• Nuclear Engineering and Technology
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• v.53 no.4
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• pp.1189-1198
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• 2021

When performing remote tasks using robots in nuclear power plants, a 3D shape measurement system is advantageous in improving the efficiency of remote operations by easily identifying the current state of the target object for example, size, shape, and distance information. Nuclear power plants have high-radiation and underwater environments therefore the electronic parts that comprise 3D shape measurement systems are prone to degradation and thus cannot be used for a long period of time. Also, given the refraction caused by a medium change in the underwater environment, optical design constraints and calibration methods for them are required. The present study proposed a method for developing an underwater 3D shape measurement system with improved radiation tolerance, which is composed of commercial electric parts and a stereo camera while being capable of easily and readily correcting underwater refraction. In an effort to improve its radiation tolerance, the number of parts that are exposed to a radiation environment was minimized to include only necessary components, such as a line beam laser, a motor to rotate the line beam laser, and a stereo camera. Given that a signal processing circuit and control circuit of the camera is susceptible to radiation, an image sensor and lens of the camera were separated from its main body to improve radiation tolerance. The prototype developed in the present study was made of commercial electric parts, and thus it was possible to improve the overall radiation tolerance at a relatively low cost. Also, it was easy to manufacture because there are few constraints for optical design.

• International Journal of Industrial Entomology and Biomaterials
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• v.1 no.2
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• pp.91-93
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• 2000

Insects have many excellent features and functions in their small bodies, such as hexapod walking, flapping flight, vision systems, sensory hairs, etc, and those characteristics can be thought as good models for many types of robots. Insects also will be good models far micro-machines because of its size. Insect behavior consists of simple reflex acts and programmed behavior, Some robots were made in order to clarify the emergent mechanism of insect behavior, Through some experiments it would be found that even if insect behavior consists of some simple action patterns, it looks intelligent through interactions its sensors and actuators with its complex environment. In the near futures small robots inspired by insects will be used in many fields of our life. I hope that insect-model based robots will play an active part in many fields and that they will make us happy.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.2
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.1
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• pp.291-299
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• 1996

A new identification method using a higher order multilayer neural network is proposed for identifying a complex dynamic system such as a robotic manipulator. The input torque data for learning of the neural identifier are generated for producing effective output trajectories by a minimization process of a specific performance index function which indicates the difference between the reference points and the present joint positions and their velocities of the robotic manipulator. Computer simulation results show that the proposed identification method is very effective for identifying the systems with complex dynamics and large moment of inertia.

• Journal of the Speleological Society of Korea
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• no.77
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• pp.67-72
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• 2007

ATMega8535 Controller is the ideal solution for use as a standard controller in many applications. The small compact size combined with easy program updates and modifications, make it ideal for use in machinery and control systems, such as alarms, card readers, real-time monitoring applications and much more. This board is ideal as the brains of your robot or at the center of your home-monitoring system. Today, most drivers must use a parking place day by day. Therefore we make time shorten. Using above-mentioned ATmega8535, a sensor of infrared rays, led and lcd, we will make a parking system which is able to display parking situation and lead a car at the best position of Parking easily and quickly. Trying this project, we will be more closer to practical application of electronic engineering bit by bit.

• Smart Media Journal
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• v.1 no.1
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• pp.58-63
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• 2012

It is a superordinate concept to a network control system which optimally distributes the battery power to overall length parts through the linkage control drive and absorbs/integrates network diagnostics and overlapped functions with overall length control systems. This study is to develop a system that maximize the battery power and motor effectiveness by controlling motor battery controlling module with common MCU Integration linkage controlling system, and to develop S/W and H/W that can be controlled by linked with each controlling module in CAN method through using Autosar's standardized software.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.280-284
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• 1997

In this paper, Nonlinear VSS control based on bang-bang control concept is derived under the assumption that the control input is bounded. We try to derive control algorithm which has almost same performance as the time optimal control. We focus this control scheme on the real implementation of DC motor position controller of flexible link, i.e. we obtain the switching curves from the real data of DC motor system operating under the full maximum and minimum applied voltages. State space is separated into several regions and we set different switching surfaces in each region to reduce chattering problem. The efficiency of the proposed controller is compared with PID controller and it is shown that the controller converges fast than PID controller without chattering. The hybrid controller scheme is also proposed not only to control the position of hub but also to reduce the vibration of end tip of flexible link.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.828-831
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• 1997

One of the most important design factor for the image tracker is the speed of the data processing which allows real-time operation of the system and provides reasonably accurate performance at the same time. Use of powerful DSP alone does not guarantee to meet such requirement. In this paper, a simple efficient algorithm for real-time multi-target image tracking is suggested. The suggested method is based on a recursive centroiding technique and color table look-up. This method has been successfully implemented in a image processing system for Micro-Robot Soccer Tournament(MIROSOT). This tracker can track positions of a ball, 3 enemies, and 3 agents at the same time. The experimental results show that the processing time for each frame of image is less than 7ms, which is well within the 60Hz sampling interval for real-time operation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.848-851
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• 1997

A graphic simulation program is developed to assimilate the remote dismantling process of research nuclear reactors. This program makes extensive use of a commercial robot graphic instruction program. Firstly, a realistic graphic model of research reactors are built along with various dismantling equipments. Using the graphic instruction languages provided by IGRIP, then, a graphic process simulation program is developed that operates interactively with the user. Consequently, it is made possible for a process designer to visualize an arbitrary dismantling sequence and interactively modify the process. It is expected that the developed system will be utilized as an effective operator aid in both design and execution phases of remote dismantling of research reactor.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.544-547
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• 1997

In this paper, we propose a dynamic localization method using a rotating sonar and a map. The proposed method is implemented by using extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while AMR is moving continuously. By modeling and estimating systematic errors of a differential encoder, the position is successfully estimated even the interval of the map-based measurement. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error and of compensating systematic errors of the differential encoder well.