• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.48-48
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• 2000

We developed a wireless communication system for multiple instrumentation system. The developed system has a function of remote instrumentation and PLC(Programmable Logic Controller) control. The system consists of CC(Control and Communication) protocol, wireless media access and physical media system. For multiple wireless communication, we propose a hub polling protocol based on master-slave control concept. To show the validity of the developed system, several experiments are illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.124.2-124
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• 2001

The research for development of remote monitoring and control systems composed three stages of research categories. At the first stage, we decided the suitable instrumentation devices for interface between H/W systems and waste water treatment facility. And at the second stage, we developed the software package for remote monitoring and data transmission system including data receipt system via wired telephone line. At the final stage we developed local control system for auto-process control of waste water treatment facilities. For the first stage of research we developed the a drawing of design the instrumentation and selected optimal sensors or monitoring basic important data. After the first stage research we developed the software package with Graphic User Interface(GUI) ...

• Journal of international Conference on Electrical Machines and Systems
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• v.2 no.2
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• pp.190-196
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• 2013

It presents a unification of buck-boost and flyback converter for driving a cascaded H-bridge multilevel inverter with a single independent DC voltage source. Cascaded H-bridge multilevel inverter is useful to make many output voltage levels for sinusoidal waveform by combining two or more H-bridge modules. However, each H-bridge module needs an independent DC voltage source to generate multi levels in an output voltage. This topological characteristic brings a demerit of increasing the number of independent DC voltage sources when it needs to increase the number of output voltage levels. To solve this problem, we propose a converter combining a buck-boost converter with a flyback converter. The proposed converter provides independent DC voltage sources at back-end two H-bridge modules. After analyzing theoretical operation of the circuit topology, the validity of the proposed approach is verified by computer-aided simulations using PSIM and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.460-465
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• 1993

The instrumentation system is the most important aspect of a flight test program. It is the means by which the objective of a flight test, the production of accurate, useful data, is achieved. An instrumentation system consists of everything required to sense, condition, and record all parameters of interest The task of a flight test engineer is to select a system that is adequate to obtain all needed data, but not complex, expensive, and heavy than the situation demands. In this paper, the primary factors that determine the design of an instrumentation system are discussed.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.506-508
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• 1999

In the distributed control systems where the control components, controllers and sensors are distributed on a communications network, there exist network time delays on communication lines between the system components. This paper deals with the ramp tracking controller design issue for such systems. Time delay terms are converted into the rational terms using Pade approximation method and the system is augmented with two integrators for ramp tracking. For this system, $\mu$-controller design method, which enables to meet not only performance requirements but robust stabilities simultaneously, is employed.

• KIPS Transactions on Computer and Communication Systems
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• v.2 no.12
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• pp.561-568
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• 2013

Instrumentation and control system in nuclear power plant performs protecting, controling and monitoring safety operation of Nuclear Power Plant. As cyber attack to the control equipment of instrumentation and control system can cause reactor shutdown and radiation release, it is required to design the instrumentation and control system considering cyber security in accordance with regulatory guides and industrial standards. In this paper, we proposed a design method of uni-directional communication structure which is required in the design of defense-in-depth model according to regulatory guides and industrial standards and we implemented a communication board with the proposed method. This communication board was tested in various test environments and test items and we concluded it can provide uni-directional communication structure required to design of defense-in-depth model against cyber attack by analyzing the results. The proposed method and implemented communication board were applied in the design of SMART (system-integrated modular advanced reactor) I&C (instrumentation and control) systems.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.914-922
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• 1999

A study on the improvement of tracking performance of a 3 DOF planar parallel manipulator is performed. A class of adaptive tracking control sheme is designed using self tuning adaptive fuzzy logic control theory. This control sheme is composed of three classical PD controller and a multi learning type self tuning adaptive fuzzy logic controller set. PD controller is tuned roughly by manual setting a priori and fuzzy logic controller is tuned precisely by the gradient descent method for a global solution during run-time, so the proposed control scheme is tuned more rapidly and precisely than the single learning type self tuning adaptive fuzzy logic control sheme for a local solution. The control performance of the proposed algorithm is verified through experiments.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.713-716
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• 1991

This paper describes a methodology of mobile robot navigation which is designed to carry heavy payloads at high speeds to be used in FMS(Flexible Manufacturing System) without human control. Intelligent control scheme using fuzzy logic is applied to the navigation control. It analyzes sensor readings from multi-sensor system, which is composed of ultrasonic sensors, infrared sensors and odometer, for environment learning, planning, landmark detecting and system control. And it is implemented on a physical robot, AGV(Autonomous Guided Vehicle) which is a two-wheeled, indoor robot. An on-board control software is composed of two subsystems, i.e., AGV control subsystem and Sensor control subsystem. The results show that the navigation of the AGV is robust and flexible, and a real-time control is possible.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.821-824
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• 2005

This paper presents a technique to evaluate torque and speed characteristics of induction motor with the Dynamometer. The simple Dynamometer controlled via microcontroller and displayed by computer. The Microcontroller generates the PWM (Pulse Width Modulation) signal and control the duty cycle of signal for control braking level. The Buck converter is a braking unit which uses IGBT as switch in circuit. The output current of the Buck converter and output voltage of tacho generator are converted to digital signals and analyzed by microcontroller. The signals are then sent to computer for displaying torque and speed responds independent on the braking time. The test results of the Dynamometer in this research can coreectly predict the torque and speed response under reasonable tests. Moreover, this Dynamometer is easy and inexpensive to make.