• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.9
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• pp.64-74
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• 2003

This paper proposes a new autonomous stationkeeping system suitable for geostationary satellite and conducts computer simulation to verify the proposed algorithm. The proposed onboard system receives pseudo-range signal from ground equipments located at two different position with long baseline, determines the orbit error in realtime and generates orbit control commands. For minimized onboard stationkeeping logic and better reliability, the orbit controller is designed to generate control signal to have the orbit roughly follow predetermined reference range data which is generated through ground based computer simulation. The reference range data is assumed to be uploaded with time tag. A simple orbit controller is proposed which combines the reference $\Delta$V and feedback control signal. Finally, the performance of the proposed system is verified through the computer simulations.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.6
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• pp.637-643
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• 2010

In this study, we developed a Portable Multi-sensor System, which consists of a video camera, a GPS/MEMS IMU and a UMPC to acquire video images and position/attitude data. We performed image georeferencing based on the bundle adjustment without ground control points using the acquired data and then evaluated the effectiveness of our system through the accuracy verification. The experimental results showed that the RMSE of relative coordinates on the ground point coordinates obtained from our system was several centimeters. Our system can be efficiently utilized to obtain the 3D model of object and their relative coordinates. In future, we plan to improve the accuracy of absolute coordinates through the rigorous calibration of the system and camera.

• KSTLE International Journal
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• v.4 no.2
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• pp.37-42
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• 2003

One of the obstacles for a magnetic bearing to be used in the wide range of industrial applications is the failure modes associated with magnetic bearings, which we don't expect for conventional passive bearings. These failure modes include electric power outage, power amplifier faults, position sensor faults, and the malfunction of controllers. Fault-tolerant magnetic bearing systems have been proposed so that the system can operate in spite of some faults in the system. In this paper, we designed a fault-tolerant magnetic bearing system for a turbo-molecular vacuum pump. The system can cope with the actuator/amplifier faults which are the most common faults in a magnetic bearing system. We implemented the existing fault-tolerant algorithms to experimentally prove the adequacy of the algorithms for industrial applications. As it turns out, the system can operate even with three simultaneously failing poles out of eight actuator poles.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.4
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• pp.350-357
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• 2005

This paper presents a mechanical sensorless vector-controlled system with parameter identification by the aid of image processor. Based on the flux observer and the model reference adaptive system method, the proposed sensorless system includes rotor speed estimation and stator resistance identification using flux errors. Since the mathematical model of this system is constructed in a synchronously rotating reference frame, a linear model is easily derived for analyzing the system stability, including motor operating state and parameter variations. Because it is difficult to identify rotor resistance simultaneously while estimating rotor speed, a low-accuracy image processor is used to measure the mechanical axis position for calculating the rotor speed at a steady-state operation. The rotor resistance is identified by the error between the estimated speed using the estimated flux and the calculated speed using the image processor. Finally, the validity of this proposed system has been proven through experimentation.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.12 no.4
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• pp.494-502
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• 2001

GPS(Global Positioning System) and GLONASS(GLObal Navigation Satellite System) are basic technologies providing the information of the position and the time, and they have various applications such as navigation, survey, control, and so on. However, each GPS and GLONASS has limited number of visible satellites, and, from the view of strategy, it is undesirable to be heavily dependent on only one system. Thus, GPS/GLONASS combined receiver became required to obtain more precise navigation and system stability. In this paper, the RF front end of GPS/GLONASS combined receiver was fabricated on 130$\times$80 $\textrm{mm}^2$ PCB(Printed Circuit Board), and its system application was shown finally one chip possibility of GLONASS receiver is studied.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.7
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• pp.1111-1116
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• 2017

In this paper, we developed bio-signal based eye tracking system using electrooculogram (EOG) and electromyogram (EMG) which measured simultaneously from same electrodes. In this system, eye gazing position can be estimated using EOG signal and we can use EMG signal at the same time for additional command control interface. For EOG signal processing, PLA algorithms are applied to reduce processing complexity but still it can guarantee less than 0.2 seconds of reaction delay time. Also, we developed dual machine learning structure and it showed robust and enhanced tracking performances. Compare to conventional EOG based eye tracking system, developed system requires relatively light hardware system specification with only two skin contact electrodes on both sides of temples and it has advantages on application to mobile equipments or wearable devices. Developed system can provide a different UX for consumers and especially it would be helpful to disabled persons with application to orthotics for those of quadriplegia or communication tools for those of intellectual disabilities.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.299-301
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• 1996

Recently, as a result of the progress in power electronics and magnet technology, the applications of inverter fed BLDC Motor have increased for industry and home appliance. Also because of the high efficiency, good acoustic noise characteristic, BLDC Motor applications are growing. However, BLDC Motor requires position sensor, which has many problems such as high cost, more space and difficult to install. Therefore, sensorless control algorithm is being studied. In this paper, sensorless algorithm for interior permanent magnet BLOC motor adaptable for home appliance is proposed. The maximum torque per amp operation with advance angle considering load torque and speed was simulated and verified through the experiment.

• Journal of The Korean Society of Agricultural Engineers
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• v.52 no.6
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• pp.9-17
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• 2010

In this paper, an automatic cruise system of unmanned boat was developed for surveying water depth in reservoir using GIS (geographic information system)-GPS (global positioning system) Technologies. the automatic cruise system consisted of an automatic path generation program (APGP) and an automatic boat control program (ABCP). A grid processing method with $3{\times}3$ roving window in GIS function was used to develop the APGP. For development of the ABCP, GPS and its coordinate calculation technique were introduced. The developed system was tested to verify the applicability for a sample reservoir, Misan reservoir located on Ansan city of Kyunggi province. From the test results, this study found the APGP generated cruise path automatically according to input condition on grid size of 5 m, 10 m, and 20 m, as well as, the ABCP also tracked well the cruise paths with high position accuracy. Another verification result on surveying time for 20 ha of water area also showed that the new system could survey water depth of reservoir quickly, including very high quality of spatial resolution.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.333-344
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• 1999

Currently many studies on the unmanned gantry crane for the automated container terminal are accomplished. This is needed for the development of large scale, automation, high speed, unmanned system and information system in port facility. In order to do efficient container handling job in port yard, the automated handling system is well adapted to the job environments and all-season weather, In order to realize the automatic and unmanned system for container handling job, the required functions and main structure system are studied. The major problems of operation of the conventional gantry crane are that the vibration of gantry structure body is occurred by operation and that high-speed and precision position-velocity control and the capability to dope to the external disturbances caused by the wind, rain, fog and job environments. In this paper, the fundamental study for establishment of the concept and the dynamic modelling of the major sub system of the unmanned gantry crane is presented. These studies are useful for design and manufacturing of the new concept model of the unmanned gantry crane for efficient operation of the automated container terminal.