This paepr handles the illustrations about various characteristics of SCARA type ROBOT developed by Samsung Precision Ind. and includes system structure, controller, robot language and future developing plan. This robot has high-precision, high-speed and flexible movement performances. So it is very useful for small parts assembly systems.

The simulation algorithm for all kinds of robots with arbitrary degrees of freedom which are combined with revolute joints or prismatic joints, or combinations was studied and implemented. This simulation package is composed of trajectory planning routine, control routine, kinematics routine using Newton-Raphson method, dynamics based on Newton-Euler method with four-bar linkage analysis, input routine and output routine.

The objective of this paper is to give a technical presentation of HR 8000 Robot System.

이글에서는 서독, 영국 및 미국의 로보트 관련 연구 기관 일부를 필자들이 방문해서 보고 들은 사항을 기술하였다. 서독의 대학에서는 기존 로보트를 이용한 로보트 응용기술의 개발에 역점을 두고 있으며, 산업체에서는 자사의 로보트를 생산하여 생산자동화에 이용하고 있다. 또한 미국, 영국의 대학 및 연구소에서는 기존 로보트보다 성능(효율적이고 경제적인 제어기술, 동적성능이 우수한 재료의 선택, 인공지능등)이 우수한 로보트 개발 연구에 치중하고 있다. 로보트 개발은 기술의 창출이기보다 기술의 조합(기계, 전자, 전산, 제어등)이고, 연구개발비가 타 분야 (예, 인공위성)에 비하여 적어 우리나라에서도 산.학.연의 협동체제만 잘 구축되면, 미국 Unimation 회사로부터의 기술도입으로 출발한 일본이 세계최대의 로보트 생산 및 사용국이 된 것처럼, 로보트 분야의 선진국과 용이하게 경쟁할 수 있으리라 본다.

This paper gives a survey to robotics research and application in France. After a overview of French position in world market, an analysis on the R & D effort and technical peculiarity are presented. In view of the increasing needs for international co-operation in advanced robotics, the author points out the French option as a diversifing source.

An intelligent robot system can be regarded as the most generalized machine system that can perform a variety of tasks under unpredictable and unstructured environment with some intelligence. Robotics research topics related to four functions of the intelligent robot system are discussed. Also current research activities in Japan and Korea are discussed briefly.

This survey paper presents a review of control methods for redundant robot manipulators. Use of redundant degree of freedoms by local and global optimization techniques are described in terms of the Jacobian matrix equation for the redundant robot manipulators. Relevant problems for further use of redundant robot manipulators are then discussed.

Up to now, the most studies on the passive compliance system for assembly robot were only concerned about the device itself without through analysis of its concept. In this paper, we have tried to analyze a structural characteristics, in the case that the passive compliance system was used in simple assembly process like inserting a round shaft or peg into a round hole.

This paper describes a design of the dynamic robot arm controller with two points of view, robustness and minimum tracking error. A new approach to the robust control of robot arm is developed and an explicit solution for minimum tracking error control is obtained from the regulator problem in the error space given by modifying the tracking problem. This control law is applied to the SCARA robot and the computer simulation is presented.

Recently, the robot has been used in industries and laboratories for the automation and the coarse and hazardous environments. In this paepr, it was studied the robot using DC servo motors. In that maner, Gold Star educational robot "Top-1" which was drived by 6-step motors was rebuilt to the robot. "Kon Kuk-I" using 6-servo motors. Because the caracteristics of step motors were not fit well the differential change. For the precise robot control, it was designed the controller which was adopted the velocity mode control and the position mode control. It was studied also the supporting software for the robot motion. As the results of this experiments, it was found that the robot "Kon Kuk-I" moved smoothly and accurately.

In this paper, time optimal positioning control of the robotic manipulator is discussed. The equations for dynamic model of the robotic manipulator are nonolinear, and each link is highly coupled. A feedback linearizing and decoupling transformation makes the dynamic model linearized and decoupled, and optimal control input for the linear and decoupled system is derived.

In this paper we deal with a method of controlling PUMA 560 robot manipulator using a newly developed optical proximity sensor and the PDP-11/44 computer. The sensor output is different somewhat depending on an color of the object. The range of sensing vary from 38.4mm to 109.5mm for a real object, 39mm to 111.65mm for yellow, and 40.55mm to 107.25mm for blue. When an obstacle is encountered on the path of end-effector the system acknowledger immediatly the existence of the obstacle : and holds the motion of arm at a given distance. And also the system is capable of making the end effector avoid the obstacle automatically and keep on its motion.

Conditions for achieving noninteraction in nonlinear multivariable systems via the decomposition of state space are well established. The main contribution of this paper is to present a Standard Decomposed System (SDS). The SDS is similar to the decomposed system of Isidorl, Krener, Gori-Giorgi, and Monaco but has a finer structure. The finer structure parallels the one used by Gilbert for linear systems. A weaker form of noninteraction, based on input-output behaviour, is decoupling. Some connections between decomposition and decoupling are also established.

The Fourier Spectral Analysis has been widely utilized in the analysis of linear dynamic systems. However, it may not be generaly extended to analyze nonlinear systems. In this paper, a linear underlying dynamic structure coupled with nonlinear elements is analyzed by using newly derived equations of motion after the linear dynamic structure is characterized by the Fourier spectral analysis.

The model simplification method of the linear time invariant continuous system is proposed. Using the energy dispersion method the dynamic modes with dominent energy contribution are selected, and the poles of the denomenater are retained. And there is investigated how the dynamic modes affected the system characteristic. The parameters of the numerator are determined by time moment matching method. This method is that the algorithm is simple and also the simplified model found is always stable if the original system is stable, and through examples we assured that this method leads to good results in both transient and steady state responses.

Upper bounds of the perturbed Co-semigroups of the infinite dimensional systems are investigated by using the algebraic Riccati equation(ARE). In the case that the solution P of the ARE is strictly positive, the perturbed semigroups are uniformly bounded. A sufficient condition for the solution P to be strictly positive is provided. The uniform boundedness plays an important role in extending approximately weak stability to weak stability on th whole space. Exponential Stability of the perturbed semigroups is studied by using the Young's inequlity. Some further discussions on the uniform boundedness of the perturbed semigroups are given.

Optimal input design problem for linear regression model with constrained output variance has been considered. It is shown that the optimal input signal for the linear regression model can also be realized as an ARMA process. Monte-Carlo simulation results show that the optimal stochastic input leads to comparatively better estimation accuracy than white input signal.

In the process control applications of self tuning control, a major concern of the control problem is to handle an offset caused by load disturbances and random steps occuring at random instance of time. Conventionally an integrator is incorperated in the forward path of the controller to eliminate such an offset. But this approach causes a difficulty if the adaptive part of the resultant controller is to be evaluated. In this paper a method of analyzing the adaptive system and improving the offset effect is suggested for a class of referance model method in the self tuning adaptive control system.

The error differential equations which are derived by using the first error model are uniformly asymptotial stable if the input is bounded and sufficiently rich. In the adaptive control, the speed of convergence of system output or parameter error in such cases is of both practical and theoretical interest. In this paper, the adaptive algorithms(Gradient algorithm, Intergral algorithm) are discussed from the point of view of speed convergence and the modification of adaptive law for prohibition of overadaptation is discussed. The result is compared among this algorithms and the adaptive gain is choosed by this result(the speed of convergence).

This paper presents a design methodology for a PID regulator. The parameters of the PID regulator are determined through equivalent structure to the closed-loop system whose feedback gain assigns prescribed eigenvalues of the closed-loop system and minimizes a given performance index.

This paper describes expansion of the state space pole assignment self-tuning control of SISO systems with system noise and abservation noise to that of MIMO systems. Resursive Prediction Error method is used for both parameter and state estimation in the block controllable canonical form. This simplifies the state feedback law by eliminating the online computation of transformation matrix.

