• Aerospace Engineering and Technology
• /
• v.6 no.1
• /
• pp.64-73
• /
• 2007

A Large thermal vacuum chamber (LTVC) for space environment simulation on large satellites was successfully developed and constructed by KARI (Korea Aerospace Research Institute) in Korea with a local company. This chamber has an effective diameter of 8 meters and depth of 10 meters, and is composed of vacuum system, thermal control system, and anti-vibration system. Temperature below $-190^{\circ}C$ is maintained over the thermal shroud wrapping a satellite under $3.7{\times}10^{-5}Pa$ ($5{\times}10^{-7}torr$) vacuum level, and optical test can be done in this chamber by seismic mass with $10^{-5}g_{rms}$ or lower vibration level. In addition, the shroud temperature can be increased up to $123^{\circ}C$ using halogen lamps. Chamber control program based on PLC (Programmable Logic Controller) could control this large thermal vacuum chamber automatically.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.3
• /
• pp.298-308
• /
• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• Journal of the Korea Society for Simulation
• /
• v.17 no.4
• /
• pp.1-9
• /
• 2008

Proposed in the paper is an automated procedure to construct a plant model for PLC simulation. Since PLC programs only contain the control logic without the information on the plant model, it is necessary to build the corresponding plant model to perform simulation. Conventionally, a plant model for PLC simulation has been constructed manually, and it requires much efforts as well as the in-depth knowledge of simulation. As a remedy for the problem, we propose an automated procedure to generate a plant model from the symbol table of a PLC program. To do so, we propose a naming rule for PLC symbols so that the symbol names include enough information on the plant model. By analyzing such symbol names, we extract a plant model automatically. The proposed methodology has been implemented, and test runs were made.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.2
• /
• pp.198-204
• /
• 2012

Tracking and recognition of robots are required for the cooperation task of robots in various environments. In the paper, a tracking control system of moving robot using stereo image processing, code-book model and fuzzy controller is proposed. First, foreground and background images are separated by using code-book model method. A candidate region is selected based on the color information in the separated foreground image and real distance of the robot is estimated from matching process of depth image that is acquired through stereo image processing. The open and close processing of image are applied and labeling according to the size of mobile robot is used to recognize the moving robot effectively. A fuzzy tracking controller using distance information and mobile information by stereo image processing is designed for effective tracking according to the movement velocity of the target robot. The proposed fuzzy tracking control method is verified through tracking experiments of mobile robots with stereo camera.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.3
• /
• pp.323-328
• /
• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of IKEEE
• /
• v.26 no.4
• /
• pp.614-621
• /
• 2022

This paper proposes RIDS (Random Forest-Based Intrusion Detection), which is an intrusion detection system to detect hacking attack based on random forest. RIDS detects three typical attacks i.e. DoS (Denial of service) attack, fuzzing attack, and spoofing attack. It detects hacking attack based on four parameters, i.e. time interval between data frames, its deviation, Hamming distance between payloads, and its diviation. RIDS was designed in memory-centric architecture and node information is stored in memories. It was designed in scalable architecture where DoS attack, fuzzing attack, and spoofing attack can be all detected by adjusting number and depth of trees. Simulation results show that RIDS has 0.9835 accuracy and 0.9545 F1 score and it can detect three attack types effectively.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.8
• /
• pp.17-25
• /
• 1998

Aluminum alloys have low density, relatively high strength and yield strength, good plasticity, good machinability, and high corrosion and acid resistance. Therefore, they are suitable for large containers for the food, chemical and other industries. Large containers are often bodies of revolution consisting of shell courses, stiffening rings, heads and other elements joined by annular welds. Larger containers have longer welds and require greater leak-tightness and higher weld mechanical properties. The LNG tank consists of aluminum plates with various sizes, so its construction should by divided by several sections. Moreover, each section has its own sub-section consisted of several aluminum plates. To guarantee the quality of huge LNG tank, therefore, the precise control of plate dimension should by urgently needed in conjunction with the appropriate selection of process parameters such as cutting speed, depth of cut, rotational speed and so on. In this paper, a manufacturing system was developed to implement automatic circular tracking in height direction and automatic circular interpolation in depth of cut direction. Also, the neural network based on the backpropagation algorithm was used to predict the cutting quality and motor load related with the life time of the developed system. It was revealed that the manufacturing system and the neural network could be effectively applied to the bevelling process and to predict the quality of machined area and the motor load.

• Journal of Welding and Joining
• /
• v.30 no.6
• /
• pp.49-55
• /
• 2012

The tandem welding process is one of the most efficient welding processes widely used in material joining technique such as manufacturing of strong and durable structures. It facilitates high rate of joint filling with little increase in the overall rate of heat input due to the simultaneous deposition from two electrode wires. The two electrodes in tandem welding process helps in high-efficiency and high productive of welding process. In this study a automated tandem welding system is developed to determine the correlation between cathode and anode and compared with current ratio of the two electrode torch. Three different inter-electrode distances were chosen, 25mm, 35mm and 45mm to perform the experiment with three different current ratio. From the experiment results, the current ratio between two torch has a large impact on width, height and depth of penetration. In addition, a stable bead geometry is obtained when inter-electrode distance is 35mm.

• Korean Journal of Computational Design and Engineering
• /
• v.18 no.1
• /
• pp.21-27
• /
• 2013

Presented in the paper is a log data based modeling method for effective construction of a virtual plant model which can be used for the virtual PLC (Programmable Logic Controller) simulation. For the PLC simulation, the corresponding virtual plant, consisting of virtual devices, is required to interact with the input and output symbols of a PLC. In other words, the behavior of a virtual device should be the same as that of the real device. Conventionally, the DEVS (Discrete Event Systems Specifications) formalism has been used to represent the behavior a virtual device. The modeling using DEVS formalism, however, requires in-depth knowledge in the simulation area, as well as the significant amount of time and efforts. One of the key ideas of the proposed method is to generate a plant model based on the log data obtained from the production system. The proposed method is very intuitive, and it can be used to generate the full behavior model of a virtual device. The proposed approach was applied to an AGV (Automated Guided Vehicle).

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.8
• /
• pp.107-115
• /
• 2001

Drilling torque was measured indirectly using the spindle motor current and controlled in real time through feedrate manipulation in a machining center. The PID controller designed in the previous paper was applied to drilling torque control. A series of cutting experiments were performed for various cutting conditions. Experimental results showed that the drilling torque was well regulated at a given reference level by feedrate manipulation in all cutting conditions. The increase in the cutting torque and temperature according to the increase in machining depth was suppressed and the risk of the drill failure and the drill flank wear were reduced remarkably through cutting torque control. Moreover, the suggested cutting torque control system doesn\`t disturb the cutting process and is practical for industrial environment. Therefore, the proposed culling torque control system will contribute to productivity improvement in drilling process.