• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.15-20
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2304-2308
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• 2003

Ocean thermal energy conversion (OTEC) is an effective method of power generation, which has a small impact on the environment and can be utilized semi-permanently. This paper describes a dynamic model for a pilot OTEC plant built by the Institute of Ocean Energy, Saga University, Japan. This plant is based on Uehara cycle, in which binary mixtures of ammonia and water is used as the working fluid. Some simulation results attained by this model and the analysis of the results are presented. The developed computer simulation can be used to actual practice effectively, such as stable control in a steady operation, optimal determination of the plant specifications for a higher thermal efficiency and evaluation of the economic prospects and off-line training for the operators of OTEC plant.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.744-747
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• 2004

An electric precipitator in a thermal electric power plant is essential equipment for preventing air environment pollution. However, it is difficult for the existing control systems to make efficient effects on dust collection. This is because AVC and ERC consist of independent, separate systems in the existing systems. To solve this problem, we developed an intelligent distributed control system, which makes optimal control possible through connection operations between the control systems. In this paper, we analyzed system performance and fly ash reduction effects through the developed system structure, development contents and its actual application to power plant.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2600-2602
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• 2005

An electric precipitator in a thermal electric power plant is essential equipment for preventing air environment pollution. However, it is difficult for the existing control systems to make efficient effects on dust collection. This is because AVC and ERC consist of independent, separate systems in the existing systems. To solve this problem, we developed an intelligent distributed control system, which makes optimal control possible through connection operations between the control systems. In this paper, we analyzed system performance and fly ash reduction effects through the developed system structure, development contents and its actual application to power plant.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1123-1126
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• 2005

This paper introduces the key features of NCS (Network based Control System), which is quite a new concept in the industrial automation market. Two control systems "DCS" and "PLC" have been recognized as control systems used for process and factory automation during the past decades. However, the market requires more complex functionality, such as monitoring and operation, alarm handling and notification from remote locations using the Web or e-mail. Besides enhancing functionality, interoperability between each device and system is highly required since network and engineering tools provided by many vendors do not cooperate with each others, so that lots of conversion, reconfiguration and reprogramming are required when expanding systems. NCS can meet this requirement, installing leading-edged IT technology using international standards for network and engineering environment. NCS, which is a harmony of web functionality, networkability and a reliable control function, enables information integration and responding to the market's requirements with agility and high reliability.

• Convergence Security Journal
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• v.2 no.2
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• pp.59-66
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• 2002

The access controls are the methods which are generally used in such systems as computer operating systems, workflow systems, information security systems and etc.. In the paper, is proposed a role-based access control model which not only has fundamental security functions such as security, integrity and flow control, but also meets the access control requirements of role-based social organizations. The proposed role-based access control model is designed in order to perform its functions in simple and secure way, largely in the environment of web-based applications.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.262-269
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• 2005

Automatic landing of UAVs receives increasing interest these days, with increasing number of the developed UAV systems. In this paper, a glidepath tracking algorithm of the subscale UAV was proposed and the performance was analyzed. Flight data analysis shows that the existing autolanding flight control algorithm has a classical type glidepath control. This paper presents an alternative glidepath tracking strategy based on embedded flight control law. The performance of the proposed strategy was investigated through the TDP(Touch Down Point) error analysis with regard to various flight environment: steady headwind, atmospheric disturbance, communication transfer delay. It was verified that the proposed glidepath tracking strategy can be successfully applied to the practical autolanding of UAV systems.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1063-1065
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• 1996

As PLC has become central to today's FA environment, the importance of developing and providing special-module of PLC such as Analog-module, PID-module, Temperature Control-module has increased. In this paper introduces the Temperature Control-module which is developed by LGIS R&D lab. and presents the availability of PLC-control system with Temperature Control-module.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• Journal of Korea Entertainment Industry Association
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• v.5 no.1
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• pp.122-126
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• 2011

In this paper, for the purpose of improving the future domestic train control systems and securing interoperability according to the global development trends of train control systems, we present the test results of interoperability between wayside train control system installed in existed line, and the onboard train control system. Due to the safety-critical characteristics of train systems, the site test in the section where the wayside equipment is installed, leads to a danger against safety. Therefore, by way of constructing a simulation environment of train control systems, we confirm the T/R data systems of the equipment for interoperability and test the interoperability by applying these systems to onboard equipment.