시스템을 입력과 출력값 만으로 제어하고자 할 경우에는, 플랜트의 파라메타를 추정하면서 제어해 나가야 할 것이다. 이러한 경우에는, 귀환제어나 최적제어 형태로는 여러가지 문제점이 발견되어서, 최근에 적응제어가 많이 연구되고 있다. 이에는 Gain-Scheduling 방법, Self-tuning regulator 방법 및 model reference adaptive control 방법이 있다. Gain-Scheduling 방법은 미지의 파라메타가 plant에 있을지라도, 이를 즉시 예측할 수 있을 경우 보조변수 추정을 통하여 이득을 조절하여 시스템을 안정시키는 것이고, self tuning regulator는 보조변수를 직접 조정하여 시스템을 제어한다. 또 model reference adaptive control 방법은 기준모델을 정하여, 이에 따라 관측기 등을 통하여, 플랜트의 파라메타를 추정 제어해 나가는 것이다. 이때 기준 모델의 출력과 플랜트 출력사이의 오차를 어떻게 할 것인가? 추정되는 파라메타와 오차와의 대수관계 및 차수 등, 그 한계 해석이 최근의 MRAC 설계연구에 큰 과제가 되어 왔다. 이에 본 연구에서는 신호합성 및 해석에 뛰어난 기능이 있는 Walsh 함수를 이용하여, 간단한 Micro computer의 도움으로, 오차 함수를 합성하고, 미지의 파라메타를 추정하여, 시스템의 adaptive filter설계에의 가능성에 대하여 연구하고자 한다. 또 이를 실제 예를 들어 고찰하였다.

This paper deals with the problem of stability and error analyses of the FIR filter and the limited memory filters. It is shown that the FIR filter has the best performance among them, which is demonstrated by some simple examples and via simulations.

This paper presents a new idea to obtain moment of inertia values of an arbitrary shape body by applying inverse modal transformation technique. A multiaxes inertia pendulum apparatus was designed to measure 6 rigid body modes of a test body. A software was developed to calculate inertia properties as well as the location of center of gravity and total mass of the test body from the measured modal data. The developed method was applied to a simple body of which the inertia properties are known then the obtained values were compared with the known values.

Several algorithms for bivariate time series modeling are reviewed : linear least square, nonlinear least squares, generalized least square, and multi-stage least square methods. Estimation results of simulated data by the above methods are discussed.

The feedback controllers for the active vibration control of elastic systems are developed using optimal regulator, optimal tracking, time optimal and noise observer algorithms. Using the modal analysis of the elastic systems, the effects of the actuator positions, the input weighting factor and the magnitude of the constraint of the actuator force are investigated.

An algorithm is proposed to find a stable rational function, which is frequently used in the linear system theory, by curve-fitting a given data. This problem is essentially a nonolinear optimization problem. In order to converge faster to the solution, the following method is used. First, the coefficients of the denominator polynomial are fixed and only the coefficients of the numerator polynomial are adjusted by its linear relationships. Then the coefficients of the numerator are fixed and the coefficients of the denominator polynomial are adjusted by nonlinear programming. This whole process is repeated until a convergent solution is found. The solution obtained by this method converges better than by other algorithms and its versatility is demonstrated by applying it to the design of a feedback control system and a low pass filter.

The use of vibration signal for fault detection inside a machine (or its part) is not new, and a number of signal processing techniques are available at the moment. A common problem for all such techniques is the high level of background signals which often made it very difficult to distinguish the desired signals. We developed a new algorithm to detect the minute faults of rotating part based on spectral histogram analysis. The technique has subsequently been applied to the bearings and has proved to be useful.

설비진단에 응용되는 신호처리의 기법으로는 파워스펙트럼, 바이스펙트럼, 켑스트럼 등이 사용되었다. 파워스펙트럼은 이론적인 면과 계산과정 그리고 신호처리에서의 적용방법등이 잘 알려져서 성공적으로 사용되어져 왔다. 특히 음향분야에서는 여러가지 응용기술이 개발되어 실제계에 적용되고 있으며 계측장비도 파워스펙트럼 해석법에 알맞게 개발되어져 왔다. 파워스펙트럼해석법을 사용하여 진동계를 구성하는 각 요소들의 고유진동수와 진동계 전체를 나타내는 진동파들의 주파수성분 간의 관계에 의하여 진동의 원인 및 소음원 등을 추정하는 것이 가능하다. 그러나 파워스펙트럼은 일반적으로 정상적인 신호를 갖는 진동계에 대한 해석 일 때는 그 이론과 실제가 잘 일치하지만, 진동계 자체가 항시 임의의 주파수를 갖고서 움직일 때 그 해석에는 다음과 같은 문제점이 생긴다. 첫째, 불규칙한 진동계에서는 규칙적인 진동계보다 잡음의 영향을 많이 받기 때문에 실제로 잡음이 진동계의 고유주파수 부근에 있을 경우에는 파워스펙트럼해석으로는 불가능한 경우가 있다. 둘째, 진동파 중에 포함되어 있는 위상이라는 중요한 정보가 없다. 셋째, 시간지연에 따른 진동계의 정확한 정보를 얻을 수 없다. 이상에서 볼 때 파워스펙트럼해석법은 한계가 있음을 알 수 있다. 따라서 본 논문은 바이스펙트럼이라는 해석법을 사용하여 정상과정에서 비정상과정으로 시간지연에따라 변하는 진동계 또는 정상적인 진동계의 저주파에서의 상호간섭 정도 및 위상관계를 관찰함으로써 파워스펙트럼과 비교하여 바이스펙트럼해석법의 타당성을 검토한다. 바이스펙트럼의 실제적인 계산방법은 P. J. Huber가 세가지 접근 방법을 제안했는데 시간영역에서의 평균화를 행하여 계산하는 법, 연속된 기록들을 평균화하는 것, 주파수 영역에서의 평균화를 행하는 것 등이 있다. 본 논문에서는 FFT를 먼저 행하고 파워스펙트럼과 바이스펙트럼 및 바이코히어런스를 구하였다. 그러나 바이스펙트럼해석법은 수치해석적인 면에서 볼 때 파워스펙트럼해석법에 비하여 미약한 점이 많고 통계학적인 그 의미가 확실하게 알려져 있지 않기 때문에 본 논문에서는 시뮬레이션을 통하여 그 물리적 의미를 규명하고져 한다.

In this paper, a new power spectral estimation technique is presented. At first, by transforming the original data with the Karhunen-Loeve Transform(KLT), we can reduce the amount of the redundant information. Next, by modeling the transformed data by means of the autoregressive(AR) model and then applying the least-squares parameter estimation algorithm to this model, even more accurate spectrum estimates can be obtained. The KLT is the optimum transform for signal representation with respect to the mean-square error criterion. And the least-squares method is used to overcome the inherent shortcomings of popular burg algorithm.

This paper presents optimal recursive digital filter design to meet simultaneous specifications of magnitude and linear phase characteristics. As is well known, the overshoot in the vicinity of discontinuity is hight. The technique using linear programming (the dual programming) is choosing more specification points in the vicinity of band limit frequency. The resulting filter can shown improved response and numerical accuracy with reduced nonuniform specification points in frequency domain.

The research was conducted for the purpose of examining the dynamic characteristics of train wheel at the running state and preventing the vibrations of the high speed railway. The stress at the boundary surface of web and rim, .sigma./sub c/, was analyzed in consideration of the uniform In-plane compressive stress depending on the conditions of rolling and the rotation of train wheel. Then the equation of transverse vibration of the annular plate with the stepped thickness was analyzed by Rayleigh-Ritz's method.

To perform the marking on metal with high speed and non-contact using the laser beam of high energy, laser marking system is designed and fabricated applying the galvanometer scanner capable of high speed-precise beam positioning controlled by microprocessor. Laser is a Q-switched Nd:YAG producing multi-mode, wavelength, 1060nm. Optical system is composed of beam expander, scanning mirror and flat field lens. Consequently, the laser marking is satisfactorily achieved regardless of kinds of metal.

Vibration characteristics of harmonic drives and cyclo drives are reviewed. Both of two have two resonance frequencies inherently. Especially, the amplitudes of cyclo drives are over 1.0g. The test of the robot also shows large amplitude of vibration in the speed which is coincide with the resonance frequencies of reducers.

This paper describes the design of a monitoring system of automatic loom operation, which can provide valuable data for production and management by monitoring the operation of upto 512 looms.

This article surveys techniques and issues related to real time process control system developed for industrial control applications. It covers the system architecture and software engineering issues such as the design of data structures, scheduling of asynchronous task activities, management of shared resources, handling of interrupt and implementing an user friendly man-machine interface. Also problems associated with implementing a real-time system that supports dynamic configuration of data base is addressed.

This paper describes an overview of the remote Supervisory Control And Data Acquisition (SCADA) System for automatic operation of Electric power system in KEPCO. And the example of improvement and development for effective operation of the SCADA is reported briefly.

