• 한국콘텐츠학회논문지
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• 제19권3호
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• pp.72-79
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• 2019

자율 주행은 이동 로봇의 핵심적 기술로써, 측정된 센서 정보를 토대로 불확실한 위치 정보를 이용한 지도 작성 및 수정 기능과, 불확실한 지도 및 센서 정보를 이용한 로봇의 위치 인식 기능으로 구성된다. 자율주행은 이러한 주행 위치의 불확실성에 기반한 확률론적 방법론과 함께 주행 시 장애물의 감지 및 회피 경로의 생성, 반복적 주행 패턴에 따른 경로 관리 기능이 필수적 요소이다. 거리 기반의 스캐너를 통해 관측된 센서 입력은, 지도 구성에 사용된 벽과 같은 정적 물체와 주행 시의 사람처럼 움직이는 동적 물체와의 구별이 필요하기 ?문에 장애물 감지에 어려움이 있다. 본 논문에서는, 이러한 자율 주행 환경에서 기존의 정적, 동적 개체의 판별 방식과 비교하여, 장애물 회피를 위한 저해상도 격자 공간의 생성 및 강화학습을 이용한 경로 생성을 다루고자 한다. 최종적으로 실험을 통해 제안된 방법론의 실효성을 검증하고자 한다.

• 제어로봇시스템학회논문지
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• 제9권4호
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• pp.340-346
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• 2003

Driven by the growth of the Internet and the increasing ubiquity of embedded computing systems, the embedded system is exploding in terms of it proliferation of products and the number of complex applications. Intelligent dedicated systems and appliances used in interface, monitoring, communications, and control applications increasingly demand the services of a sophisticated, state-of-the-art operating system. In the case of industrial controller, it is required to use a real-time operating system (RTOS) as a good building block to enable Internet connectivity. However, commercial RTOSes are increasingly less desirable due to their lack of standardization and their inability to keep pace with the rapid evolution of technology. In order to overcome these problems, we consider using embedded Linux and embedded web server. Availability of source code, reduced licensing, reliability, open source community support, as well as others, are key reasons for the use of embedded linux by embedded developers. In this paper, we develop embedded linux platform to control the industrial inverter with the Internet connecting feature. The method of web-based management is also proposed by using the embedded web server and Java applet. We show the feasibility of remote management for the commercial inverter controller with the proposed three-tier web-based remote management system.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.336-341
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• 2008

Recently, research on a flat panel display(FPD) has focused on organic light-emitting display(OLED) which has wide angle of view, high contrast ratio and low power consumption. ITO(Indium-Tin-Oxide) films are the most widely used material as a transparent electrode of OLED and also in many other display devices like LCD or PDP. The performance and efficiency of OLED is related to the surface condition of ITO coated glass substrate. The typical surface defect of glass substrate is measured for electric characteristics and physical condition for transmittance and roughness. Since ITO coated glass substrate can be destroyed for inspection about surface roughness, sheet resistance, film thickness and transmittance, precise fabrication condition should be made based on the estimated relationship. In this paper, ITO films were prepared on the commercial glass substrate by the Ion-Plating method changing the partial pressure of gas(Ar, 02) and the chamber temperature between $200^{\circ}C$ and $300^{\circ}C$. The characteristics of films were examined by the 4-point probe, supersonic thickness measurement, transmittance measurement and AFM. We estimated the relationship between processing parameters(Ar gas, O2 gas, Temperature) and properties of ITO films (Sheet Resistance, Film Thickness, Transmittance, Surface Roughness).

