• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.274-284
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• 2019

The control architectures of Chuan Suo (CS) deep submergence rescue vehicle are introduced. The hardware and software architectures are also discussed. The hardware part adopts a distributed control system composed of surface and underwater nodes. A computer is used as a surface control machine. Underwater equipment is based on a multi-board-embedded industrial computer with PC104 BUS, which contains IO, A/D, D/A, eight-channel serial, and power boards. The hardware and software parts complete data transmission through optical fibers. The software part involves an IPC of embedded Vxworks real-time operating system, upon which the operation of I/O, A/D, and D/A boards and serial ports is based on; this setup improves the real-time manipulation. The information flow is controlled by the software part, and the thrust distribution is introduced. A submergence vehicle heeling control method based on ballast water tank regulation is introduced to meet the special heeling requirements of the submergence rescue vehicle during docking. Finally, the feasibility and reliability of the entire system are verified by a pool test.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1319-1322
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• 2003

KAERI is developing the Advanced Spent Fuel Conditioning Process (ACP) as a pre-disposal treatment process for spent fuel. Equipment used for such a spent fuel recycling and management process must operate in intense radiation fields as well as in a high temperature. Therefore, remote maintenance has a played a significant role in this process because of combined chemical and radiological contamination. Hence suitable remote handling and maintenance technology needs to be developed along with the design of the process concepts. To do this, we developed the graphic simulator for the ACP. The graphic simulator provides the capability of verifying the remote operability of the process without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in the graphic simulator, not in a real environment. The graphic simulator will substantially reduce the cost of the development of the remote handling and maintenance procedure as well as the process equipment, while at the same time producing a process and a remote maintenance concept that is more reliable, easier to implement, and easier to understand.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.363-366
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• 2004

KAERI is developing the Advanced Spent Fuel Conditioning Process (ACP) as a pre-disposal treatment process for spent fuel. In this process, the management process must operate in intense radiation fields as well as in a high temperature. Therefore, remote maintenance has played a significant role in this process. Hence suitable remote handling and maintenance technology needs to be developed along with the design of the process concepts. To do this, we developed the digital mockup for the ACP. The digital mockup provides the capability of verifying the remote operability of the process without fabrication of the process equipment. In other words, by applying virtual reality to the remote maintenance operation, a remote operation task can be simulated in the digital mockup. Through utilizing this graphic simulation in this digital mockup, general guidelines can be established for designing equipment intended for remote handling and maintenance. Also, the designer of the equipment that must be remotely maintained should ensure that there is adequate access to the process equipment. The graphic simulator will substantially reduce the cost of the develo363pment of the remote handling and maintenance procedure as well as the process equipment.

• Journal of Electrical Engineering and Technology
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• v.2 no.3
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• pp.379-385
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• 2007

Recently, vital devices of the railway signaling systems have been computerized in order to ensure safe train operation. Due to this computerization, we have gradually come to need networking interfaces between these devices. Thus it is important that there be reliable communication links in the signaling systems. Network technologies are applied in the real-time industrial control system, and there are numerous studies to be carried out on the computer network technology for vital control systems such as railway signaling systems. For deploying the studies, we consider costs, reliability, safety assurance technique, compatibility, and etc. In this paper, we propose the Ethernet for railway signaling systems and also precisely describe the computer network characteristics of vital railway signaling systems. Then we demonstrate the experimental results of the proposed network algorithm, which is based on switched Ethernet technology with redundancy scheme.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.08a
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• pp.3-9
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• 1999

The recent technical trend in hot rolling of steel can be described as process and product technologies which have been progressed with modern mill equipment and computers. Precise gauge and width control can be achieved by up-to-date control methods such as AGC and AWC systems. Roll benders and various shape control systems enabled high quality flatness and crown control. Mills can produce higher tensile materials by new process based on process metallurgy. The use of high speed steel rolls and on line roll grinders make the schedule free rolling easier which results in cost saving. Process itself goes toward continuous and simple flow type which has lower operation. Endless rolling and strip casting are examples of the trend. Materials with higher tensile strength and various functions have been developed in last years to meet the customer's needs and this trend will continue.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.106-109
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• 1994

The object of this study is to propose the simplified power demand control system which is appliable to existing buildings or new buildings. Through the technical survey and power demand analysis in office buildings, the electric facilities which can be controlled are selected. Power demand control program can be controlled the electric facilities in order, and displayed the facility operation state. The proposed power demand control system is cost-effective and flexibly adoptable in system upgrade or retrofit.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.672-678
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• 2020

The parallel-feeding operation of an AC traction power supply system has the advantages of extending the power supply section and increasing the power supply capacity by reducing the voltage drop and peak demand caused by a train operation load. On the other hand, the parallel-feeding operation is restricted because of the circulating power flow induced from the phase difference between substations. Moreover, the power supply capacity is limited because of the unbalanced substation load depending on the trainload distribution, which can be changed by the train operation along the railway track. This paper suggests a Thyristor-controlled Phase Angle Regulator (TCPAR) to reduce the circulating power flow and the unbalanced substation load, which depends on the phase difference and the trainload distribution and provides a feasibility study. A dedicated control model of TCPAR is also provided, which uses substation power supplies as the input to control the circulating power flow and an unbalanced substation load depending on the phase difference and the trainload distribution. Simulation studies using PSCAD/EMTDC shows that the proposed TCPAR control model can reduce the circulating power flow and the unbalanced substation load depending on the phase difference and the trainload distribution. The proposed TCPAR can extend the parallel-feeding operation of an AC traction power system and increase the power supply capacity.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.529-536
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• 2017

The general ground control system has control and information display functions for the operation of a single unmanned aerial vehicle. Recently, the function of the single ground control system extends to the operation of multiple UAVs. As a result, operators have been exposed to more diverse tasks and are subject to task overload due to various factors during their mission. This study proposes an adaptive ground control system that reflects the operator's condition through the task overload measurement of multiple UAV operators. For this, the ground control software is developed to control multiple UAVs at the same time, and the simulator with six degree-of-freedom aircraft dynamics is constructed for realistic human-machine-interface experiments by the operators.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1062-1073
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• 2004

We describe a looper controller design for a hot strip finishing mill in steel plants. The main function of the looper system is to balance the mass flow of the strip by accumulating material in the middle of the stands. Another function is to control the strip tension which influences the width of the strip. To ensure strip quality, it is very important to control the tension of the hot strip finishing mill. However, because there is a mutual interaction between the looper angle and the strip tension, it is difficult to control the looper system. Previous researches examined only the operation of a single stand. But it is not sufficient to examine the operation and effect of whole stands because the operation is wholly interdependent. In this paper, we present a full model of the hot strip finishing mill in order to more effectively control strip tension. We propose several control methods for the full-stand hot strip finishing mill, denoted as conventional PI, PI with cross gain, and coefficient diagram method (CDM) PID control. In the real plants, there are some problems by using higher order controllers such as LQ, LQG and H$\_$$\infty$/. By comparison, the PID controller is very simple and easy to apply to all real plants. To that end, we present our findings on PID controls and their potential use in the hot strip finishing mill.