• 전자공학회논문지B
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• 제32B권9호
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• pp.1137-1153
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• 1995

It is not yet possible to solve the optimal number of neurons in hidden layer at neural networks. However, it has been proposed and proved by experiments that there is a limit in increasing the number of neuron in hidden layer, because too much incrememt will cause instability,local minima and large error. This paper proposes a module neural controller with pattern recognition ability to solve the above trade-off problems and to obtain fast learning convergence speed. The proposed neural controller is composed of several module having Multi-layer Perrceptron(MLP). Each module have the less neurons in hidden layer, because it learns only input patterns having a similar learning directions. Experiments with six joint robot manipulator have shown the effectiveness and the feasibility of the proposed the parallel module neural controller with pattern recognition perceptron.

• 마이크로전자및패키징학회지
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• 제1권2호
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• pp.143-146
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• 1994

본 연구에서는 900MHz PLL Module을 설계제조하였다. 제안된 PLL Module은 900MHz VCO 및 PLL Controller로 구성되었다. PLL Module의 출력레벨은 -2dBm이었다.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.1-8
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• 2006

The home network system guarantees families a safe, economical, socially integrated and healthy life by using information appliances. And it provides a family with domestic safety, control of instruments, controllable energy and health monitoring by connecting to home appliances. This study designs the broadband PLC home controller using broadband PLC(Power Line Communication) technology which can save much cost at a network infrastructure by using the existing power line at home. The broadband PLC home controller consists of the broadband PLC module, the embedded main controller module and I/O module. The broadband PLC home controller can control various domestic appliances such as an auto door-lock, a boiler, an oven, etc., because it has various I/O specifications. In this study, selected home network middleware for the broadband PLC home controller is Jini surrogate using Jini technology designed by means of access to easily a home network system without a limitation of the devices. And a client application program is supported java servlet program to manage and monitor the broadband PLC home controller via web browser of a PC or a PDA, etc. Finally, for an application, we implemented and tested a home security system using one broadband PLC home controller.

• 한국항공운항학회지
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• 제23권1호
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• pp.49-55
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• 2015

This paper deals with dynamic modeling and controller design of a future Korean lunar module planned to be launched 2020's in Korea. For dynamic modeling of the lunar module, we first assume the lunar module as a rigid body. And we derive equations of motion for the lunar module by considering allocation of main thrusters and reaction thrusters. With the equation of motion, we design the controller based on the quaternion. A Pulse Width Pulse Frequency modulator(PWPFM) is selected for generating on/off signal. Finally, we construct a 2-phase descent mode including initial guidance mode, terminal guidance mode. The MATLAB simulation is performed for evaluating the descent ability and final landing velocity. The dynamic modeling and descent simulation of the lunar module in this paper could be applied for developing the future work of the Korean lunar exploration program.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.388-390
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• 2006

This paper presents a hybrid SoC design for phase detection of single tone signal. The designed hybrid SoC is composed of three functional blocks, i.e., an analog to digital converter module, a phase detection module and a controller module. A design of the controller module is based on a 16-bit RISC architecture. An I/O interface and an LCD control interface for transmission and display of phase measurement values are included in the design of the controller module. A design of the phase detector is based on a recursive sliding-DFT. The recursive architecture effectively reduces the gate numbers required in the implementation of the module. The ADC module includes a single-bit second-order sigma-delta modulator and a digital decimation filter. The decimation filter is designed to give 98dB of SNR for the ADC. The effective resolution of the ADC is enhanced to 98dB of SNR by the incorporation of a pre FIR filter, a 2-stage cascaded integrator- comb(CIC) filter and a 30-tab FIR filter in the decimation. The hybrid SoC is verified in FPGA and implemented in 0.35 CMOS Technology.

• 전자공학회논문지SC
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• 제41권5호
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• pp.49-56
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• 2004

완전 이식형 인공중이 시스템을 위한 음성 신호처리 및 제어 모듈을 소형 마이크로컨트롤러를 사용하여 저전력형으로 설계 하였다 설계된 모듈은 입력되는 음성신호를 난청자의 역치에 맞추어 이득을 조정하는 등의 신호처리를 수행함과 동시에 체내 이식부의 제어를 수행하게 된다. 설계된 마이크로컨트롤러는 전원이 켜지면 사용자의 청력 손실에 맞추어서 주파수별로 차등 되는 이득을 주도록 실시간으로 음성신호를 처리하게 된다. 그러나 체외에서 제어신호가 입력될 경우 수신된 제어 신호에 의해 마이크로컨트롤러는 인터럽트 서브루틴을 수행하여 전원 제어, 볼륨 조절과 같은 제어 명령을 수행한 후 다시 음성 신호를 처리하도록 하였다. 설계된 모듈을 구현한 후 구현된 시스템의 동작을 실험을 통하여 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1732-1737
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• 2004

This paper proposes Internet-based checking technique for machine-tools with variant CNC (Computerized Numerical Controller). According to the architecture of CNC, CNC is classified into two types such as CAC (Closed Architecture Controller) which is conventional CNC, and OAC (Open Architecture Controller) which is a recently introduced PC-based controller. CAC has a closed architecture and it is dependent on CNC vender specification. Because of this, it has been very difficult for users to implement an application programs in CNC domain. Therefore, an additionally special module is required for Internet-based application such as remote checking. In this case, web I/O embedded module can be efficiently applied for Internet-based checking. The module is directly attached to TCP/IP network for communication. In order to obtain the monitoring data of CNC machines, the I/O signals of the module are assigned to PLC (Programmable Logic Controller) input and output (I/O) signals within CNC domain. On the other hand, OAC has a PC-based open architecture and an additional module is not necessary for the connection with external site. Because of this, a simple DAU is just used for signal sensing and data acquisition without additional communication modules. For Internet-based remote checking of machine-tools with OAC, a user-defined daemon and application programs are implemented as the form of internal function within the PC-based controller. Internet communication is performed between the daemon program in CNC domain and web script programs in external server. Checking points defined in this research are classified into two categories such as structured point and operational point. The formal includes the vibration of bearing, temperature of spindle unit and another periodical management. And the latter includes oil checking, clamp locking/unlocking and machining on/off status.

• 대한기계학회논문집
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• 제18권10호
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• pp.2501-2513
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• 1994

In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

• 대한임베디드공학회논문지
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• 제17권2호
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.986-989
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• 1988

The new controller which conststs of IBM-PC/AT, SBC, servo module and motor driver has been developed for KIMMBOT II robot. The servo module which controls two axes at the same time also has beendeveloped. This module inputs relative number of pulse and feedrate via multbus, after then outputs analog command voltage with reference to feedback pulses from the encoder of a motor. This system has a great flexibility. The reduction of parts gives more reliability.