are constituted of operational transconductance amplifiers. A membership function circuit which includes the language variable selecting circuit, a minimum operation circuit we implemented by current mode CMOS devices. As a result of applying proposed method, total numbers of blocks and devices wave decreased. If the number of variables and antecedents are getting larger, this method is more efficient.

• Progress in Superconductivity
• /
• v.4 no.1
• /
• pp.42-47
• /
• 2002

Measuring magnetic fields with a SQUID sensor always requires preliminary adjustments such as optimum bas current determination and flux-locking point search. A conventional magnetoencephalography (MEG) system consists of several dozens of sensors and we should condition each sensor one by one for an experiment. This timeconsuming job is not only cumbersome but also impractical for the common use in hospital. We had developed a serial port communication protocol between SQUID sensor controllers and a personal computer in order to control the sensors. However, theserial-bus-based control is too slow for adjusting all the sensors with a sufficient accuracy in a reasonable time. In this work, we introduce programmatic control sequence that saves the number of the control pulse arrays. The sequence separates into two stages. The first stage is a function for searching flux-locking points of the sensors and the other stage is for determining the optimum bias current that operates a sensor in a minimum noise level Generally, the optimum bias current for a SQUID sensor depends on the manufactured structure, so that it will not easily change about. Therefore, we can reduce the time for the optimum bias current determination by using the saved values that have been measured once by the second stage sequence. Applying the first stage sequence to a practical use, it has taken about 2-3 minutes to perform the flux-locking for our 37-channel SQUID magnetometer system.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.43 no.8
• /
• pp.739-747
• /
• 2015

With rapid growth in the technologies and demand of Remotely Piloted Aircraft Systems (RPASs), integration of such systems into the existing airspace system is becoming an issue in many countries. RPAS have different flight performances, communication characteristics, separation assurance mechanisms, and human machine interfaces from manned aircraft. To establish rules and regulations for RPAS integration, it is important to understand the impacts of RPASs on the airspace system. A simulation system that integrates manned aircraft, air traffic control, and RPASs is developed in Inha University to investigate these impacts through Human-in-The-Loop (HiTL) simulations. Three conflict resolution scenarios between a manned aircraft and a Remotely Piloted Aircraft (RPA) were constructed and tested. Human factors such as the response times of pilots and controllers were measured and analyzed as well as the risk of each maneuver.

• Transactions of the Society of Information Storage Systems
• /
• v.1 no.2
• /
• pp.155-160
• /
• 2005

In this paper, the channel decoder promising reliable data retrieving in noisy holographic channel has been developed for holographic WORM(write once read many) system. It covers various DSP(digital signal processing) blocks, such as align mark detector, adaptive channel equalizer, modulation decoder and ECC(error correction code) decoder. The specific schemes of DSP are designed to reduce the effect of noises in holographic WORM(H-WORM) system, particularly in prototype of DAEWOO electronics(DEPROTO). For real time data retrieving, the channel decoder is redesigned for FPGA(field programmable gate array) based hardware, where DSP blocks calculate in parallel sense with memory buffers between blocks and controllers for driving peripherals of FPGA. As an input source of the experiments, MPEG2 TS(transport stream) data was used and recorded to DEPROTO system. During retrieving, the CCD(charge coupled device), capturing device of DEPROTO, detects retrieved images and transmits signals of them to the FPGA of hardware channel decoder. Finally, the output data stream of the channel decoder was transferred to the MPEG decoding board for monitoring video signals. The experimental results showed the error corrected BER(bit error rate) of less than $10^{-9}$, from the raw BER of DEPROTO, about $10^{-3}$. With the developed hardware channel decoder, the real-time video demonstration was possible during the experiments. The operating clock of the FPGA was 60 MHz, of which speed was capable of decoding up to 120 mega channel bits per sec.