• 한국통신학회논문지
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• 제35권4C호
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• pp.408-414
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• 2010

CCTV이미지에서 교통정보를 수집하려고 할 때 관측자가 카메라를 움직이면 설치된 검지영역이 손실되고 복원하려고 해도 기계적 오차로인해 어려움을 겪게 된다. 그래서 어안이나 거울을 이용하면 카메라를 움직이지 않아도 된다. 하지만 이러한 상황하에서 가장 큰 문제점은 영상의 왜곡이다. 본 논문에서는 이러한 왜곡을 극복하기 위해 비선형 확산 방정식을 이용한 분할과 이 영역에디포메이션을 적용하여 디블러링 한 후 차량정보 수집을 시도한 결과 이전 결과보다 5% 향상된 결과를 얻었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.846-848
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• 1995

Recently, direct drive AC servo motor and DSP is widely used in the factory automation and related field due to the enhanced control and digital technology. In this paper, position control of direct drive AC servo motor and numerical interpolation algorithms are studied using DSP for the future applications. In the direct drived motor control, encoder pulse is divided into the quadruple pulse for the higher resolution and high speed pulse(10MHz) is used as reference for the slower speed motor control (M/T method). As for the general position control, PI controller is adapted for position control. In the trajectory tracking numerical algorithm, interpolation of straight line and curve algorithms are studied for the realization of path following capabilities of XY table. As for the DSP, ADSP 2105 is selected for the economy and performance points of view.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• Transactions on Control, Automation and Systems Engineering
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• 제3권1호
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• pp.43-50
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• 2001

In this paper, we propose the design procedure of advance Polynomial Neural Networks(PNN) architecture for optimal model identification of complex and nonlinear system. The proposed PNN architecture is presented as the generic and advanced type. The essence of the design procedure dwells on the Group Method of Data Handling(GMDH). PNN is a flexible neural architecture whose structure is developed through learning. In particular, the number of layers of the PNN is not fixed in advance but is generated in a dynamic way. In this sense, PNN is a self-organizing network. With the aid of three representative numerical examples, compari-sons show that the proposed advanced PNN algorithm can produce the model with higher accuracy than previous other works. And performance index related to approximation and generalization capabilities of model is evaluated and also discussed.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.916-921
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• 2009

The technology to inspect and measure an inner structure of micro parts has become an important tool in the semi-conductor industrial field with the development of automation and precision manufacturing. Especially, the inspection skill on the inside of highly integrated electronic device becomes a key role in detecting defects of a completely assembled product. X-ray inspection technology has been focused as a main method to inspect the inside structure. However, there has been insufficient research done on the customized inspection technology for the flip-chip assembly due to the interior connecting part of flip chip which connects the die and PCB electrically through balls positioned on the die. In this study, therefore, it is implemented to detect shape error of flip chip bonding without damaging chips using an x-ray inspection system. At this time, it is able to monitor the solder bump shape by introducing an edge-extracting algorithm (exponential approximation function) according to the attenuating characteristic and detect shape error compared with CAD data. Additionally, the bonding error of solder bumps is automatically detectable by acquiring numerical size information at the extracted solder bump edges.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제51권2호
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• pp.69-76
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• 2002

To obtain a high performance in a vector controlled induction motor, it is essential to know the instantaneous position of the rotor flux which depends on the rotor time constant. But the rotor time constant mainly varies due to the temperature rise in the motor winding, so real time compensating algorithm is necessary. This paper proposes that it uses short duration pulses added to the constant flux command current and then resultant torque command current produced by speed controller is utilized for the rotor resistance estimation. This method has advantage with a low computational requirement and does not require voltage sensors. The proposed method is proved by simulations and experimentals.

• Journal of Power Electronics
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• 제14권3호
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• pp.519-530
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• 2014

A novel simplified pulse width modulation(PWM) strategy for neutral point clamped (NPC) three-level converter is proposed in this paper.The direct output voltage modulation is applied to reduce the calculation time. Based on this strategy, several optimized control methods are proposed. The neutral point potential balancing algorithm is discussed and a fine neutral point potential balancing scheme is introduced. Moreover, the minimum pulse width compensation and switching losses reduction can be easily achieved using this modulation strategy. This strategy also gains good results even with the unequal DC link capacitor. The modulation principle is studied in detail and the validity of this simplified PWM strategy is experimentally verified in this paper. The experiment results indicated that the proposed PWM strategy has excellent performance, and the neutral point potential can be balanced well with unequal DC link captaincies.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.879-888
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• 2013

This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.

• 한국산학기술학회논문지
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• 제16권6호
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• pp.3714-3721
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• 2015

서셉터 히터에서 쉬스 열선을 사용하는 방법이 일반화되어 있지만, 대면적 초고온 조건에서는 서셉터의 온도 균일도 성능 저하의 문제가 있다. 본 연구에서는 온도균일도 성능을 향상시킬 수 있도록 판형 형태의 열선을 기본으로 새로운 서셉터를 설계하여 프로토타입을 개발하였다. 표면 온도 $450^{\circ}C$의 고온에서 1.4% 이내로 온도 균일도가 시제작된 서셉터에서 검증될 수 있었다. 또한 온도 학습 데이터를 이용하여 측정 온도 데이터를 예측할 수 있는 커널 회귀 알고리즘을 개발하고, 이러한 예측 데이터와 측정 데이터의 비교 분석으로 균일도 측정 온도의 신뢰성을 확인할 수 있었다.