• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.3
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• pp.124-130
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• 2003

Many structural evaluation procedures of road and airfield pavements use the Falling Weight Deflectometer (FWD) as a critical element of non-destructive deflection testing. FWD is a trailer mounted device that provides accurate data on pavement response to dynamic wheel loads. A dynamic load is generated by dropping a mass from a variable height onto a loading plate. The magnitude of the load and the pavement deflection are measured by a load celt and geophones. And database concerning pavement damage should be enhanced to analyze loss of thickness asphalt layer caused from the plastic deformation of pavement structure, such as cracking or rutting. The prototype FWD is developed, which consists of chassis system, hydraulic loading system, data acquisition and analysis system. This system subsequently merged to from automation management system and is then validated and updated to produce a working FWD which can actually be used in the field.

• Magazine of the Korean Society of Agricultural Engineers
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• v.36 no.4
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• pp.33-38
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• 1994

Floating-type automatic turnout was developed for the purpose of reducing labor cost and labor-working hours related to turnout management. The point of automation is to use a flexible-float within the turnout. The weight of float is changed by emptying and filling with water at the beginning and ending of irrigation. The turnout is controlled to open and close small bole on the float bottom using electromagnets. With the weight control of float. the gate of turnout is opened by the empty float to begin irrigatiom and is closed by the filled float to stop irrigation. The turnout was designed to be operated by the main computer and to minimize electric power consumption by sending an electric current at the beginning and ending of irrigation. The functional experiment was succesfully carried out and the rating curves for both free overflow condition and submerged flow condition were derived.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2843-2845
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• 2005

This paper deals with the design of real-time embedded system using RTOS (real-time operating system) and SOPC (system on a programmable chip). It is, in general, known that RTOS has the problem of time delay caused by the multiple tasks and task management approach. Since the increase in time delay in real-time embedded system makes the overall system have the poor performance or the critical behavior of instability and unreliability, the method employed RTOS and SOPC is proposed to attack the above problems. The proposed system is implemented on the RC-motor controller and is verified by real experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.65-68
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• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.706-712
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• 2002

In general, a deadlock in flexible manufacturing systems (FMSs) is caused by a resource limitation and the diversity of routings. However, the deadlock of industrial controllers such as programmable logic controllers (PLCs) can occur from different causes compared with those in general FMSs. The deadlock of PLCs is usually caused by an error signal between PLCs and manufacturing systems. In this paper, we propose a deadlock detection and recovery (DDR) algorithm to resolve the deadlock problem of PLCs at design stage. This paper employs the MAPN (modified automation Petri net), MTPL (modified token passing logic), and ECC (efficient code conversion) algorithm to model manufacturing systems and to convert a Petri net model into a desired LD (ladder diagram). Finally, an example of manufacturing systems is provided to illustrate the proposed DDR algorithm.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.334-340
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• 2004

In this paper, a Web-based management system for the building network is described. A multi-protocol converter based on SoC and embedded Linux is designed. The open source licensing, reliability, and broad hardware support are key reasons for use of embedded Linux in embedded industry. The multi-protocol converter integrates control network of RS-485 and LonWorks devices through TCP/IP protocol for a client with Java applet. The system consists of three-tier architecture, such as a client, a server that is performed on a multi-protocol converter, and control devices. The developed system includes the inverter motor control system with modbus protocol for the RS-485 network. The experiment results show that the multi-protocol converter using embedded Linux is a flexible and effective way to builda Web -based monitoring and control system.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.252-256
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• 2003

A biped robot should be designed to be an effective mechanical structure and have smaller hardware system if it is to be a stand-alone structure. This paper shows the design methodology of a biped robot controller using FPGA(Field Programmable Gate Array). A hardware system consists of DSP(Digital Signal Processor) as the main CPU, and FPGA as the motor controller. By using FPGA, more flexible hardware system has been achieved, and more compact and simple controller has been designed.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.255-260
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.143-148
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• 2003

In recent years, as the optical Communication systems are developed, the demands of essential parts such as splitter, coupler, WDM, and AWG filter are grow rapidly. The fabrication process for them is not, however, automatic. On that reason, the automation is needed for the grow of productivity. The optical alignment and attach ment is the core process in fabrication. In this paper, the 6-axis rotary stage for multi-channel optical alignment system is developed and the dynamic characteristic of this system is studied.