• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.60-65
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• 2004

A flexible tactile sensor away with 8 H 8 tactile elements is designed and fabricated. The material of the sensor is PVDF(polyvinylidene fluoride) film and flexible circuitry is used in the fabrication fur the flexibility of the sensor The experimental results on static and dynamic properties of the sensor are obtained and examined. The signals of a contact pressure to the sensor are sensed and processed in the DSP system in which the signals are digitalized and filtered. The processed signals of the sensor outputs are visualized in a personal computer for illustrating the shape and force distribution of a contact object. The reasonable performance for the detection of contact state is verified through sensing examples.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.13-20
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• 2008

Sensor network consists of a large number of sensor node distributed in the environment being sensed and controlled. The resource-constrained sensor nodes tend to have various and heterogeneous architecture. Thus, it is important to make its software environment platform-independent and reprogrammable. In this paper, we present BeeVM, a Java operating system designed for sensor networks. BeeVM offers a platform-independent Java programming environment with its efficiently executable file format and a set of class APIs for basic operating functions, sensing and wireless networking. BeeVM's high-level native interface and layered network subsystem allow complex program for sensor network to be short and readable. Our platform has been ported on two currently popular hardware platforms and we show its effectiveness through the evaluation of a simple application.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.13-20
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• 2012

This paper proposes a marine engine state monitoring system using a DPQ (Distributed Precedence Queue) mechanism which collects the state of bearings, temperature and pressure of engine through the CAN network. The CAN is developed by Bosch Corp. in the early 1980' for automobile network. The data from various sensors attached in the marine engine are converted to digital by the analog to digital converter and formatted to fit the CAN protocol at the CAN module. All the CAN modules are connected to the SPU (Signal Processing Unit) module for the efficient communication and processing. This design reduces the cost for wiring and improves the data transmission reliability by recognizing the sensor errors and data transmission errors. The DPQ mechanism is newly developed for the performance improvement of the marine engine system, which is demonstrated through the experiments.

• 제어로봇시스템학회논문지
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• 제1권1호
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• pp.50-57
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• 1995

In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.822-830
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• 2000

A conventional advanced control algorithm is proposed in this paper for improved temperature regulation of a TV-glass melting furnace. The TV-Glass melting furnace is a typical MIMO(Multi-Input Multi Output) system which is subject to various thermal disturbances. Because of its complexity, a detailed mathematical model of the furnace is hard to establish. To design a temperature control control system of the furnace, major input-output variables are selected first, and simple FOPDT(First Order Plus Dead Time) models are established based on the physical meaning and experimental process data. Based on the FOPDT models, a multi-loop control system composed of cascade and single loops are designed for effective control of the MIMO system. Practical implementation on the 150 ton/day furnace using the DCS(Distributed Control System) showed that the proposed control technique performs better than manual control.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.156-160
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• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.477-482
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• 2016

This paper presents a simple approximation-based design approach for consensus tracking of heterogeneous second-order nonlinear systems under a directed network. All nonlinearities of followers are assumed to be unknown and non-identical. In the controller design procedure, graph-independent error surfaces are used and an unimplementable intermediate controller for each follower is designed at the first design step. Then, by adding and subtracting a graph-based term at the second step, the actual controller for each follower is designed by using one neural network employed to estimate a lumped and distributed nonlinearity. Therefore, the proposed local controller for each follower has a simpler structure than existing approximation-based consensus tracking controllers for multi-agent systems with unmatched nonlinearities.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.709-716
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• 2005

As a way to build more efficient and intelligent container cranes for todays hub ports, communication networks are used to interconnect numerous sensors, actuators, controllers, and operator switches and consoles that are spatially distributed over a crane. Various signals such as sensor values and operator's commands are digitized and broadcast on the network instead of using separate wiring cables. This not only makes the design and manufacturing of a crane more efficient, but also easier implementation of intelligent control algorithms. This paper presents the performance evaluation of CAN(Controller Area Network), TTP(Time Triggered Protocol) and Byteflight that can be used for cranes. Through discrete event simulation, several important quantitative performance factors such as the probability of a transmission failure, average system delay (data latency) and maximum system delay have been evaluated.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.733-739
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• 2005

Device Description that is described as C-based DDL(Device Description Language) should be provided for the control system to use the progressive function of field device in the distributed control system. DD expresses field device function itself and parameter. DD is used to set a necessary function far a control strategy in the central control system. DD technology which was adopted as international standard IEC 61804-Part 2 is being used in PROFIBUS, Foundation Fieldbus and HART. However, the DD is dependent to the fieldbus and it doesn't have a suitable form in the industrial Ethernet. This paper presents the possibility of a change from EDD(Electronic Device Description) and GSD(General Slave Data) used for integrating field devices to XDD(XML for Device Description) and verifies it's effectiveness. Also, this paper presents research assignment on the XML application in the distributional system from now on by examining the possibility of Ethernet`s development in the industrial area.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.916-921
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• 2002

We presents a new method of constructing an equivalent T-S fuzzy model by using the sum of products of linearly independent scalar functions from nonlinear dynamics. This method exactly expresses nonlinear systems and automatically determines the number of rules. We design a stabilizing controller f3r ul inverted pendulum system by using the concep of parallel distributed compensation (PDC) and linear matrix inequalities (LMIs) based on the proposed T-S fuzzy modeling method. We show effectiveness of a systematically designed fuzzy controller based on the proposed T-S fuzzy modeling method through the simulation and experiment of an inverted pendulum system.