• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.636-643
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• 1998

This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.23 no.3
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• pp.243-249
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• 2013

Objectives: This study assessed the status of domestic industrial hygiene laboratories using data from on-site investigation for revision of quality control systems in 2012-2013. Methods: The target laboratories were 60 industrial hygiene laboratories chosen by random selection and nationwide distribution which had participated in on-site investigations for revision of quality control systems from March 2012 to August 2013. The investigation was performed on-site following standard quality control procedures. The score between each group was compared using Mann-Whitney and Kruskal-Wallis tests, and the correlation between analytical career, sex, academic major of analyst and score of analytical performance was expressed as Spearman's rank correlation coefficient. Results: The assessment revealed that the items to be improved, in sequence, were effort at staff training (score 65.5), ability to calculate data (score 73.4), establishment of internal quality control guidelines (score 75.7), laboratory facilities (score 77.1), degree of understanding and skill at gas chromatography (score 77.1). Analysis performance showed a positive correlation with career of analyst (r=0.56, p<0.01). Conclusions: The practice of on-site investigation for quality control systems showed the current status of industrial hygiene laboratories in the first trial. There were many laboratories which needed improvement and development of analytical systems. This assessment can provide information for the systematic operation and improvement of facilities at each laboratory. Further practice of this investigation will lead to a proficiency testing and accreditation system for autonomous quality control as is the practice in many countries, rather than mandatory practice by legal regulation.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.90-98
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• 2003

The real-time industrial network, often referred to as fieldbus, is an important element for building automated manufacturing systems. Thus, in order to satisfy the real-time requirements of field devices, numerous fieldbus protocols have been announced. But the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. Therefore, as an alternative to fieldbus, the computer network technology, especially Ethernet (IEEE 802.3), is being adapted to the industrial environment. However, the crucial technical obstacle for Ethernet is its non-deterministic behavior that makes it inadequate for industrial applications where real-time data have to be delivered within a certain time limit. Recently, the development of switched Ethernet shows a very promising prospect for industrial application due to the elimination of uncertainties in the network operation resulting in much improved performance. This paper focuses on the application of the switched Ethernet for industrial communications. More specifically, this paper presents an analytical and experimental performance evaluation of the switched Ethernet and a case study about networked control system.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.32 no.3
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• pp.10-19
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• 2009

Wireless LAN systems have been widely implemented for supporting the wireless internet services especially in the hotspot areas such as hospitals, homes, conference rooms, and so on. Compared with wired LAN systems, wireless LAN systems have the advantages of the users' mobility support and low implementation and maintenance costs. IEEE 802.11 wireless LAN systems employ the backoff algorithm to avoid contentions among STAs when two or more STAs attempt to transmit their data frames simultaneously. The MAC efficiency can be improved if the CW values are adaptively changed according to the channel state of IEEE 802.11 wireless LANs. In this paper, a dynamic contention window control algorithm is proposed using the genetic algorithm to improve the MAC throughput of IEEE 802.11 wireless LANs.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1043-1048
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• 1990

The degenerate case of multivariable hyperbolic distributed-parameter systems (systems of hyperbolic partial differential equations) in time coordinate t and space coordinate x is characterized by a property that all the characteristic curves of the state equations are parallel to the coordinate axes of independent variables. It is a disturbing fact, although not well known, that the so-called maximum principle as applied to these systems does not exist for the control that depend on time alone. In this paper, however, it is shown that a set of necessary conditions in the small can exist for unconstrained as well as magnitude constrained controls in a locally convex set. The necessary conditions thus derived can be used conveniently to find the optimal control for degenerate hyperbolic distributed-parameter control systems.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1136-1140
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• 1993

A communication system in an industrial robot controlle is proposed for the implementation of an efficient FA system. Different from existing industrial robot controllers which use binary I/O for the communication with external systems, the robot controllers having the proposed communication system can exchange various information with external systems. Furthermore, the robot motion and the communication with external systems can be performed simultaneously. The structure of hardware and software in the communication system is explained to show how to acheive these two operations simultaneously.

• Journal of Korean Society for Quality Management
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• v.46 no.4
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• pp.973-982
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• 2018

Purpose: The purpose of this study is to develop an effective simulation modeling formalism for autonomous control systems, such as unmanned aerial vehicles and unmanned surface vehicles. The proposed simulation modeling formalism can be used to evaluate the quality and effectiveness of autonomous control systems. Methods: The proposed simulation modeling formalism is developed by extending the classic DEVS (Discrete Event Systems Specifications) formalism. The main advantages of the classic DEVS formalism includes its rigorous formal definition as well as its support for the specification of discrete event models in a hierarchical and modular manner. Results: Although the classic DEVS formalism has been a popular modeling tool, it has limitations in describing an autonomous control system which needs to make decisions by its own. As a result, we proposed an extended DEVS formalism which enables the effective description of internal decisions according to its conditional variables. Conclusion: The extended DEVS formalism overcomes the limitations of the classic DEVS formalism, and it can be used for the effectiveness simulation of autonomous weapon systems.

• Journal of Korea Society of Industrial Information Systems
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• v.16 no.4
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• pp.45-52
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• 2011

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.407-422
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• 2004

A new method for the design of predictive controllers for SISO systems is presented. The proposed technique allows uncertainties and constraints to be concluded in the design of the control law. The goal is to design, at each sample instant, a predictive feedback control law that minimizes a performance measure and guarantees of constraints are satisfied for a set of models that describes the system to be controlled. The predictive controller consists of a finite horizon parametric-optimization problem with an additional constraint over the manipulated variable behavior. This is an end-constraint based approach that ensures the exponential stability of the closed-loop system. The inclusion of this additional constraint, in the on-line optimization algorithm, enables robust stability properties to be demonstrated for the closed-loop system. This is the case even though constraints and disturbances are present. Finally, simulation results are presented using a nonlinear continuous stirred tank reactor model.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.1.2-6
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• 1994

A state or the arts in Japanese chemical process control is reviewed based on experience in applying advanced process control schemes to several industrial chemical processes. The applications validate model predictive control (MPC), the most popular advanced control scheme in the process control community, as, indeed, a powerful and practical control algorithm. However, at the same time, it is elucidated that MPC can solve only the control algorithm part of the problem and one needs chemical and systems engineering aspects to solve the entire problem. By illustrating several industrial process control problems, the need for chemical engineering aspects as well as the future direction for process control are addressed, especially in light or current attitudes toward product quality.