This thesis investigates the scanning time ; one of the most important performance index of Programmable Controller(PC). The multiprocessor architecture of the large PC considered in this thesis are classified as architecture 1 and architecture 2 by the bus control methods. The queuing model of each architecture is developed. Form the analysis it is observed that in the case of the number of processors less than 3 the best architecture of the large PC is the architecture 2 and in the case of the number of processors greater than 2 the best architecture of the large PC is the architecture 1.

본 연구에서는 금성계전에서 이미 개발된 고기능 PC인 STARCON-M에 적용 할 수 있는 Link 시스템을 구성하여 다음과 같은 결론을 얻을 수 있었다. 1) 병렬 Link 시스템을 구성하여 최대 입출력 점수가 280점인 PC를 최대 744점 프로그램 용량이 최대 12K Word까지 확장하여 사용 할 수 있었다. 2) 직렬 Link 시스템을 구성하여 완벽한 분산제어 시스템을 구성할 수 있었으며 Master와 Local의 비율을 1:7까지 할 수 있고 동축 cable에 의해 500m 까지 연결하므로서 PC의 효율성을 증가시켰다. 3) Computer Link 에 의해 PC와 Computer간에 Data를 교신하므로서 관리 감시 제어 시스템을 구성할 수 있었다.

본 연구에서는 산업용 팩키지 보일러의 최적한 연소제어를 위하여 O/sub 2/ 제어기의 구성 및 PID제어 알고리즘을 도입하고 그것에 따른 하드웨어 및 소프트웨어를 고찰하였으며 그 결과 하드와이어드 논리제어기나 기존의 PC보다 분산제어의 효율적 처리가 가능하였다. BD/Micro PC 시스템에서 시퀀스 제어를 필요로하는 기능은 BD PC가, 아날로그 시스템을 다루는 PID 제어같은 기능은 .mu.C가 담당함으로서 제어범위가 넓어져 각종의 연산기능확대, BD PC와 .mu.C와의 데이터 링크, 그리고 고장진단등의 기능이 추가되었다.

This paper describes the concept of ADS (Autonomous Decentralized System) and its application to FA (Factory Automation). The schemes of ADFAS (Autonomous Decentralized Factory Automation System) utilizing these concepts are presented.

A time-division-mutiplexed switching system is implemented for connecting various computers and terminals in the laboratory environment.

In this paper, we describe an optical detection at the front and design an on-off control system of spray gun for economical paint spray when painted on hanger any things that it have arbitrary two-dimensional image. The objectives of this paper that, as changing of software, find useful logic variation of spray, and are to enhance of environments for workman and to decrease economical loss of painting.

This paper describes the development of general purpose operator interface which uses a color graphics terminal with a touch-sensitive screen as the control console. Operators interact with a process through a collection of application-dependent displays generated interactively by users familiar with the physical process. The use of real-time operating system(iRMX-86) and multitasking results in a straightforward and reliable development which may easily be extended to support multiple devices of varying types in the control console.

To meet tight tolerance requirements of mass produced shafts which are subcomponents of automobile parts, an automated measuring system has been developed. The system comprises of a non-contact shaft diameter measuring instrument using laser, a feed mechanism of a step motor and ball screw and a personal computer. The system can determine pass-fail of the piece under test and also analyze data for statistical process control.

Particle size distribution in a Continuous Mixed Suspension Mixed Crystal Removal (CMSMPR) crystallizer has been analyzed using the Population Balance (PB) model. This method presents difficulties when the growth rate of crystal depends on the crystal size. Recent studies indicate that in many cases the growth rate is dependent on size when the crystal sizes are small. In this study, a Residence Time Distribution(RTD) model was proposed to take the size dependence into account together with an appropriate numerical scheme. When compared with the approximate results based on PB model, RTD model results showed improvements also a nucleation effect which is normally unimportant for steady state analysis. Start-up data for NaCl-Water-Ethanol system was compared with computed values.

The synthesis of control structure involves the selection of controlled variable (or measured variable), and the structure interconnecting measured and manipulated variables (control loops). This paper deals with the synthesis job by using the structural analysis and block relative gain. This synthesis tool is very useful because they require minimal information, and the results show that this is a systematic and efficient metholodgy.

The continuous time linear quadratic problem (LQP) has been applied to the control of a 8-tray distillation column using the code VASP. The weighting matrices for the state variables and control variables were adjusted iteratively. The simulation results of the optimal control with 2 inputs and 2 outputs showed that the LQP method is very satisfactory for a rapid response and feedback control, and any desired response could be obtained by adjusting the weighting matrices Q under = and R under =. The feedback gain matrix K under = was also determined.

For distillation columns, dynamic models which consider variable pressure and vapor holdup were studied. A most rigorous model which used the vapor hydraulic equation was studied with implicit methods. Vapor holdup must be considered in high pressure columns in order to predict dynamic responses accurately. The effect of pressure changes on the tray was only important for the vacuum column, particularly when heat input disturbances occurred. The rigorous vapor hydraulic model was shown to be useful, despite the fact that it is extremely stiff, provided an implicit integration algorithm (LSODES) is employed.

This paper treats the modelling and the control of the burnthrough point control system for an industrial sintering process. First, a state-space model is derived by defining new unconventional variables. A simple control law is proposed, which consists of the modified receding horizon control law and the least-squares prediction algorithm. The stability and the tracking properties of this control law are proved. The real-time experiments are carried out in a POSCO sintering plant and satisfactory results are presented in this paper. Before the real-time experiments, computer simulations are done and their results are also given for the comparison with the real-time experiments.

A design of an industrial microcomputer control system for an one-through tube boiler using oil is presented. The microcomputer system is based on standard iSBC 88/40 board. The software consist of a RTE(real time executive) and application tasks. The designed control system saves fuel and gives a more reliable over-all operation.

Theoretical studies are performed for a nonisothermal CFSTR in which consecutive reactions take place. The local dynamic stability of an unstable steady state is investigated with relation to variations in the controller gain when the temperature is subjected to a proportional control. The control has significant in fluences upon the stability of the high temperature steady state as well as that of the intermediate steady state.

Distillation columns are widely used in almost every chemical plant. The use of multivariable control for such units is attractive because of the strong interactions exhibited between outputs and inputs and the desire to control simultaneously both top and bottom products. In this research design of a robust multivariable controller for distillation column was considered; output feedback controller with proportional and integral modes was designed using pole assignment. The transfer function matrix was obtained by fitting the step response realtions between single input double output pairs of variables. This matrix was then converted to linear time invariant state space model by multivariable realization technique. With the proposed multivariable proportional and integral controller applied to the process, the result of the digital computer simulation showed a good performance of asymtotic tracking. The limited experimental performance of this multivariable control was compared with the result from simulation. It was found that the proposed controller performed satisfactorily for the distillation column which separated binary mixture of methanol and water.

A revised two-level costate prediction algorithm is developed for the optimization of nonlinear nuclear power plant. The algorithm is proved to converge very well, and appears to require substantially small computation time and storage than previous nonlinear optimization algorithm. To cope with unknown external disturbances, we construct a closed loop control system. In order to get a smaller sampling time, this paper proposes the two-level Kalman filter.

This paper explain application of expert system techniques from the latest theories of artificial intelligence to industrial process control. This controller continuously monitors a loop's response to disturbances and adapts the tuning parameters (P.I.D) to provide the best response to load upset or set-point change.

Some missiles using canards as control device adopt rollerons to reduce roll motion due to aerodynamically induced rolling moment. This paper presents equations of motion of these missiles including the gyroscopic effect of rolleron rotors. Some linearized analysis results and simulation results are shown to coincide, thus some characteristic motions of missiles and rollerons can be seen.

The sensitiveness of the stability characteristics of the aircraft with respect to changes in the stability parameters as predicted by the linear analysis is applied for the two aerodynamic models proposed. The results give the detailed information for an aircraft dynamic behavior especially at complicated flight envelope.

미사일의 동특성은 공력계수(aerodynamic coefficients)들의 구조 및 그 계수값에 의해 결정된다. 현재까지 공력계수는 풍동시험(wind tunnel test)에 의한 모형법으로 구하는 것이 보편적이었으나 모형과 실제 시스템의 차이에 의해 발생하는 오차, 풍동시험의 오차, 모형의 스케일 팩터(scale factor)오차, 실제 대기조건의 특성에 의한 오차 등에 의해, 시제품을 이용한 실제 비행시험 결과가 풍동시험 모델을 이용한 컴퓨터 시뮬레이션(computer simulation)의 가상 비행 데이타와 차이를 나타내게 된다. 이러한 차이를 감소시키기 위하여 필터 이론을 적용하기 위해서는 수학적 계수 모델이 필요하게 된다. 본 연구에서는 풍동시험모델로부터 3가지의 수학적 모델을 가정하고 이를 이용하여 확장칼만필터(extended Kalman Filter: EKF)와 최대공산법(maximum likelihood method :ML)을 각각 적용시켰을때 추정된 계수치에 의한 가상비행데이타와, 풍동시험모델에 의한 가상비행데이타를 비교하여, 수학적 계수 모델 설정에 따른 각 알고리즘의 추정결과를 알아보고, 이에의해 계수 모델 설정의 방법 및 기준, 그리고 계수구조 설정에 따른 EKF와 ML의 성질을 조사하였다.