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.984-993
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• 2014

In this paper, we propose a design for an efficient hybrid LED street lighting management system using standalone solar photovoltaic. The proposed efficient hybrid LED street lighting management system was composed of hybrid power conditioning system, gateways, LED street lights and a monitoring server. The hybrid power conditioning system was designed to charge produced power by solar photovoltaic panels in day time, and supply power to the LED street lights in night time. If there is insufficient power, the system was designed to operate using firm power, because the system utilizes photovoltaic power. A system control algorithm allied to the lighting management system, and experimented by being configured to the functions that are able to perform real-time monitoring and remote control through the lighting management system even when absent. In the result of the efficiency analysis of the hybrid lighting management system proposed in this paper, we were able to increase the energy efficiency compared to existing lighting control systems by reducing power consumption and electricity costs.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.77-88
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• 1997

Fieldbus is the lowest level communication network in factory automation and process control systems. Performance of factory automation and process control systems is directly affected by the data delay induced by network traffic. Data generated from several distributed field devices can be largely divided into three categories: sporadic real-time, periodic real-time and non real-time data. Since these data share one fieldbus network medium, the limited bandwidth of a fieldbus network must be appropriately allocated to the sporadic real-time, periodic real-time and non real-time traffic. This paper introduces a new fieldbus design scheme which allocates the limited bandwidth of fieldbus network to several different kinds of traffic. The design scheme introduced in this study not only satisfies the performance requirements of application systems interconnected into the fieldbus but also fully utilizes the network resources. The design scheme introduced in this study can be applicable to cyclic service protocols operated under single-service discipline. The bandwidth allocation scheme introduced in this study is verified using a discrete-event/continuous-time simulation experiment.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.536-542
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• 2016

To enhance tracking efficiency, a target-tracking filter with a resource management algorithm is required. One of the resource management algorithms chooses or evaluates the proper sampling time using cost functions which are related to the target tracking filter. We propose a resource management algorithm for bearing only tracking environments. Since the tracking performance depends on the system observability, the bearing-only tracking is one of challenging target-tracking fields. The proposed algorithm provides the adaptive sampling time using the variation rate of the error covariance matrix from the target-tracking filter. The simulation verifies the efficiency performance of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.570-577
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• 2016

This paper proposes the design of a novel distributed message management scheme using a message-oriented management and analysis tool (MOMAT) for naval combat system (NCS) middle-ware. If a message is not guaranteed real-time of the NCS with each node, it causes the loss of data and decreases the reliability of systems. To solve these problems, improved message management schemes are proposed. Message management schemes are considering a real-time user management scheme and a real-time traffic management scheme. The proposed schemes are simulated with a developed simulation tool, data publisher, and subscriber connected through nodes in middle-ware. The simulation results show improved results in terms of message round-trip time (RTT), End-to-End delay, and throughput.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.36-41
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• 2008

Cooling tower is an important equipment of the cooling systems for large buildings like factory and department store. Water used for cooling in cooling tower is reused continuously. If the water is polluted, corrosion and scale can happen at equipments and pipes. In order to prevent this problem, it is necessary to control the water quality using chemicals. To control the water quality, an automatic control system is designed, fabricated, and experimented. The control system is based on an imbedded microcontroller. Relays are used for power driving, an LCD and LED for display, and RS485 for remote data acquisition. Monitoring program is also developed for easy man-machine interface and extraction of data stored in the imbedded processor and EEPROM. The control system calculates amounts of chemicals necessary using sensor data and injects the chemicals into the cooling tower on proper time. The developed water quality control system is expected to reduce cost of maintenance and extend the lifetime of the cooling systems with low cost.

• 제어로봇시스템학회논문지
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• 제3권3호
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• pp.318-322
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• 1997

A prototype of combustion zone monitoring system as been developed and installed into tuyeres of the blast furnace. The system consists of CCD(charge coupled device) cameras, sonic flow meters, an image processor and a personal computer. The personal computer collects raceway luminance data and operational data from the image processor that is connected to the color CCD camera from the blast furnace process computer, respectively. In addition, the sonic flow meters supply coal injection rate data to the personal computer. Then, the personal computer evaluates the combustion conditions with the raceway inspection algorithm. This integrated monitoring system allows us to detect abnormal raceway conditions and the clogging status of coal injection pipe. The image processing techniques of the system enable us to effectively monitor unburnt coal sticking to tuyere tip and injection lance wear conditions. Such a developed system ensures rapid and precise raceway inspection. The image processing capability of the system has helped operator to early detect both the unburnt coal sticking problem and the errosion problem of injection lance. Furthermore, the system could control the abnormal raceway condition based the the analysis results obtained from combustion monitoring.