• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.2-113
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• 2001

In this paper, we present a robot off-Line programming system with collision detection. The collision detection is a very important factor of robot oft-line programming system for collision avoidance, path planning, and so on. The System developed in this paper, basically using an algorithm for the minimum distance calculation between general polyhedra. The proposed system shows an exact and interactive result in static and dynamic environments.

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1515-1521
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• 2007

In this paper, a unified regenerative inverter system for railway with DC line voltage simulator is proposed. In order to determine the operation characteristics of the regenerative inverter, the DC line voltage simulator is proposed. The DC line voltage simulator, which is based on the AC-DC PWM converter, varies the DC voltage according to the fluctuating voltage which is measured in the actual DC line. The suitable operating point of the regenerative inverter can be estimated from the simulation result. The regenerative inverter operates two modes. When the DC line voltage exceed the operating point, already set up, it works as regenerative inverter to return the excessive power of DC line to the grid. When the DC line voltage is under the operating point, it works as active power filter to compensate harmonic currents. In this paper, the control algorithm of the DC line voltage simulator and that of the regenerative inverter is proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.344-352
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• 1999

There has been requested to automate the welding process in shipyard due to its dependence on skilled operators and the inferior working environments. According to these demands, multiple robot welding system for sub-assembly welding line has been developed, realized and installed at Keoje shipyard. In order to realize automatic welding system, robots have to be equipped with a sensing system to recognize the position of the welding panels. In this research, a camera vision system(CVS) is developed to detect the position of base panels for sub-assembly line in shipbuilding. Two camera vision systems are used in two different stages (fitting and welding) to automate the recognition and positioning of welding lines. For automatic recognition of panel position, various image processing algorithms are proposed in this paper.

• Journal of Electrical Engineering and Technology
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• v.2 no.1
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• pp.29-34
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• 2007

The input and output impedances in a low voltage distribution system is one of the most important matters for power line communication because from the viewpoint of communication, the attenuation characteristic of the high frequency signals is greatly caused by impedance mismatch during sending and receiving. The frequency range is from 1MHz to 30MHz. Therefore, this paper investigates the input and output impedances in order to understand the characteristic of high frequency signals in the low voltage distribution system between a pole transformer and an end user. For power line communication, the model of Korea's low voltage distribution system is proposed in a residential area and then the low voltage distribution system is set up in a laboratory. In the low voltage distribution system, S parameters are measured by using a network analyzer. Finally, input and output impedances are calculated using S parameters.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.07b
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• pp.1175-1178
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• 2004

On-line partial discharge(PD) monitoring system has been developed to monitor in operating large motor stator insulations. This system makes use of remote diagnosis techniques for the evaluation of PD activity in the control center of thermal power plant. This system can be remotely accessed via a modem to build database, analyze status and interpret the pattern of PD activity. A personnel computer is generally connected to ten motors to continuous measurement of the PD activity. The test data can be easily interpreted by a maintenance staff. For assessing the condition of stator winding in motors, this system ensures a reliable measurement and accurate estimation. Capacitive couplers used for on-line PD measurement have been 80pF. The maximum PD magnitude(Qmax), PD pattern and normalized quantity number(NQN) were performed by this system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.4
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• pp.577-583
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• 2013

We have analyzed influence of potential rise in negative bus, which caused by decrease of power feeding line insulation, upon protecting method of DC ground protection device which detecting potential rise between negative bus and ground in order to detect ground fault in the rubber wheel system. For this purpose, we proposed negative potential equation between negative bus and ground and calculated negative potential according to system condition changes by estimating power feeding line insulation changes in steel wheel system and rubber wheel system, and equalizing DC power feeding system when ground fault occurred. Also, in order to estimate negative potential of real system, we modeled the rubber wheel system, and simulated normal status, grounding fault occurrence and power feeding line insulation changes. In normal status, negative potential did not rise significantly regardless of vehicle operation. When ground fault occurred, negative potential rose up over 300V regardless of fault resistance. However, we also observed that negative potential rose when power feeding line insulation dropped down under $1M{\Omega}$. In conclusion, our result shows that in case of rubber wheel system unlike steel wheel system, relay will be prevented maloperation and insulation status observation can be ensured when ground over voltage relay will be set 200V ~ 300V.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.51 no.3
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• pp.118-126
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• 2002

AVR parameter tuning for voltage control of generators has generally been done with the off-line open-circuit model of the synchronous generator. When the generator is connected on-line and operating with load the AVR operates in an entirely different environment from the open-circuit conditions. This paper describes a new method for AVR parameter tuning for on line conditions using SQP(Sequential Quadratic Programming) meshed with frequency response characteristics of linearized on-line system model. As the proposed method uses the un - line system model the tuned parameter sets show more optimal behavior in the on-line operating conditions. furthermore, as this method considers the performance indices that are needed for stable operation as constraints, AVR parameter sets that are tuned by this method could guarantee the stable performance, too.

• The Journal of Information Technology
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• v.6 no.4
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• pp.81-91
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• 2003

This paper is concerned with the implementation of power line communication system with 9.6Kbps. This system is suitable to establish the smart home using the power line having been installed in house. In the suggested power line communication system, we use the chirp signal with a linearity and spread spectrum frequency band of 100KHz~200KHz. We had the performance experiment for the implementation system. The experiment was achieved in the pseudo load network similar to real circumstance of power line communication. As the result, the communications under the circumstance were accomplished satisfactorily. We confirmed that the suggested 9.6Kbps power line communication system with the Chirped-SS method had the performance enough to commercialize the smart home.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• Proceedings of the KOR-KST Conference
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• 1998.09a
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• pp.3-16
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• 1998

The goal of the transportation policy of Seoul is to increase the ridership of the subway system by constructing the public transportation network, the subway system. To accomplish this goal, the city of Seoul has been constructing the Metropolitan Subway System. Currently, seven subway lines which connect major areas in Seoul are operating. However, the ridership of subway system was not increased as much as we expected, even though more subway lines have been implemented. It seems that although the length of the subway line was extended, the current way of the subway operation that trains stop at every station cannot satisfy the passenger's need. Thus, we should try to increase the demand by providing quicker services and diversifying the subway operations; changing the point of view is required. This paper introduces the distinctive features of the express subway system and the model for analysing the effects of that system. This paper also presents the results for the feasibility study of the express subway system on the 5th Subway Line and Kyong-Eue Railway Line. Based on the results of the case studies, We can conclude as : First, the express system reduces a total travel time by about $13\%$; in particular, the Kyong-Eue Line is more effective than the subway Line ${\sharp}5$. Second, the shorter headway of express trains increases the time saving effects on subway system although it requests more waiting time to low-speed train passengers. When the service frequency is increased from 5 to 7.5 times/hour, total saved time ratio is about $10\%$ in the Subway Line ${\sharp}5$ and about $18\%$ in the Kyong-Eue Line.