• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.902-907
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• 1993

An efficient dynamic control algorithm that outperforms existing local torque optimization techniques for redundant manipulators is presented. The method resolves redundancy at the acceleration level. In this method, a systematic switching technique as a trade-off means between local torque optimization and global stability is proposed based on the stability condition proposed by Maciejewski [1]. Comparative simulations on a three-link planar arm show the effectiveness of the proposed method.

• 연구논문집
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• 통권26호
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• pp.57-68
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• 1996

Recently, a lot of researches on material handling system are actively studied for realization of FA(Factory Automation), FMS(Flexible Manufacturing System) and CIM(Computer Integrated Manufacturing). Management and application of material handling system are precondition technologies playing an important part in integration of production system including manufacturing. assemhly, and inspection cell. In this paper, the general situation of automation technology is investigated and technology level is analyzed in comparision with an advanced country. And the operation trend and part of material handling system including AS/RS, AGV, and Conveyor, are studied. And also technologies related to material handling system in the inside and outside of the country are studied.

• Journal of Power Electronics
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• 제15권5호
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• pp.1207-1216
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• 2015

In order to suppress the low frequency oscillation of the neutral-point voltage for three-level inverters, this paper proposes a new discontinuous pulse width modulation (DPWM) control method. The conventional sinusoidal pulse width modulation (SPWM) control has no effect on balancing the neutral-point voltage. Based on the basic control principle of DPWM, the relationship between the reference space voltage vector and the neutral-point current is analyzed. The proposed method suppresses the low frequency oscillation of the neutral-point voltage by keeping the switches of a certain phase no switching in one carrier cycle. So the operating time of the positive and negative small vectors is equal. Comparing with the conventional SPWM control method, the proposed DPWM control method suppresses the low frequency oscillation of the neutral-point voltage, decreases the output waveform harmonics, and increases both the output waveform quality and the system efficiency. An experiment has been realized by a neutral-point clamped (NPC) three-level inverter prototype based on STM32F407-CPLD. The experimental results verify the correctness of the theoretical analysis and the effectiveness of the proposed DPWM method.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.954-959
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• 2008

This paper is concerned with the reliable $H_{\infty}$ controller design problem for uncertain linear systems against actuator failures. In the design, the $H_{\infty}$ performance of the closed-loop system is optimized during normal operation(without failures) while the system satisfies a prescribed $H_{\infty}$ performance level in the case of actuator failures. Single and parameter-dependent Lyapunov function approaches are applied in designing suboptimal reliable $H_{\infty}$ controllers. Simulation studies are presented to demonstrate the effectiveness of the proposed design procedures.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.785-791
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• 2008

This paper considers the problem of robust $H_{\infty}$ control for uncertain 2-D discrete systems in the General Model via output feedback controllers. The parameter uncertainty is assumed to be norm-bounded. The purpose is the design of output feedback controllers such that the closed-loop system is stable while satisfying a prescribed $H_{\infty}$ performance level. In terms of a linear matrix inequality, a sufficient condition for the solvability of the problem is obtained, and an explicit expression of desired output feedback controllers is given. An example is provided to demonstrate the application of the proposed method.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2015년도 추계 학술논문 발표대회
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• pp.72-73
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• 2015

For the past three years, the importance of automatic research has been increased. It was proved in previous research that the number of conducted research using 'Database' technique was the largest, but the amount of increase was the largest in research on 'BIM'. In consequence, it is predicted the research on 'BIM' will become a center of automation in construction. Therefore, the purpose of this paper is to examine trends though classifying into each construction phase and developed extent of techniques related to professionalization and integration with other techniques within a range of 'Automation in Construction Journal' which has the biggest level of awareness in construction field.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2011년도 추계학술대회
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• pp.217-218
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• 2011

이 논문은 SVPWM으로 구동하는 3상 2레벨 인버터에 레그-션트저항(Leg-Shunt Resistor)을 이용한 전류 검출방식의 전류 검출영역 확장 방법을 제안한다. 레그-션트 저항을 이용한 전류 검출방식은 션트저항이 인버터 아래쪽 IGBT 이미터(Emitter)단에 있기 때문에 PWM 스위칭 상태에 따라 전류 검출영역이 제한된다. 이 논문에서는 레그-션트저항 전류 검출방식의 전류 검출가능영역을 정의하고 전류 검출이 어려운 부분에서도 전류를 검출을 하는 방법을 제안한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.52-55
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• 2004

Digital communication networks have become a core technology in advanced building automation systems. BACnet(${\underline{B}}uilding$ ${\underline{A}}utomation$ and ${\underline{C}}ontrol$ ${\underline{net}}works$) is a standard data communication protocol designed specifically for building automation and control systems. BACnet adopts Master-Slave/Token-Passing (MS/TP) protocol as one of its field level networks. In this study, we introduce a method of implementing bandwidth allocation scheme in the MS/TP protocol. The bandwidth allocation scheme improves the capability of real-time communication of the original MS/TP protocol. The bandwidth allocation scheme introduced in this paper can be easily implemented in the existing MS/TP protocol with a slight modification. In this study, we actually developed the hardware and firmware of MS/TP module in which bandwidth allocation scheme is implemented.

• 한국조명전기설비학회지:조명전기설비
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• 제9권5호
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• pp.80-86
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• 1995

This paper proposes the design of new digital controller to improve control performance of automation system. The proposed controller improves response time and steady state error in the driving a system to generate a output voltage proportional to the frequency difference of reference input signal and feedback signal, holds good stability and higher accuracy designing an adaptive line density selector and a quantized level controller of slope-varied type. A theoretical and experimental studies have been carried out. Th presented results how the improved performance in the position control of automation system.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2077-2082
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• 2015

Based on Deutsch assumption, a calculation method on the electric field over the ground surface under HVDC transmission lines in the wind is proposed. Analyzing the wind effects on the electric field and the space charge density the existing method based on Deutsch assumption is improved through adding the wind speed to the ion flow field equations. The programming details are illustrated. The calculation results at zero wind speed are compared with available data to validate the code program. Then the ionized fields which resulted from corona of ±800kV HVDC lines are analyzed. Both the electric field and the current density on the ground level are computed under different wind direction and speed. The computation results are in good agreement with measurements. The presented method and code program can be used to rapidly predict and evaluate the wind effects in HVDC transmission engineering.