• Journal of Satellite, Information and Communications
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• v.9 no.2
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• pp.80-84
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• 2014

As an integrated technology with IT and biomedical sciences, U-health offers various healthcare services without time and space limit. In order to make a proper diagnosis, doctors need two key technologies: biosignal measurement and high reliability communication technologies. In this paper, we introduce an implementation process of a bio signal system with using an electrocardiography(ECG) sensor, video, global positioning system(GPS), communication module and micro controller unit(MCU).

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.719-720
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• 2006

In the mechanical system, optimization of motion control is very essential in the aspect of automation technique progress. In the servo system, the function of controller is very important but most of the controllers have played only the role of pulse generator because the controller with main function is very expensive. In this thesis, the system was composed of PC, commonly used driver AC servo motor and a produced control board. The PC transmit a gain, a locus data to a driver and controller. At the same time, it converts imformation from the controller and convert them into data and offer an output with graph. The role of a controller is to trasmit a locus data to a driver and counting the pulse on the phase of an encoder to the PC. We have performed the experiment in order to confirm with variable PID parameter capable of the optimization of gain tuning with the counting of feedback control sensor signal with regard to the external interface into the system, such as torque. Based on the experiment result, we have confirmed as follows: First, it was confirmed that we could easily input control factors P.I Gain, constant $K_P,\;K_I$ into PC. Second, not only pulse generator function was possible, but with this pulse it was also possible to count using software with PIC chip. And third, using the multi-purpose PIC micro chip, simple operation and the formation of small size AC Servo Controller was possible.

• Proceedings of the KIPE Conference
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• 2006.06a
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• pp.311-315
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• 2006

This paper proposes 5 phase step motor drive system has high performance dynamics with micro step control has current controller. In this paper, analog current controller has been developed to minimize system size and cost. The validity of the proposed technique is verified through experimental results of position control robot.

• Journal of Biomedical Engineering Research
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• v.25 no.2
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• pp.97-102
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• 2004

We developed an x-ray cone-beam micro computed tomography (micro-CT) system for small-animal imaging. The micro-CT system consists of a 2-D flat-panel x-ray detector with a field-of-view (FOV) of 120${\times}$120 mm2, a micro-focus x-ray source, a scan controller and a parallel image reconstruction system. Imaging performances of the micro-CT system have been evaluated in terms of contrast and spatial resolution. The minimum resolvable contrast has been found to be less than 36 CT numbers at the dose of 95 mGy and the spatial resolution about 14 lp/mm. As small animal imaging results, we present high resolution 3-D images of rat organs including a femur, a heart and vessels. We expected that the developed micro-CT system can be greatly used in biomedical studies using small animals.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1361-1363
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• 2002

Micro-SMES(Superconducting Magnetic Energy Storage) has been studied as an impulsive high power supply for industrial applications. Recently, electric power reliability of our country has been improved. However, there are still remaining problems which are short-duration variations like instantaneous and momentary interruption and voltage sag by nature calamity ; typhoon, lightning, snow, etc. Besides, power quality ; harmonics, goes down because of using power electronics equipments. Malfunction of controller and stop machinery, and losing important data are caused by poor power quality at a couple of second in accuracy controllers. Due to those, battery based UPS has been used, but there are several disadvantages ; long charge and discharge time, environmental problem by acid and heavy metal, and short life time. Micro-SMES is an alternative to settle problems mentioned above. However, there need huge system apparatuses in order to verify the effect of system efficiency and stability considering the size of micro-SMES, the sort of converter type, and various conditions. This paper presents a cost effective simulation method of micro-SMES and power converter, and design for micro-SMES based system using PSCAD/EMTDC.

• Management & Information Systems Review
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• v.2
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• pp.335-354
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• 1998

In this study I construct CAN(Controller Area Network) for automobiles similar to LAN(Local Area Network) and build communication modules in the major part of an automobile to link several sub-systems. Since each station replaces the communication function of sub-systems and has various types of sensor, actuator, controller, and switch, every information about automobile's status is obtained from the network. The manufactured system showed a superior capability. The following is the contents of study. 1. The definition of communication packet through the analysis of CAN protocol. 2. The Design of modules using micro-controller 80C196CA. 3. The Network configuration.

• Journal of Biosystems Engineering
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• v.38 no.4
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• pp.255-263
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• 2013

Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.

• Journal of Positioning, Navigation, and Timing
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• v.2 no.1
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• pp.67-74
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• 2013

In this study, a remote controller was designed using localization technique. The designed remote controller system consists of infrared transmit/receive module for time synchronization, ultrasonic transmit/receive module for measuring the TOA value, and micro-controller for processing the measured data value. For the position estimation method of remote controller, the Savarese method was used which does not have a problem of diverging solution depending on initial value. The noise included in the measured value was removed by separating the signal and noise with the use of EMD method which is the non-stationary signal analysis technique. The designed system was tested by constructing a simulation environment, and the improvement of accuracy and precision for the application of EMD method was examined.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.567-574
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• 2006

This paper presents the hardware implementation of a neural network controller for a nonlinear system with a micro-controller unit (MCU) and a field programmable gate array (FPGA) chip. As an on-line learning algorithm of a neural network, the reference compensation technique has been implemented on an MCU, while PID controllers with other functions such as counters and PWM generators are implemented on an FPGA chip. Interface between an MCU and a field programmable gate array (FPGA) chip has been developed to complete hardware implementation of a neural controller. The developed neural control hardware has been tested for balancing the inverted pendulum while controlling a desired trajectory of a cart as a nonlinear system.