최근에 측정할 수 있는 상태만을 피드백하여 시스템의 극점을 의도한 영역에 배치하는 상수들의 영역을 찾아내는 방법이 제시되었고, 비행체의 제어에 적용한 결과가 발표되었다. 이 방법은 근궤적법과 극점배치법의 단점을 상호 보완하며 견실성(Robustness)에 대한 판단을 용이하게 할 뿐 아니라 컴퓨터를 사용하여 쉽게 설계에 이용될 수 있는 장점이 있다. 그러나 S 평면상에 배치되는 각각의 극점쌍의 위치를 제어 상수들의 조합으로 부터 유추해내기 어렵고, 중요하지 않은 극점이 의도하는 영역밖에 있는 경우에는 적용하는데 난점이 있었다. 본 논문에서는 이 방법을 확장하여 S 평면상에 배치되는 복소극점쌍의 위치를 제어상수 평면에서 간단하게 유추할 수 있고, 이득여유 위상여유를 동시에 고려할 수 있는 제어상수 영역 그래프법을 제시하고 노드롭(Northrop) 항공사의 시험용 비행기를 대상으로 하여 종방향운동 제어기의 설계 예를 보인다.

A continuous-time modified gain extended Kalman filter (MGEKF) is developed in an effort to extend the discrete-time results of 1) and 2). Used as an observer, it is globally exponentially convergent. For stochastic system, the stability of the MGEKF is proven under certain conditions. The performance of the MGEKF is compared with that of the EKF for a particular nonlinear system where the fininate dimensional optimal filter exists.

본 연구는 LQR을 Robust하게 설계하는 방법을 다루었다. Unstructured Perturbation에 대응하기 좋으며 쉽게 다룰 수 있는 주파수 응답형 LQR criteria 선정법과, LQR의 변형으로서 Structured Perturbation에 대하여 유효한 Performance Criteria Insensitive Control을 제시하고 효과를 살펴보았다.

In this paper, the characteristics of disturbance torque of gimbal servo dynamics are studied, and the simulation methods of gimbal servo dynamics and INS error due to angular rate and linear acceleration of vehicle are proposed. In results of the simulation for a specific INS, it is estimated that INS velocity error due to gimbal servo dynamics is nearly proportional to square of vehicle acceleration.

항법(navigation)은 기준좌표계에 대한 항체(vehicle)의 위치나 속도를 알아내기 위한 것으로 이를 위한 시스템이 관성항법장치(inertial navigation system-INS)이며 항법기능을 수행하기 위하여 항체에 놓여진 쎈서의 관성성질을 이용한다. INS는 specific force와 관성 각속도의 측정에서 얻은 데이타를 처리함으로 그 기능을 수행한다. 스트랩다운 INS(SINS)는 관성항법장치의 한 종류로 analytic INS라고도 하는데 기준좌표축을 유지하기 위하여 안정테이블을 사용하지 않고 쎈서들을 항체에 직접 부착시켜 초기상태와 현재상태와의 사이에 상대적인 회전방향을 해석적으로 계산한다. INS의 성능은 수많은 오차원(error source)의 함수로 주어지며 이 오차원 중에는 주위환경에 의한 것도 있고 INS 구성에 사용된 기구(instruments)와 관련된 것도 있다. INS 를 해석하는 목적은 항법의 정확도를 알아보는데 있으며 또한 각각의 오차원의 값을 추정하는 것도 부가적인 목적이 된다. 이러한 오차의 추정치는 사양(specification)을 모르는 부품의 성능을 식별하는데 사용될 수 있다. 따라서 INS를 해석함으로 INS를 구성하는 어떤 부품에 대한 성능이 어느정도 개선을 필요로 하는가 알 수 있다. 본 논문에서는 SINS의 오차원을 크게 고도계의 불확실성, 중력의 편향과 이상, 가속도계의 불확실성, 자이로의 불확실성의 네 그룹으로 나누어 상호분산해석(covariance analysis)방법으로 각 오차원이 시스템에 미치는 영향을 알아보았다.

Initial alignment of gimballed INS is accomplished by the gyrocompassing techniques. These cannot be used in the case of strapdown system where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital methods performing the initial alignment of a SDINS from vibration and sway currupted data on the launch pad.

In this study, the strap down INS on an earth satellite launch vehicle is simulated with different computing cycles between processing the IMU signals and the navigation computation. At the time of separation of booster, error are discussed. The acceptable computing cycles can be determined by simulation.

A robust and efficient dynamic control algorithm for the position control of robotic manipulators is proposed. This algorithm consists of an open loop control and a closed loop control. The former may have a larger sampling time than the latter. The robustness and efficiency of this algorithm is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

This paper is about the Inverse Jacobian for the TOP-1 robot. The robot Jacobian is used for the movement in accordance with differental changes. A Matrix and Homogeneous Transformation Matrix, Differential Motion Vector D are applied to Jacobian equation for the movement of the robot in accordance with the minut changes. The solution of Jacobian equation is acquired and applied for the subtle movement of each arms of the robot. The interface with APPLE-II Micro-computer is searched out too. The Software and the interface resulted from this paper are considered to be higly useful in the accurate control on the robot when they are linked with dynamics of robot.

The problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The method proposed in this paper is based on reformulating the problem as a nonlinear optimization problem with equality constants in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been succesfully applied to an experimental system.

A co-operative position control is proposed for two robot manipulators with 5 degree of freedoms to transfer an object following a specified trajectory, where each manipulator is assumed to change the posture of its end effector without releasing the object.

A new control scheme for the state space model of the robot system using the theory of optimal multi-variable structure is presented in this paper. It is proposed to optimize multi-dimensional variable structure systems for obtaining the required stabilizing signal by minimizing a performance index with respect to the state vector in the sliding mode. It is concluded the proposed variable structure controller yields better system dynamic performance than that obtained by using the only linear optimal controller inthat responses for a step disturbance have a shorter setting time, no matter what overshoot values and rising time.

Some of computational algorithms for the kinematic control of redundant manipulators are investigated and analyzed by extensive computer simulations.

Because the threshold technique using the histogram of intensity is the most attractive for segmentation in the sense of fast image processing, this paper defined the new function of inverse histogram of intensity and found out a threshold by means of it. The segmented errors are removed by regulating a scan size of blob coloring. Blob-coloring algorithm presented by [6] was reproved for good performance i.e., no change of feature in bolobs after blob coloring. The ratio of successful recognition was about 85 percents.

A software package CARDS for general purpose robot design, control, and simulation has been developed and is presented here. CARDS (Computer Aided Robot Design and Simulation) consists of a collection of standardized subroutine modules that carry out typical kineamatic, dynamic, and control computations so that the user only needs to write a main program that further defines a particular robot configuration and the task to be performed. It provides users a complete simulation environment, so that it will be a valuable engineering tool for mechanical designers as well as electric control designers.

In the course of robot control system building, there are problems in the position control loop of 3rd axis of robot manipulator. The problems are summerized as two: one is uncontrollability of position and the other is oscillation. And these problems are analyzed through experiment, and it is known that the cause of problems in torsional vibration of 3rd axis. So that these two problems are solved by noise immunity enhancement and lowering of PI controller gain.

본 논문에서는 과거 10여년 동안의 Robust제어기에 관한 연구동향을 조사 요약하였다. Robust제어기에 관한 연구는 제어시스템의 Robustness 분석과 Robust한 제어기 설계방법으로 나뉘며 Robustness 분석은 불확실성이 구조를 갖는 경우와 구조가 없는 경우로 나뉘어 연구된다. Robust한 제어기 설계 방법에는 LQG/LTR방법과 제어기 매개변수화등이 있다. 본 논문에서는 각 방법들을 간략히 소개하고 이들을 비교하였다.

