• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.969-976
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• 2008

A position control problem is studied for UEV(Unmanned Expedition Vehicles), which is to follow pre-determined paths via fixed way-points. Hybrid control systems are used for position control of UEV depending on the operating condition. Speed control consists of three controllers: PID control, adaptive PI control, and neural network. Heading control consists of two controllers, PID and adaptive PID control. The controllers are selected based on the changes of road conditions. We suggest an adaptive PI control algorithm for speed control and an transition management algorithm among the controllers. The algorithm adapts the road conditions and variation of vehicle dynamical characteristics and selects a suitable controller.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2012.11a
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• pp.185-187
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• 2012

Recently increasing high-rise building cleaning on the exterior walls of high-rise buildings, there has been increased interest. Building exterior cleaning is cleaned by a cleaning robot and how to clean the exterior walls of the building and exterior glass cleaned by personnel. Number of stories in the building increases, being carried out by personnel cleaning the outer wall as there is a limit order to overcome this method. therefor, this study is a new exterior wall cleaning device has been proposed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.82-87
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• 1993

A supervisory controller design technique for multiple-AGV systems is presented in this paper. The guidepath is represented in the form of a network, and its modifications are easily tested. The network has two-layered structure, where the path sets between each two nodes are made in advance using the K-shortest path algorithm. Occupation times for all links are stored in link-occupation table, and are updated after the dispatching time. Dispatching and scheduling for each AGV are optimized in terms of minimum-time objectives. In all times, the paths are guaranteed to be conflict-free and deadlock-free. The simplicity and flexibility on this control scheme make the supervisory suitable for real applications.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1416-1419
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• 1996

현재 많은 공장에서 사용중인 사출기나 프레스를 중앙 집중식 제어를 위한 다양한 시도가 있었다. 이러한 시도는 많은 공장 자동화와 이를 기본으로 한 생산관리 시스템을 구축함으로서 제품의 품질을 향상시킬수 있을 뿐만 아니라 장비의 오동작을 중앙에서 감시, 감독하여 장비의 효율을 최대화함으로 생산성을 증대하여 기업의 이윤을 최대화 할수 있다는 장점이 있다. 그러나 공장 자동화의 단계는 초기 단계로 여러가지 문제점을 안고 있으며 현 상태의 시스템으로 위의 여러가지 장점을 얻기에는 어려운 실정에 있으며 그 시스템의 운영에도 많은 문제점이 발견되어 운영 불가능 상태로 방치된 이 시점에서 이러한 문제점을 분석하여 최대한으로 현재 개발된 시스템의 오류를 수정 및 보완하여 효과적인 공장 자동화를 위한 시스템을 완성함으로서 생산의 향상과 기업의 원활한 생산 활동을 지원하고자 한다.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.600-613
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• 1999

This paper focuses on development of a performance manager for IEEE 802.4 token bus networks to serve large-scale integrated systems. In order to construct the management algorithm, the principles of fuzzy logic, genetic algorithm, and neural network have been combined to represent human knowledge and to imitate of human inference mechanism. Through the simulation experiments, it is shown that the proposed performance manager is capable of improving the network performance without a priori knowledge.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.760-767
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• 2011

The flexibility and evolvability are critical characteristics of modern manufacturing to adapt to changes from products and disturbances in the shop floor. The technologies inspired from biology and nature enable to equip the manufacturing systems with these characteristics. This paper proposes an ant colony inspired autonomous manufacturing system in which the resources on the shop floor are considered as the autonomous entities. Each entity overcomes the disturbance by itself or negotiates with the others. The swarm of cognitive agents with the ant-like pheromone based negotiation mechanism is proposed for controlling the shop floor. The functionality of the developed system is proven on the test bed.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.396-399
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• 2009

This paper presents the notion of time-coobservability as a core condition far the existence of a decentralized supervisor achieving a given language specification in a timed discrete event system (TDES). A TDES is modeled by the framework of Brandin & Wonham [5], and the decentralized supervisory control architecture presented is extended from the untimed architecture of Yoo & Lafortune [1]. To develop the time-coobservability of a language specification, specifically this paper presents the C&P time-coobservability and D&A time-coobservability in the consideration of the event tick and forcing mechanism of decentralized supervisors.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.884-888
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• 1991

이 글에서는 1990년 가을 개국하여 운용되고 있는 서울우편물집중국의 우편 물 처리의 자동화 시스템의 적용을 분석, 그의 특징 등을 서술코자 한다. 본 서울우편물집중국의 자동화는 프로그래머블콘트롤러(PLC)를 적용하여 모 든 자동제어기를 통합 NETWORK화하여 1) 계층적제어 SYSTEM을 확립하 였으며 관리용 SYSTEM별의 자율적인 단위 조작과 기능적 독립을 유지하 며, 3) 분산제어 시스템화하여 우편처리에 있어 자동 일관처리 공정을 이루 는데 성공적이였으며, 이는 전적으로 PLC를 적용 계층적 분산제어에 의하여 성취되었다고 본다. 프로그래머블콘트롤러(PLC)는 확장성이 크고 강력한 우 편물 처리의 자동화 장치로서 계속적으로 우편물처리의 자동화 및 기계화 산업에 적용될 것임을 확신하는 바이다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.348-352
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• 1992

At present, the manufacturing industry is in a process of great change of circumstances like meeting demands to involve a great variety of types and shorter product life and thus more flexible manufacturing. These changes cause the larger number of different tools and frequent tool changes, which lead to the considerable losses in productive time and the high amount of capital tied up in the tool area. In our country, for the most part, the individual tool are still being presetted according to a data sheet and the measured values are entered, output in a list manually or via punched tapes. This usually takes a considerable amount time and lead to a high error rate. This paper describes a computer controlled tool data management system combined with the bar code tool identification labeled on cutting tools.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1025-1028
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• 2010

This paper presents a new approach to analyze the stability of dynamic competitive markets within the framework of supervisory control of discrete event systems. A competitive market is representative of free market economy where it is well known that an invisible hand (also referred to as Walrasian auctioneer) always achieves an equilibrium of demand and supply. Upon the framework of supervisory control theory, this paper shows that Walrasian auctioneer is a stabilizing supervisor for a convergent competitive market, however a non-convergent competitive market (e.g. a free market under economic bubble and depression) controlled by Walrasian auctioneer may not be stable.