• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1420-1423
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• 1990

DC series motor has been widely applicated in industry due to many advantageous characteristics, such as high starting torque, easy construction of its controller, and cost economy, etc.. However, by high starting current, excessive surge voltage, and so on, many problems which could make engineers relinguish to use it are induced. In this paper, various protection methods for power circuit are discussed. Particularly, a new proposed snubber circuit which consists of two diodes, one capacitor, and a resistor increases the performance with respect to the suppression of the surge voltage. Furthermore, the plugging algorithm, by checking the armature current and voltage and controlling the field coil current, is designed and implemented. Also, these methods and algorithms were applicated in electric vehicle, and we could find its stability to be considerably improved.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.514-518
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• 1990

This paper describes an experimental Knowledge-Based Control System, named KBCS, for manufacturing and assembly. The KBCS of five parts and function : data-base, knowledge acquisition, optimization, and graphic monitoring. The KBCS is utilized for a FMS which is of five machine centers and automatic assembly lines. Each machine can perform almost all manufacturing functions which some difference in efficiency. Buffers store temporarily the incoming components and the outing components. Parts arrive at assembly lines after many steps of manufacturing, and the transfer path and time are determined by procedural knowledge of control systems. Nine different incoming components are set up. The total control system is expected to perform four algorithms, timing algorithm ,sequencing algorithm, penalty algorithm, and cart algorithm. The construction of controller require basic components of manufacturing systems in which knowledges are formulated on the base of the results and the repeated simulation of KBCS with graphic monitoring system. Simulation results by KBCS are compared with those by the other rules of manufacturing.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.816-820
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• 1990

This paper is pre-stage for getting EGI which can be used for modeling of an object. It discusses the construction of the vision processing system and its algorithm for getting needle diagram from tie object image. We realize the algorithm with monocular camera system, using Reflectance Map theory and photometric stereo method. We can calculate the surface normal at any point in the image if we take multiple images at the different lighting conditions. From the 3 images taken from different lighting conditions through the experiment, we get the needle diagrams of the sphere and the object. We confirm the validness of the surface, normal acquisition algorithm comparing the experimental needle diagram with the ideal one obtained from the surface normal of the known object.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.10a
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• pp.71-74
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• 2016

재난지역의 영상 촬영 및 물품 조달 등 인간이 직접 수행하기 어려운 임무를 대신하기 위해 드론이 사용된다. 시중에 판매되고 있는 드론들은 비행과 영상촬영 기능을 모두 제공하지만 firmware 및 응용프로그램 소스코드가 제한적으로 공개되어 있어 일반 개발자가 드론의 firmware를 수정하거나 센서 및 카메라를 직접 제어할 수 없다는 단점이 있다. 하지만 개발자의 목적에 맞는 드론의 비행 시스템을 구축하기 위해서는 시스템 내부의 제어코드를 직접 수정할 필요성이 있다. Pixhawk는 firmware 및 관련 application의 개발에 대한 소스 코드가 공개되어 있고, 일반 개발자들의 접근이 상대적으로 용이하다는 장점이 있다. 본 프로젝트에서는 Pixhawk와 3D Robotics 사에서 제공하는 Drone-Kit Platform을 활용하여 조난 상황에 대한 인명 구조 시스템을 설계하고, 응급상황에 대한 드론 제어 시스템을 구현하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.475-475
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• 2000

This paper describes the construction of an autonomous mobile robot with functions of collision avoidance and speech recognition that is used for teaching path of the robot. The human voice as a teaching method provides more convenient user-interface to mobile robot. For safe navigation, the autonomous mobile robot needs abilities to recognize surrounding environment and avoid collision. We use u1trasonic sensors to obtain the distance from the mobile robot to the various obstacles. By navigation algorithm, the robot forecasts the possibility of collision with obstacles and modifies a path if it detects dangerous obstacles. For these functions, the robot system is composed of four separated control modules, which are a speech recognition module, a servo motor control module, an ultrasonic sensor module, and a main control module. These modules are integrated by CAN(controller area network) in order to provide real-time communication.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.306-306
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• 2000

This paper analyze the dynamic characteristics of Automated Guided Vehicle(AGV) which is being developed as a part of automation in port through DADS, one of the multi-dynamic analysis program, Previous evaluation of a vehicle is carried out through the continuous driving test of a real vehicle, however this method raise the loss of finance and time. If it is possible to analyze the dynamic characteristics of vehicle before construction completely we can compensate the loss of money and time during constructing. AGV contained containers is very heavy and its center of gravity can be easily changed with the disturbance from road or cornering. It makes AGV unsatisfied, therefore we evaluate the handling characteristics and stability of the full vehicle model. This paper contribute to establish the foundation of the development of a new system like a AGV which have a special structure.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.243-243
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• 2000

This paper introduces a visual inspecting and monitoring system based on an image processing technique. We propose an image processing method for analyzing landslide movement in real time. The method adopts Laplacian of Gaussian operator to extract linear features for the captured images and uses a linear matching algorithm to distinguish the matching error for those features. When the algorithm is processed, motion parameters such as displacement area and its direction are computed. Once movement is recognized, displacements are estimated graphically with statistical amount in the image plane. The simulation results are shown us to verify the effectiveness of the developed method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.201-204
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• 1998

This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.151-156
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• 1998

In this paper, we present new control method for robot manipulators. The design objective can be the implementation of minimax controller with H$_{\infty}$ performance via LMI approach to guarantee the robustness and to obtain the exact tracking performance for robot manipulators with system parameter uncertainty and exogenous disturbance. We show that the Algebraic Riccati equation (ARE) which is needed for the construction of H$_{\infty}$ controller can be recast into the Algebraic Riccati Inequality (ARI) and the optimal control gain can be obtained by convex optimization method. Then, we will apply the proposed controller to rigid robot manipulators for verifying the performance of our controller.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.65.6-65
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• 2001

The satellite communication has been widely applied in the various fields included the remote monitoring and control system through the technical progress. In the star network that is a type of the satellite communication network, users can easily use an earth station because of the large scale and high power of the hub station. This type has many profits which are flexible of network configuration, and can conveniently and inexpensively supply various services which is used in the data acquisition and distribution by important communication means for construction of information society. Using these profits, the satellite communication system is applied to the unmaned remote operation field for the remote control and monitor of the water treatment plants But, ...