In this paper, some candidates suggested for the improvement of the robustness in adaptive control systems are shortly surveyed. Using dead zone concept of error in adaptation process, gain retardation methods such as .sigma.-modification and parameter restriction method are those considered. Feedforward compensation and normalized adaptation technique are also considered. New modeling technique suggested by Donati et al is used for the indirect control of plants containing unmodeled dynamics. The frequency band of input signal, which is used as a test signal and control signal simultaneously, is directly related to the control of plants containing high frequency parastics. Computer simulation results of the some selected algorithms are shown.

This paper presents robustness properties of LQ regulators for input-delayed systems. Using frequency-domain representations, the Kalman inequality concerning the return-difference matrix is derived. The stability margins of LQ regulators are investigated using the Kalman inequality when the open-loop system is stable. In order to obtain stability margins a upper bound of the solution of LQ Riccati equations is derived. Finally, the LQG/LTR method to improve the robustness of LQG regulators is obtained and illustrated with an example.

Using simple linear prediction algorithm a design procedure of robust PI and PID controllers for SISO system, usually called 'PID predictor controllers, is developed. The design procedure is able to properly adjust gain margin and phase margin and control coefficients are selected in frequency domain. The performance of the PID predictor controller is superior to that of the normal PID controller in terms of robustness in design and disturbance rejection.

Guaranteed cost control is a method applicable to a class of systems with uncertain parameters that guarantees an upper bound of the cost functional. This paper is concerned with a matrix decomposition technique used to yield a reasonable upper bound of the cost functional for a finite-time LQ regulator problem. The uncertain linear systems dealt with in this paper are described by a set of state equations of single-input phase-variable canonical form which contain unknown but bounded uncertain parameters.

In this paper we propose a Generalized Minimum Variance Self-tuning Control of the system with an autoregressive noise model. To establish a Generalized Minimum Variance Control, the control input is also included in a cost function and a novel identity is introduced. The effectiveness of this algorithm is demonstrated by the computer simulation.

This paper proposes a robust model following control system which realizes good properties such as asymptotic stability, disturbance rejection and model following with reduced sensitivity for plant parameter variation. This algorithm can be easily applied to the multivariable control systems and the control structure is simple. As an example the aircraft control system of a convair C-131B is designed and its characteristics are examined by simulation.

This paper describes the modelling method of hybrid step motors including magnetic saturation effects of iron parts and the simulation for design of a prototype. Based on the above procedure, the prototype of a step motor is produced and its characteristics are discussed.

In this paper, ultrasonic range finding module for the self-contained robot, INHAE-1, is presented. This system is processed, using Z-80 microprocessor, a much of information on the surrounding condition in real time and is realted a sensor for many side data acqusition with a stepping motor. Also this system can obtain the more correct edge of the obstacle using the standard deviation of the least-square method. In this experiment, it gives more correct information to mobile robot of the blind guidance and improves the orientation of the robot path.

DC motor is excellent in controllability and efficiency, but vulnerable in maintenance with respect to AC motor owing to the development of power devices and microelectronics, excellent AC motor drives which have characteristics as similar as DC motor's have been developed. Thyristor motor equipment that has an important role with Inverter in the field of AC motor drives was developed in the late 1960. There was no research about thyristor motor in Korea, then thyristor motor equipment was all imported. By this we started to develop in 1983, was tested in 1984, 1985. Now we express ourselves about thyristor motor equipment development procedure and characteristics.

A Sun-Position Sensor using four phototransistors and shadow band device has been designed, and a Sun-Tracking System which tracks varying positions of the sun in elevation and azimuth axes has been built and its performance has been analyzed on the basis of indoor experiments and computer simulations. Two permanent-magnetic Step Motors (1.8.deg./step) for the main actuators and a CRC-800A kit with the Z-80CPU for the main controller have been selected to construct the Sun-Tracking System. It has been shown that the Sun-Position Sensor has about 0.5.deg. resolution and 25msec is required for the response of a single step input to reach its steady state.

The paper describes a new PWM technique, which is suitable for brushless servo drives. By taking into consideration the armature electromotive force, an appropriate switching voltage vector can be selected to enable switching rate reduction. Simulation results show better steady-state performance of this method than that of the classical technique.

While the engine dynamics is, in nature, a uncertain nonlinear system, practical control methods for nonlinear systems are presently limited. This paper discusses important issues of engine control such as fuel economy, exhaust emission control, and driveability. Recent development in engine control technologies is reviewed. New control methods which appear to be useful for engine control are introduced.

This paper deals with a micro computer based CAD(Computer Aided Design/Drafting) software developed by SERI/KAIST. The objectives of this software(hereinafter, CADMATE) development are to develop a low-cost CAD/CAE system, which means the micro-computer based graphic handling software including its geometrical primitives, graphic editor, external interface and output(drawing) control routine.

Although the use of NC machine is increasing in modern industry, unfamiliarities of the NC program syntax do not allow us to program it easily. So, automatic programming systems, such as APT, COMPACT, CL, were developed to help the uninitiated to write NC program easily. In this research, Korean Automatic Programming System for 2-axis NC lathe is developed, by which NC program is easily programmed using Korean letters. In addition, Graphic Debugger for 2-axis NC lathe is developed for debugging the NC program error and animating the cutting process. The above systems are run on the IBM-PC/XT.

A technique is developed which allows a designer to interactively create an assembly of components by specifying mating contions between the individual components. Once establishing the relationships between components via the mating conditions, each component's location and orientation in the final assembly is computed. The joint information for a kinematic and dynamic analysis can be derived from the mating conditions, therefore this work may be extended to incorporate this analysis. Thorugh this development it will no longer be necessary for a designer to specify cumbersome and error prone transformation matrices in order to create an assembly. The designer also will be able to perform a kinematic or a dynamic analysis directly from an assembly model if the joint information can be automatically derived.

This paper introduces the program to develop graphics-oriented, interactive, computer-aided design modules for machine elements which are developing in Mechanical Engineering Department of The Ohio State University in U.S.A. The CAD modules are developed to be efficiently performed within the arena of minicomputer- and personal computer-based computer-aided design. In addition, this paepr deals with the state-of-the-art in computer-aided design.

The design and manufacture of injection molded polymeic parts with desired mechanical properties is a costly process dominated by empiricism, including the modification of actual tooling. This paper presents an interactive computer-based design system for injection molded plastic parts. This knowledge-based synthesis system provides a rational design strategy for injection molding and molded parts. It synergistically combines a rule-based expert system for hurestic knowledge with analytical process simulation programs. The theremomechanical properties of a molded part such as the effect of molecular orientation and weldline strength are predicted by the analysis programs; while the expert system interprets the analytical results from the process simulation, evaluates the design, and generates recommendations for optimal design alternatives. The heuristic knowledge of injection molding is formalized as production rules of the expert consultation system.

Survey has been made to evaluate technological level and to identify research issues in CAD/CAM area. It is found out that major users of the CAD/CAM system are in mechanical and electronics as well as garment industries. Their experience shows that the impact of the CAD/CAM introduction is not yet noticeable in drafting man power and cost reduction. It is identified that the low penetration rate of CAD/CAM technology in industry is due to the lack of locally developed CAD/CAM softwares.

오늘날 제조업에 있어서는 시장의 다양화, 원가절감 및 리드타임의 단축이라는 대내외적 요구에 부응할 수 있는 기술 생산체재의 확립이 요구되고 있다. 이에 따라 설계 및 기술변경(Engineering Change)에따른 원가상승을 막기 위해 CAE(Computer aided engineering), CAD(Computer aided design)의 도입을 서두르게 되었고 CAD데이타의 효율적 이용에 의한 가공 및 생산적 측면에서 CAM(Computer aided manufacturing)의 도입도 검토하게 되었다. 본 논문은 이러한 개념의 발상동기와 이를 뒷받침하기 위한 한국 아이 비 엠이서 제공하는 하드웨어 및 소프트웨어를 소개하고 공장자동화를 위한 기술 생산 통합시스템의 구축이라는 측면에서 아이 비 엠이 추구하는 방향을 검토하고 있다.

An automatic welding system is designed for a part of fork lift. The system is composed of articulated type welding robot, welding positioners, shuttle for robot, system controller and welding equipment. From the application of the system, stable weld quality and production cost saving are achieved. In this paper, the hardware features and control structure of the system are presented.

This paper deals with the basic problem in developing the robot for spot welding. The robot for spot welding is different with other robots by the heavy handling equipment which is attached to the wrist end of the robot. Differences in the robot body and controller are discussed. Welding equipments which make large effect to the system performance are reviewed.

