• International Journal of Control, Automation, and Systems
• /
• 제1권1호
• /
• pp.68-75
• /
• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• 산업경영시스템학회지
• /
• 제12권19호
• /
• pp.89-98
• /
• 1989

This research addresses the most sophisticated level of complexity of current electronic data processing(EDP) technology realtime, distributed data base(DDB) system. The major objective is to develop guidelines for the control and audit of these sophisticated system, since the control and audit philosophies, control features, and audit techniques applicable to traditional EDP systems are no longer fully appropriate for, or relevant to, these stat-of-art systems. An attempt is made to develop an internally consistent audit and control Conceptual Framework summarizing and integrating the material developed in this research, which then leads into the analysis of the control and audit model.

• 제어로봇시스템학회논문지
• /
• 제8권8호
• /
• pp.713-718
• /
• 2002

Motion controllers are essential components for operating industrial equipments. Compared with general industrial controllers, motion controllers allow motion control requiring greater speed and precision. This paper presents a method for controlling multi-axes motors via industrial networks. To achieve a line or arc interpolation, the master system delivers instructions to slave systems connected to the network. The network instruction transmitted from the master controller is re-interpolated by the individual slaves through sub-interpolators. The re-interpolated feedrate information is transmitted to the motion control loop in which the current position and the reference position are then calculated. In this way, the interpolation driving between control units is achieved via industrial networks.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.886-891
• /
• 1987

In this paper, we present a effective method to control robotic systems by an iterative learning algorithm. This method is based on the concepts of the learning control law which is introduced in this paper, that is, avoidance of using derivative of system state and ignorance of high frequency influence in system performance. By means of the betterment of performance due to the improvement of estimated unknown information, the learning control algorithm compels the system to gradually approach in desired trajectory, and eventually the tracking error asymptotically converges upon zero. In order to verify its utility, one degree of freedom of manipulator has been used in the experiments and the results illustrate this control scheme is very effective.

• 정보보호학회논문지
• /
• 제23권3호
• /
• pp.471-478
• /
• 2013

산업제어시스템은 초기에 주로 아날로그 형태로 구축되었다. 그러나 산업발전에 따라 운영에 필요한 센서들이 증가하면서 시스템이 복잡해지고 정밀함이 요구되어 디지털 설계의 필요성이 높아졌다. 그런 필요성에 발맞추어 디지털 시스템들의 안정성은 크게 향상되었고, 최근에는 원전을 포함한 대부분의 제어시스템들이 디지털로 설계되고 있다. 산업제어시스템의 디지털 활용이 점차 개방화 표준화되면서 잠재적인 사이버 위협세력에 의한 제어시스템 침투 및 파괴 가능성이 매우 높아졌다. 이에 따라 국내 외에서는 위협의 식별과 효과적인 대책마련을 위하여 다양한 노력을 기울이고 있다. 본 논문은 관련지침 분석을 통해 제어시스템과 원전제어시스템의 공통되는 보안요구사항을 취하고, 향후 원전 인 허가 요건으로 필수적인 원전 사이버보안 체계 개발방안을 제안한다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.93-96
• /
• 1997

The paper suggests a guide of designing and implementing automation systems using industrial communication networks.

• 제어로봇시스템학회논문지
• /
• 제9권3호
• /
• pp.177-185
• /
• 2003

Current issues of receding horizon control scheme are reviewed. The basic idea of receding horizon control is presented first. For unconstrained and constrained systems, the results of closed-loop stability in receding horizon control are surveyed. We investigate the two categories of robustness of receding horizon control : stability robustness and performance robustness. The existing optimization algorithm to solve receding horizon control problem is briefly mentioned. It is shown that receding horizon control has been extended to nonlinear systems without losing good properties such as stability and robustness. Many industrial applications are reported along with extensive references related to receding horizon control.

• 산업경영시스템학회지
• /
• 제33권2호
• /
• pp.9-17
• /
• 2010

Complex products may present more than one type of defects and these defects are not always of equal severity. These defects are classified according to their seriousness and effect on product quality and performance. So, demerit systems are very effective systems to monitor the different types of defects. Recently, Kang et al.(2009) proposed the revised Demerit-CUSUM for the evaluation of the Demerit-CUSUM control chart performance exactly. In this paper, we present an advanced Demerit control chart using the double EWMA technique. The double EWMA technique is very efficient and strong method for process control where defects and nonconformities occur with various defect types. Moreover, we compare exact performance of Demerit-CUSUM, Demerit-EWMA and Demerit-DEWMA control chart according to changing sample size or mean shifts magnitude. By the result, we confirm that the performance of Demerit-DEWMA control chart is more than the performance of the Demerit-CUSUM and Demerit-EWMA control chart.

• 산업공학
• /
• 제21권3호
• /
• pp.294-301
• /
• 2008

Agile and flexible manufacturing systems make it mandatory that a control program should have features such as agility, flexibility, and reusability in order to run manufacturing unit smoothly. PLCs are the most frequently used control program in manufacturing systems. PLC programs are mostly programmed by subcontraction, which makes correction of code very difficult. As a result, it may cause delay during down time and ramp up time which leads to big loss of revenue and goodwill. To prevent delay during the times, this paper proposes systematic process analysis and application method for programmable logic controller like LLD (Ladder Logic Diagram). The proposed method uses modified human-error investing techniques for documentation and transforming technique to program LLD from the documentation. Furthermore, this paper demonstrates an example of piston mechanism to explain the proposed method.

• 산업경영시스템학회지
• /
• 제45권3호
• /
• pp.131-138
• /
• 2022

The demand for chiller equipment that keeps each machine at a constant temperature to maintain the best possible condition is growing rapidly. PID (Proportional Integral Derivation) control is a popular temperature control method. The error, which is the difference between the desired target value and the current system output value, is calculated and used as an input to the system using a proportional, integrator, and differentiator. Through such a closed-loop configuration, a desired final output value of the system can be reached using only the target value and the feedback signal. Furthermore, various temperature control methods have been devised as the control performance of various high-performance equipment becomes important. Therefore, it is necessary to design for accurate data-driven temperature control for chiller equipment. In this research, support vector regression is applied to the classic PID control for accurate temperature control. Simulated annealing is applied to find optimal PID parameters. The results of the proposed control method show fast and effective control performance for chiller equipment.