• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.40-46
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• 2000

In this paper, a transient identification based on a Hidden Markov Model (HMM) has been suggested and evaluated experimentally for the classification of transients in the dynamic process. The transient can be identified by its unique time dependent patterns related to the principal variables. The HMM, a double stochastic process, can be applied to transient identification which is a spatial and temporal classification problem under a statistical pattern recognition framework. The HMM is created for each transient from a set of training data by the maximum-likelihood estimation method. The transient identification is determined by calculating which model has the highest probability for the given test data. Several experimental tests have been performed with normalization methods, clustering algorithms, and a number of states in HMM. Several experimental tests have been performed including superimposing random noise, adding systematic error, and untrained transients. The proposed real-time transient identification system has many advantages, however, there are still a lot of problems that should be solved to apply to a real dynamic process. Further efforts are being made to improve the system performance and robustness to demonstrate reliability and accuracy to the required level.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.76-83
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• 2000

A measurement technique of a sea height of burst is introduced for a proximate test using the image recognition of video cameras. In the burst of fuse on the ocean, the burst center of fuse, the sea surface level and the height of calibration poles are measured by the process of image obtained from cameras. Finally, the height of burst of fuse can be computed by Hough transform algorithm. The error compensation algorithms are proposed to eliminate the errors caused by camera level and environmental parameters. As a result of experiment, it has been proved that the proposed measurement system shows the recognition of the center point of the burst image with ${\pm}$0.5m error.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.970-977
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• 2007

Absolute position detector which is one of the major equipment in the field of factory automation, not only perceives the absolute position of the rotary machine but also outputs switch data according to the given angle. Absolute position detector is composed of sensor module and its controller. In this paper, a sensor driver is implemented using FPGA with VHDL. This chip has a less form factor than conventional circuit. A test shows reliable precision within THD(total harmonic distortion) of 0.2% which can be applicable commercially. Also, FPGA-based phase error compensation methods were newly discussed. In the future, more research will be conducted to enhance the precision by the introduction of 3-phase transformer.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• Journal of Welding and Joining
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• 제35권1호
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• pp.16-25
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• 2017

Gas Metal Arc Welding is a widely used process in Industry due to its high productivity and potential to automation. The present study investigates the effects of the welding speed, arc voltage, welding current and shielding gas on the bead geometry for a low-carbon steel. The Response Surface Methodology (RSM) is used to choose an experimental design and perform test runs accordingly in order to produce mathematical models predicting the geometry, the hardness and the heat input of the bead as functions of the welding parameters. The direct and interaction effects of the four welding parameters are represented graphically and allow to determine an optimum set of welding parameters.

• 한국생산제조학회지
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• 제22권1호
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• pp.125-130
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• 2013

In this paper, in order to overcome shortcomings of manual inspection for the automotive PWM Shaft, we developed an automated inline inspection system. The automated inline inspection system consists of the work feeder unit, conveying unit, outer diameter check unit, run-out and roundness check unit, machine vision, defective separation unit and status alarm unit. We used the machine vision system for automatic inspection process and designed the inline systems for automatic feeding and selecting process. Also the repeated operation test was performed in order to verify the precision and reliability of the proposed automated inline inspection system.

• 대한기계학회논문집
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• 제11권6호
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• pp.1005-1013
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• 1987

For the factory automation and unmanned machine operation, it is very important to manufacture highly reliable and efficient chip breakers for optimal chip control. In this research, using the CALMA CAD/CAM SYSTEM, the manufacturing process of 3-dimensional chip breakers is established. Using the results of the cutting test of the selected chip breakers with double-step grooves, the chip breaking mechanism is schematically analysed. An expression for the chip breaking relation is derived which considers chip material behavior following LUDWIK's stress-strain curve, chip breaking criterion and the shape of chip breakers. This contains the thickness of chip, the radius of chip curl, and the mechanical properties of chip materials. It is found that the expression agrees very closely with the experimental results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.266-267
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• 2011

IEC 61850 기반의 변전자동화를 운영하는데 있어 보호기능과 통신을 별개로 여길 수가 없으며 기존에 장치 개별로 동작하던 것이 이더넷 통신이란 틀 안에서 시스템으로 유기적으로 연결되어 동작하기 때문에 IEC 61850 통신과 기능을 시스템 기반에서 수행할 수 있는 새로운 방안이 요구되어진다. 본 논문은 변전자동화시스템의 종합적인 성능검증을 목적으로 개발된 시험자동화시스템의 실제 적용가능성을 검증하고, 변전자동화 시스템의 22.9kV 배전선로 보호 및 제어의 기능을 수행하는 IED를 대상으로 시험자동화시스템에 적용한 연구 내용을 다루고자한다.