A method for on-line tuning of the PID-controller parameters for a discrete-time multivariable process system is presented. And it is based on a step change in the controller set point. The system is presumed to be a linear, open loop stable and known one. The controller parameters are determined by the performance criterion and Fletcher-Powell methods.

The liquid level in a spherical tank was controlled with a micro-computer and the dynamic behavior of this non-linear system due to the variation of set point was studied. The adaptive control theory was used and the real values of controlled variables were compared with the theoretical values from a mathematical model.

Here are summarized the trends and the problems of process control. And both the structure and the elements of digital computer based process control systems are also illuminated ; Briefly introduced the factors, of importance, influencing design strategy, and those to be considered when the process control is applied to physical systems using computer and computer-related instruments.

An optimal control in heat-up operation was formulated for minimizing the quadratic performance criterion which is a function of temperature, temperature gradient in the wall and fuel flow rate. For optimal control law computations mathematical model was simplified with assumptions and then linearized by use of orthogonal collocation in radial direction. Effects of weighting function assigned to temperature and temperature gradient and final time were compared with industrial data.

맥주 제조 공정은 다음과 같이 이루어 진다. 담금공정-발효공정-저장공정-여과공정-제품공정, 이중 발효 및 저장 공정은 미생물이 관여하므로 균체의 생육과 제품 생산과의 관계등이 아주 예민하고 복잡하므르 Computer에 의한 자동 계측 및 제어는 효과적인 공정관리 수단이 되며, 또한 품질 향상과 균일화를 기대 할 수 있다. 이에 발효 및 저장조의 128 채널의 공정치 On-line monitoring, graphic display, disk 저장, 프린터로의 reporting 및 제어를 위한 hardware system 구성과 software를 개발하였다.

The phenomenon of a continuous Steel-making process was studied with a set of collected equilibrium data for the steel-oxidation reactions. Mass and Heat balances were also established. Mass transfer constants which are physically unmeasurable but escential for the simulation study in the steel-making process were calculated from the experimental data using an optimization technique. Based on these data various operating conditions and process characteristics were examined.

This paper describes the automation of the dye process using microprocessor, which operates according to 600 different temperature control patterns with 60 segments each.

The LQG/LTR method is applied to the real servomechanism with the unknown modeling error and system noise variance Q$_{2}$. The equivalent discretized LQG controller is implemented on the 16-bit microcomputer and the experimental results show the improved stability and the satisfactory performance when the noise variance Q$_{2}$ is increased infinitly.

This paper presents a design method for PID controller using optimal control theory. The procedures of the applied method consist of (1) sampling the system response to the test signal, (2) processing the sampled data using RPE method to identify the parameters of the plant, (3) calculating the optimal value of the PID controller parameters using LQ theory. This controller is implemented on the digital computer and applied to real servomechanism, yielding satisfactory result.

본 논문에서는 포 서보시스템에 대한 여러가지 제어기의 성능을 비교, 검토하였다. 사용된 제어기는 PID형제어기, LQ 추적자, LQG형 제어기, 적응제어기로 이들의 성능을 시뮬레이션을 통하여 비교하고 구현가능한 제어기를 제안하였다. 또한 외란의 영향을 줄일 수 있는 방법도 제시하였다.

A generalized singular linear quadratic control technique is developed to design an optimal trajectory tracking system. The output feedback control law is designed using this technique. The feedback gain matrix is synthesized to minimize tracking errors with pole placement capability to satisfy the control activity requirements. An applications to a bank-to-turn missile coordinated autopilot system design is presented.

주어진 제어대상 모델에 대하여 제어기를 구성하여 실제로 적용하는 경우 모델의 불일치, 모델링에서 고려하지 않은 외란(disturbance), 측정잡음등에 의하여 성능이 설계시와 달라진다. 실제적용에서도 성능을 계속 유지하기 위하여 제어기는 안정성, 계수변화(parameter variation)에 대한 강인성(robustness), 외란상쇄(disturbance rejection) 및 측정잡음에 둔감함등의 특성을 가져야 한다. 귀환(feedback)을 사용하여 제어기를 구성하는 경우 위의 모든 조건을 만족 시킬 수 없으므로 제어목적에 따라 적당한 조건을 선정하여 중요한 특성을 주로 갖게 한다. 본 논문에서는 쌍동선(small waterplane area twin hull ship-SWATHS)에 대하여 PID, LQ, LQG 제어기를 구성하여 안정성, 계수 변화에 대한 강인성, 외란 상쇄 및 측정잡음의 영향을 비교하였다. 쌍동선의 경우 다른 단동선(mono hull ship)에 비하여 접수면(waterplane)이 적으므로 무게증변을 흡수할 수 있는 복원력이 약하여 적은 외력에도 상하동요(heave)와 종동요(pitch)가 심하게 일어난다. 이러한 동요를 줄이는 것이 쌍동선의 제어목적이다. 본 연구에서는 먼저 선형화된 수직축 운동방정식을 이용하여 선체운동의 모델을 구했으며 중첩의 원리(super-position theorem)에 의하여 주파수 응답의 합으로 파도입력을 모델링 하였으며 제어를 위하여 필요한 측정치는 IMU(Inertial Measurement Unit)에서 제공된다고 가정하였다. 쌍동선의 동요의 원인은 파도, 바람, 조류 등이 있으나 파도에 의한 영향이 가장 크므로 본 논문에서는 파도에 의한 영향만을 고려하였다. 파도는 쌍동선에 외란으로 작용하며 측정할 수 없는 양이므로 PID, LQ 제어에서는 제어모델에 포함되지 않지만 LQG 제어에서는 제어모델에 포함된다. LQG 제어의 경우 제어모델에 파도를 백색잡음으로 가정하고 제어기를 구성한 것 (LQG1)과 2차의 쉐이핑필터(shaping filter)를 사용하여 구성한 것(LQG2)으로 나누었다.

In this paper, the control law for the system that has the variation of moment of inertia is designed. The proposed method is that the control input is obtained by using optimal PI control and partial adaptive control. The partial adaptive control input is adjusted by estimating the variational quantity of moment of inertia. This result gives us significant improvement of tracking ability.

In recent years the Kalman filter(extended Kalman filter) have been applied to a wide variety of tracking moving targets, because of its properties. For such a reason, in this paper we attempt to study on adaptive filter algorithms which estimate unknown bias maneuvering inputs.

계속적인 경제개발 정책으로 인한 전반적인 국민생활수준의 향상은 기술자의 노동임금을 상승시키고, 고급기술자의 부족을 초래하게 되었다. 또한 자국의 원자재를 보호하려는 세계적인 움직임은 원자재의 값을 상승시켜서, 생산가공 공정에서 원자재를 절약 하여야만 하게 되었다. 위와 같은 경제적, 사회적 제인자는 생산공정의 자동화를 요구하게 되었다. 자동화가 실현되면, 위에 열거한 제문제들의 해결은 물론, 제품의 품질의 고급화및 균일화, 제품의 재고를 줄일수 있고, 또한 작업자의 안전도 증가시킬 수 있다. 위와 같은 제 이유로 인하여 자동화의 개념은 대기업은 물론 중소기업에서도 제품의 경쟁적 강화를 위하여 폭넓게 이용되고 있다. 이러한 시대적 요청에 부응하고, 많은 기계공학교육 담당자들에 의하여 제의되어 온 기계공학교육 방법의 개선의 일환으로서, 본 고에서는 한국과학기술대학에서 1986년도 1학기 부터 개설되어 온 '자동화 기초' 교과목에 대하여 소개하고자 한다.

This paper gives the detail of the work carried out to develop real-time control software for Flexible Manufacturing Systems. A basic design philosophy to implement such software is proposed. The major features are the partitioning of complicated control actions into simplified ones, structured programming and multi-threaded transaction-based tasks. The software operates on the basis of passing task-to-task messages via mailboxes, causing appropriate actions to be taken by each task. Each task represents a separate subprocess so that the subprocesses can be run simultaneously. The task-to-task message could be easily replaced by computer-to-computer communication, using LAN, demonstrating that the software methods developed produce a flexible designs for control software of an FMS. A method of linking such software to simulation software is suggested as a potentially powerful additional design-tool.

Measurement and control system of weld pool is comprised of optical devices, image processor, personal computer and welding machine. Combinations of ND and Infrared filters were used to block the intense arc light and to get the clearer image of weld pool. Smoothing operation and conversion to binary data were performed to eliminate the noises and to decrease the processing time. A simple algorithm for feedback control was developed and weld pool size is controlled by welding current which is adjusted automatically with personal computer.

