• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1230-1231
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• 2011

이 논문은 전차원 상태 관측기 기반의 EEMF(Extended Electro-Motive Force) 모델을 이용한 IPMSM(Interior Permanent Magnet Synchronous Motor:매입형 영구 자석 동기 전동기)센서리스 제어 기술을 제안한다. 임의의 ${\gamma}-{\delta}$축 상에서 IPMSM 상태 방정식을 전개하고 이를 전차원 상태 관측기로 구현해 Extended EMF(역기전력)성분을 추정한다. 추정 성분을 이용해 제어각의 오차를 구하고 PI제어기를 사용해 제어각의 오차를 0으로 수렴시켜 전동기 회전 속도를 추정한다. 추정 속도를 적분해 제어각을 얻고, IPMSM 센서리스 제어를 수행한다. 제안한 알고리즘은 실험을 통해 그 타당성을 검증한다.

• 전자통신동향분석
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• 제33권5호
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• pp.51-63
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• 2018

Mobile cellular technology is evolving to accommodate a variety of vertical services, expanding the application from human-to-human communication to the Internet of Things(IoT). In particular, the fourth industrial revolution, bringing in a new vision in future smart factory, necessitates a new paradigm shift in wireless communication. Low latency and high reliability is a key issue in wireless applications for industrial IoT such as factory automation. In this paper, we review the recent progress in 5G URLLC (Ultra-Reliable Low Latency Communication) and discuss use cases, requirements, challenging technical issues, and potential solutions to support wireless factory automation such as discrete automation and process automation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.552-554
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• 1998

This paper deals with the gait generation of IWR-III using a kick action to have a walking pattern like human. For this, trajectory planning with the consideration of kick action is done in each walking step, and the coordinate transformation is done for simplifying the kinematics. Balancing motion is analyzed by FDM during the walking, By combining 4-types of pre-defined steps, multi-step walking is done. Using numerical simulator, dynamic analysis, ZMP analysis and system stability is confirmed. Walking motion is visualized by 3D- graphic simulator. As a result, trunk ahead motion effect and impactless smooth walking is implemented by experiment. Finally walking with kick action is implemented the IWR-III system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2339-2341
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• 1998

This paper is concerned with an energy optimization for the walking of IWR biped robot. The movement of balancing joints are determined by ZMP(Zero Moment Point) and dynamic properties caused by motion of a swing leg. Therefore, ZMP positions have an important role in walking and guarnateeing the stability of a robot. A genetic algorithm is utilized for solving this problem and finding ZMP with a minimum energy at each sampling time during the walk. In this study, we performed an energy optimization with desired ZMP trajectories and motion of balancing joints.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.546-548
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• 1998

This paper deals with ZMP trajectory generation in multi step walking of IWR-III(Inha Walking Robot) Biped Walking Robot. Biped walking is realized by combining 6-types of pre-defined steps and the actual ZMP can be used as a stability index of a robot. For the good tracking of actual ZMP, desired ZMP trajectory is generated during the whole walking time not for each step. Trajectory generation is performed considering velocities and accelerations of given via points using 5-th order polynomial interpolation method. As a result, balancing joints have a more smooth and continuous motion and actual ZMP has a better tracking ability. Numerical simulator is done by MATLAB to guarantee the walking of a robot satisfying the ZMP stability.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.549-551
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• 1998

This paper deals with the new gait implementation of biped walking robot(IWR-III). In the case of using old gait. The trunk should be stopped during the phase changing time. But using new gait, the trunk moves continuously for all walking time. As a result, IWR-III has a walking gait similar to human being, and the motion of balancing joints can be reduced by the trunk ahead effect in the double support phase, moreover, ZMP tracking is improved, therefore the stability of IWR-III is improved. The trajectory is planned with a 5th order spline interpolation and stability of IWR-III is certified with a biped simulator.

• 한국산업정보학회논문지
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• 제11권5호
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• pp.11-17
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• 2006

최근 디지털 기술들의 눈부신 발전을 거듭하고 있다. 이를 바탕으로 다양한 전자제품이 디지털화 되었고 그 대상이 점차 확대되고 있다. 이에 따라 임베디드 기술과 인터넷 기술이 결합된 임베디드 홈 오토메이션 시스템에 대한 개발이 많은 관심을 모으고 있다. 특히 유비쿼터스 시대를 맞이하여 일반 가정에도 경제적으로 우수한 홈 오토메이션 시스템을 선호하게 되었다. 따라서 본 연구에서는 현재 구현되고 있는 홈오토메이션시스템들의 단조로운 제어에서 탈피하여 지능화된 유비쿼터스 환경을 가정에 도입하기 위한 시스템을 설계하고자 한다.

• 국제초고층학회논문집
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• 제12권4호
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• pp.343-350
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• 2023

With the advent of the recent Fourth Industrial Revolution, efforts are vigorously underway to comprehend the new paradigm of Construction 4.0, following in the footsteps of Industry 4.0, and to establish novel production systems. The necessity and significance of technological advancements in the field of construction automation and robotics, a pivotal component for Construction 4.0, are being emphasized. This paper aims to discuss the concept of construction automation and robotics, encompassing its past, present, and future prospects. Particularly, it reviews the six relevant papers featured in the June 2022 special issue of IJHRB, along with discussions on the integration of cutting-edge ICT technologies and R&D in the realm of automation and robotics. With the progression of ICT technology, the domain of construction automation and robotics is anticipated to play a substantial role in the realization of Construction 4.0 and smart construction through more dynamic convergence in technological development.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.336-343
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• 2022

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized modular building associations, the Modular Building Institute (MBI), and renowned architecture design magazine, Dezeen to gather industry updates. The authors discovered one university lab and a few companies that adopted Switzerland-based robotic arms, ABB. Researching ABB robotics led to the discovery of ABB's competitor, Germany-based KUKA robotic arms. Consequently, research extended to the companies and labs adopting KUKA models. In total, this study has identified seven modular companies and four research labs. All companies employed robotic arms and gantry robot combinations in a production-line-like system for partial automation, and some adopted design standardization for optimization. The common goal among the labs was to achieve greater flexibility and full automation with robotic arms. This study will help companies better implement robotic arm automation by providing recommendations from investigating its current industry status.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -1
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• pp.77-79
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• 2000

Industrial communication networks have attracted much attention in the area of decentralized control systems for factory automation and computer integrated manufacturing. In this paper, we investigate the rate-based traffic control of industrial communication networks employing LonWorks to improve the performance measures of throughput, fairness, and error rates. To this end, we utilize the Feedback channel information through the additional network monitoring node and make the overall system closed-loop. We demonstrate the improved performance of the controlled network system by the experimentation upon an implemented lab-scale network system.