A manipulator with 3 degrees of freedom is developed to automate operation of 60 ton pressing process. The pneumatically actuated manipulator is controlled by a programmable controller. Four seconds of cycle time which is faster than manual operation is achieved. Though the flexible feed mechanism, the system can accammodate any size of workpieces between 80*80 and 200*200 under 1 kg of weight.

This paper considers the ring rolling process contorl and treats the problem of controlling the pressure roll and conical roll motion which critically affects final quality of the rolled products. Since the process dynamics reveals nonlinear characteristics and parameter uncertainty, an adaptive control scheme was applied. The results show that this proposed adaptive control scheme can produce rolled rings of closer dimensional tolerances as compared with nonadaptive control system.

In this article, recent trends of technology in design of CNC system for machine tools which has increased in number and applications by needs for FA(Factory Automation), save of labor in various industries, are described. These technology improvements in CNC system take place especially in the field of performance, reliability, compactness, price, etc. From these technology improvements, the theme of "performance improvements of CNC system" are selected and mostly described in this article. Also, the major features of a CNC system product of our company and its characteristics in system design are briefly described.described.

In this report, we have designed a Flexible Manufacturing System(FMS) for Engine-Cylinder block that is composed of maching center, special purpose machine, AGV(Automatic Guided Vehicle), using Micro-Computer and Programmable Controller(PC). From this report, we mostly present hardware features and scheduling software.

This paper deals with large scale distributed packet switching system which is modeled by state space form and optimizing routing algorithms and buffer size via a hierachical system optimization method, the interaction prediction method.

This paper presents a procedure for the time-scale separation and a design method for the sub-optimal composite regulator and Kalman filter of the large-scale discrete stochastic system with two time-scale properties. Provided that the fast sub-system is asymptotically stable, the reduced-order regulator and Kalman filter for the slow sub-system with dominant modes is designed as a sub-optimal regulator for the system.

This paper considers the problem of stabilizing a composite system formed by interconnecting a number of single-input single-output linear continuous systems. The problem is general in the sense that in addition to the standard assumption about the uncertainty of the subsystems, the strength of interconnections is assumed unknown. A method to design a local adaptive feedback control is first presented, and then the resultant closed-loop system is assured to be globally stable. Also, a numerical example is illustrated via computer simulation.

For the control of chemical process, optimal value of the process should be known at first. And process simulation is the previous step of optimal value calculation. However it is not a simple work to analyze chemical process system. Especially for the large scale chemical process system, many difficulties such as non-linearity and complexity caused by recycle streams should be overcome. In this paper, three strategies of large scale chemical process analysis were explained and discussed with case studies.

본 논문의 목적은 대규모 선형 시불변 계통에 대한 합성 제어기의 설계에 관한 새로운 방법을 제시하기 위한 것이다. 주어진 계통을 행렬 부호 함수를 이용하여 그 고유치의 크기에 따라 블럭 대각 분해하고 각부 계통에 대한 최적 제어기 및 전체계통에 대한 준최적 합성 제어기를 설계한다. 이 방법은 주어진 계통의 고유치를 미리 알 필요가 없으며 계통의 블력 분해 과정에서 Riccati 방정식및 Lyapunov 방정식의 해를 구할 필요가 없고 특이섭등 기법이나 Two time scale seperation 방법에서의 제약조건에 관계없이 광범위하게 적용되는 장점이 있다.

The squirrel-cage induction motor can be characterized as a nonlinear and multi-input, multi-output system, and has the unmeasurable states which are the rotor currents. In this paper, the time-delayed output feedback method is applied to the speed control of induction motor driven by the current-controlled PWM inverter and its performance is investigated by using the computer simulation.

In this paper, a design method of an optimal output PIM(Proportional-Integral-Measurable) controller is presented so that the closed-loop output response of the switching regulator closely match to that of ideal model system satisfying the time domain specifications. The computer simulation for a design example is given to show the usefulness of the proposed technique.

This paper deals with "chattering" problem in variable structure control system. For digital computer control, chattering reduction algorithm in Analog-VSC is extended to Discrete-VSC. The proposed algorithm is applied to position control of D.C Servo Motor by using 6502 .mu.-processor. The improved transient response, as well as a considerable reduction of chattering, is illustrated experimentally.imentally.

In this paper, we designed simultaneous 2-axis control system using commercialized custom ICs for positioning and interpolation that is very compact and high reliable. This system is primarily designed for NC system, we verified it is more complete than the other hardware & software based system in its function, control accuracy and cost. Also, this system can be expanded for multi-axis control, it can be applied to the control of more complicated mechanism such as articulated robot.

This paper presents a mobile of robot (for the blind) commanded by written course route on MAP. Its locomotion module is composed of PWM motor driving unit, wheel's rotation measurement unit and display and keyboard unit. In algorithm, "COMMAND" and "NEXT PREDICTED POSITION" for locomotion are computed from the MAP and the next position is compared with the measured one. Also, locomotion method for the convenience of the blind is discussed and experimentally demonstrated. In the experiment, the average speed of robot is 0.4m/sec and the computation error of the map is negligible.

This paper describes a capacitively reading apparatus for determining the angular orientation, speed and/or direction of rotary objects such as shaft, dial hand, counter wheel and the like. The apparatus consists of sensing device and circuit accompanying with said sensing device. The sensing device is provided by arranging many stationary electrodes lying substantially on a surface of a stationary plane member and by arranging rotary electrode lying substantially on a surface of rotary objects to be monitored, in which said rotary electrode is in confronting relationship to some stationary electrodes so as to construct unique capacitors according to the angular position of rotary objects. The angular position of said rotary electrode is determined by sets of stationary electrodes which are in confronting relationship to rotary electrode. A carrier signal is generated by scanning device while scanning said stationarelectrodes, whose periods are in corresponding relationship to said stationary electrodes, respectively. The periods of carrier corresponding to the angular position of said rotary electrode is modulated by a modulation signal generated by detecting device according to said rotary electrode. This apparatus is applied to automatically monitor any kind of storage tank, as well as to automatically read the conventional utility meters such as Watthour meters, Gas meters, Water meters, etc..

In this paper, two methods of power circuit simulation is described in order to obtain the back data for design of current source inverter. One is steady-state analysis by differential equations during the various operating modes. Another method uses switching function, which represents the switching pattern of inverter, and direct-guadrature model of induction motor. The results of digital computer simulation by two methods are compared with the results of laboratory test.

최근 테니스의 저변인구가 크게 증가함에 따라 테니스 라켓의 제작기술도 상당한 수준에 이르렀고 설계제작의 자동화에 의해서 양질의 제품이 시판되고 있다. 그러나 라켓에 볼이 임팩트될때 생기는 진동으로 야기되는 테니스 엘보우 등, 해결해야 할 문제들이 아직도 남아 있다. 이와같이 테니스 라켓의 정적인 강도 뿐만아니라 동적인 특성도 중요한 관심의 대상이 되어감에 따라 볼 컨트롤을 용이하게 한다거나, 안정타점영역(Sweet Spot)의 확장과 그립부의 진동등에 의해서 발생하는 엘보우 현상을 방지하기 위해 여러가지 연구가 수행되어 왔다. 특히, 다차원 스펙트럼해석 및 모우드 해석법에의해 그립부에 미치는 진동원의 동정과 라켓의 동적거동에 대해서 연구되었고, 라켓의 재질변경과 그립부의 구조변경에 의한 안정타점영역에 영향을 미치는 모우드 파라미터(Modal Parameter)의 추정에 관한 연구도 수행되었다. 이러한 연구들은 결국 안정타점영역을 확장시키거나 테니스 엘보우를 방지하기 위한 것으로서 이러한 목적을 달성하기위해 테니스 라켓의 진동 모우드에 관계되는 파라미터들을 찾아서 그 모우드 파라미터의 변화에 따르느 진동 모우드의 거동에 대해서 연구할 필요가 있다. 본 논문에서는 실험적인 모우드 해석법을 실제 테니스 라켓에 적용하여 모우드 파라미터들을 구한 다음 그 파라미터의 변화에 따르는 안정타점영역의 변화를 컴퓨터 시뮬레이션을 통해서 예측하였다. 또한 안정타점영역을 넓히고 라켓의 동특성을 개선시킬 수 있는 모우드 파라미터를 찾아서 테니스 라켓의 설계, 제작 단계에 정보를 제공하는 CAD(Computer Aided Design)에 좋은 자료를 얻고자 한다. 있으나 파도에 의한 영향이 가장 크므로 본 논문에서는 파도에 의한 영향만을 고려하였다. 파도는 쌍동선에 외란으로 작용하며 측정할 수 없는 양이므로 PID, LQ 제어에서는 제어모델에 포함되지 않지만 LQG 제어에서는 제어모델에 포함된다. LQG 제어의 경우 제어모델에 파도를 백색잡음으로 가정하고 제어기를 구성한 것 (LQG1)과 2차의 쉐이핑필터(shaping filter)를 사용하여 구성한 것(LQG2)으로 나누었다.져 한다.) 식도 이물에 의한, 또는 식도경술에 의한 합병증이 초래한 경우는 식도점막열상 1례 (1.8 %), 식도 천공 1례 (1.8 %) 였으며, 기도이물에 의한, 또는 기관지경술에 의한 합병증이 초래한 경우는 무기폐 2례 (11.1 %), 폐렴 3례 (16.7 %)로 나타났다.5예에서 소실되었다. 5 ) 청각심리검사 (Psychoacoustic evaluation)에서 폴립은 술전에 Grade 1∼2의 사성이 있었던 11예중 술후 10예에서 Grade 0로 되었으며 Grade 1∼2의 사성이 있었던 3예의 결절에서도 모두 Grade 0로 정상화되었다.>치를 측정한 결과 투여전과 차이가 없었다. 7) 이상의 결과로 볼때 Cis-platinum 사용으로 인한 이중독증은 신장기능이 정상일때는 충분한 hydration으로써 예방이 가능하며 동시에 금기로 알려져왔던 감음성난청이 있는 두경부악성종양환자에서도 세심한 주의하에 적절히 사용한다면 좋은 결과를 얻을 수 있을 것으로 사려된다.은 결과를 얻었기에 문헌고찰과 함께 보고하는 바이다. 1) 이관폐쇄술후 18시간에 최초로 삼출액이 확인되었으며 그 이후는 전실험군에서 삼출성중이염이 유발되다. 2

In this study a s/w system(HENSPIN) for the automatic synthesis of HEN(heat exchanger network) was developed based on Pinch Design Method. The synthesized HEN by HENSPIN are satisfying performance targets such as minimum utility usage with as few as possible capital items. The invented network is near optimal in capital and operating cost. It will be used as initial structure for evolution to the structure which has optimal operability.

컴퓨터 기술의 발달에 따라 디지탈 전산기는 연산처리 능력이 더욱 빨라지고, 더욱 큰 기억용량을 갖게 되었다. 따라서 산업공정, 화학프랜트, 원자력발전 및 항공분야 등의 복잡한 연속 동특성계에 대한 실시간 시뮬레이션이 가능하게 되었다. 특히 복잡한 연속 동특성계의 시뮬레이션 목적으로 Multiprocessor 형태의 전산기가 개발되었다. 이 Multiprocessor형태의 전산기는 D/A 변환기와 A/D 변환기를 갖추므로써 실시간 실물 모의시험(A real time hardware-in-the-loop simulation) 시의 컴퓨터와 외부장비와의 데이타 전달이 용이하여 졌다. 본 연구에서는 비행체의 비행자세를 제어하기 위한 조종장치의 설계해석 및 성능시험을 위하여 Multiprocessor를 이용하여 실시간 실물 모의실험이 가능함을 보였다. 본 시뮬레이션에 사용된 전산기는 AD10 전산기이다.

This paper reviews various CAD(Computer-Aided design) or DA(Design Automation) procedures for specification, design and verification of VLSI chips. The growth and widening of engineering achievements and applicational varieties in this revisited field has been truly explosive for the last five years. Recent trends in VLSI/CAD area and their possible implications on the future evolution of DA society are briefly touched upon. The relative importance of chip specification and design capability within the whole Korean electronics infrastructure in the future is explained with several possible suggestions for coping with upcoming difficulties already being seen in this challenging yet promising area.

Both combinatorial and parametric optimization are used in computer-aided design(CAD). The most commonly occuring parametric optimization problems in engineering design such as design of control systems, design of electric circuits are usually expressed either as differentiable or as nondifferentiable semi-infinite programming(SIP) problems. In this paper we express algorithms for a class of computer-aided design problems arising in control systems.

We have developed an automated ECG interpretation technique by micro-computer for rapid analysis of ECG data in the clinical hospital. This system is consisted of 16 bit microcomputer including bandpass-filter, comparator, A/D converter in order to obtain the QRS width, R-R interval.

The design and use of a micro-computer-based system for quantitative study of ocular kinetics are described. An algorithm for microcomputer analysis of electro-oculographically recorded saccadic eye movement is presented. From a brief, 4-min recording session detailed statistical information about saccade amplitude, duration, and velocity can be obtained. Since this data is not significantly altered by practice of motivational factors, it provides a sensitive functional test of the oculomotor system and its brain control system.

We present a method for the estimation of intramuscular electromyographic(EMG) signals from the given surface EMG signals. This method is based on representing the surface EMG signal as an autoregressive(AR) time model with a delayed intramuscular EMG signal as an input. The parameters of the time series model that transforms the intramuscular signal to the surface signal are identified. The identified model is then used in estimating the intramuscular signal from the surface signal.

A new type of motor-driven Total Artificial Heart (TAH) system with rolling-ball mechanism has been developed. To test its performance as a Left Ventricular Assist Device (LVAD), LVAD is controlled to bypass blood for impaired heart triggered by the R-wave in ECG. Results of the test with a Mock Circulation System (MCS) and an animal experiment with a dog are also included. More powerful system using a brushless DC motor has been developed and its control scheme is represented.

Sometimes, there are conditions when rapid control of the hypertension needed such as malignant hypertension, and the preoperative pereparation of the hypertensive patient requiring emergency operation, etc. Using the adaptive control algorithm, the mean arterial pressure reduction is achived rapidly and safely in hypertensive rabbit. Among the adaptive control algorithms the pole assignment self tuning control algorithm is superial to the one step ahead minium variance control algorithm. The convergence time is less than 600 sec, and the standard deviation of experimental data are less than 4 mmHg.

본 연구는 시야나 머리운동을 구속하지 않고 수평 및 수직 머리운동을 측정하여 처리하는 방법에 관한 것이다. 이를 위해 Helmholtz 코일을 적절히 구성하여 균일 자계를 발생시키고 탐지 코일을 이용하여 머리운동의 동적 특성을 검출하고, 검출된 신호는 신호처리 장치를 구성하여 처리하는 방법을 개발하고 다른 연구결과와 비료 고찰하였다.

In the microcomputer-based velocity control for an electro-hydraulic servo system, the effects of control methods and control hardware on the performance of the system were investigated. Experiments were carried out with PID and deadbeat controllers using 8 or 16 bit microprocessor and 8 or 12 bit A/D and D/A converters. It is found that the transient response of the system is better with PID controller than with deadbeat controller. When the number of bits of the microprocessor and converters are small, it is also found that amplitude quantization due to limited wordlength gives significant effects on transient responses of the system. Analytically predicted step-responses are in good agreement with experimental ones.

State variables of an observer were made use of to realize the optimal position control of a hydraulic servosystem with the inherent nonlinearities. The range of eigenvalues of an observer suitable for the hydraulic servosystem was investigated through computer simulation. The effect of direct state feedback of hydraulic servosystem was compared with that of estimated state feedback using observer to ascertain the possibility of performance increase using observer.

The velocity control of hydraulic servo system with heavy load and large capacity was investigated through the linear analysis and digital computer simulation. Each part of the nonlinear hydraulic servo system was mathmatically modelled. The result of linear analysis and computer simulation showed that the use of derivative of load pressure as a feedback signal is effective in velocity control.

This paper deals with the state observer-controller which observes unmeasurable state variables of the system and then uses the estimated values as feedback signals. The linearized model is deduced from the nonlinear electrohydraulic servo system. The 4th order analog linear observer-controller and the 2nd order digital one are modelled and implemented using OP amplifiers and IBM PC/XT, respectively. The two observer are experimentally used in the control of an electrohydraulic system. The results are satisfactory in estimation performance and in tracking performance to command signal.

Pneumatic equipments are widely used in factory automation. Compressed air has many merits, but because of compressibility pneumatic actuators are used limitedly where requires an exact intermediate stopping positions and very slow constant speed. This paper shows the application example of multi-position cylinder to the forming machine.