• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.2
• /
• pp.124-132
• /
• 2001

Autonomous of welding process in shipyard is ultimately necessary., since welding site is spatially enclosed by floors and girders, and therefore welding operators are exposed to hostile working conditions. To solve this problem, a welding robot that can navigate autonomously within the enclosure needs to be developed. To achieve the welding ra나, the robotic welding systems needs a sensor system for the recognition of the working environments and the weld seam tracking, and a specially designed environment recognition strategy. In this paper, a three-dimensional laser vision system is developed based on the optical triangulation technology in order to provide robots with work environmental map. At the same time a strategy for environment recognition for welding mobile robot is proposed in order to recognize the work environment efficiently. The design of the sensor system, the algorithm for sensing the structured environment, and the recognition strategy and tactics for sensing the work environment are described and dis-cussed in detail.

• Korean Journal of Remote Sensing
• /
• v.22 no.5
• /
• pp.351-356
• /
• 2006

Based on current practical needs for geo-spatial information on mobile platform, the main theme of this study is a design and implementation of dynamic 3D terrain rendering system using spaceborne imagery, as a kind of texture image for photo-realistic 3D scene generation on mobile environment. Image processing and 3D graphic techniques and algorithms, such as TIN-based vertex generation with regular spacing elevation data for generating 3D terrain surface, image tiling and image-vertex texturing in order to resolve limited resource of mobile devices, were applied and implemented by using graphic pipeline of OpenGL|ES (Embedded System) API. Through this implementation and its tested results with actual data sets of DEM and satellite imagery, we demonstrated the realizable possibility and adaptation of complex typed and large sized 3D geo-spatial information in mobile devices. This prototype system can be used to mobile 3D applications with DEM and satellite imagery in near future.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.6_1
• /
• pp.953-959
• /
• 2022

In this paper, the design result of robotic tools and the development of robot control system for chemical coupler assembly are presented. This research aims to eliminate the risk of chemicals exposed to human operators by developing the robotic tools and robot automation system for chemical tank lorry unloading that were done manually. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, the 6-axis compliance device is employed, which can provide not only enough compliance between couplers but also F/T sensing. The 6-axis compliance device having large force and moment capacity is designed. A simple linear gripper with rack-and-pinion is designed to grasp two sizes of couplers. The proposed robot automation system consists of 6-DOF collaborative robot with offset wrist, 6-axis compliance device with F/T sensing, linear gripper, and two robot visions.

• ETRI Journal
• /
• v.22 no.1
• /
• pp.1-11
• /
• 2000

The Satellite Operation System (SOS) has been developed for a low earth orbiting remote sensing satellite, Korea Multipurpose Satellite-I, to monitor and control the spacecraft as well as to perform the mission operation. SOS was designed to operate on UNIX in the HP workstations. In the design of SOS, flexibility, reliability, expandability and interoperability were the main objectives. In order to achieve these objectives, a CASE tool, a database management system, consultative committee for space data systems recommendation, and a real-time distributed processing middle-ware have been integrated into the system. A database driven structure was adopted as the baseline architecture for a generic machine-independent, mission specific database. Also a logical address based inter-process communication scheme was introduced for a distributed allocation of the network resources. Specifically, a hotstandby redundancy scheme was highlighted in the design seeking for higher system reliability and uninterrupted service required in a real-time fashion during the satellite passes. Through various tests, SOS had been verified its functional, performance, and inter-face requirements. Design, implementation, and testing of the SOS for KOMPSAT-I is presented in this paper.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.13 no.4
• /
• pp.324-335
• /
• 2013

This article presents the design, control, and implementation of a small quad-rotor system under the practical limitation of being cost effective for private use, such as in the cases of control education or hobbies involving radio-controlled systems. Several practical problems associated with implementing a small quad-rotor system had to be taken into account to satisfy this cost constraint. First, the size was reduced to attain better maneuverability. Second, the main control hardware was limited to an 8-bit processor such as an AVR to reduce cost. Third, the algorithms related to the control and sensing tasks were optimized to be within the computational capabilities of the available processor within one sampling time. A small quad-rotor system was ultimately implemented after satisfying all of the above practical limitations. Experimental studies were conducted to confirm the control performance and the operational abilities of the system.

• Proceedings of the KIEE Conference
• /
• 2011.07a
• /
• pp.732-734
• /
• 2011

본 논문에서는 [SPD와 Sensing 회로를 내장한 영상 전송 및 장애관리시스템 설계 및 구현에 대하여 기술하였다. STP 케이블을 이용하여 영상신호 및 제어신호, 장애정보신호, SPD신호로 총 4종류의 신호를 STP케이블 Pair별로 구성하여 장거리(2km) 전송하도록 하여 전송거리와 배관, 배선의 제약을 해결하였고, 경제성에서도 타 케이블 보다 우위를 점하고 있으며, 각각의 카메라별 전송신호 및 영상, 장애정보와 전원공급 및 SPD 상태, 감시와 녹화를 위한 각각의 장비별 전원공급 및 SPD 상태를 이력관리와 함께 관리할 수 있는 통합 관리프로그램으로 관리자가 수백대의 카메라를 효율적으로 관리할 수 있도록 설계 및 구현하였다.

• Smart Structures and Systems
• /
• v.3 no.1
• /
• pp.69-88
• /
• 2007

In this study, Field-Programmable Gate Arrays (FPGAs) are investigated as a practical solution to the challenge of designing an optimal platform for implementing algorithms in a wireless sensing unit for structuralhealth monitoring. Inherent advantages, such as tremendous processing power, coupled with reconfigurable and flexible architecture render FPGAs a prime candidate for the processing core in an optimal wireless sensor unit, especially when handling Digital Signal Processing (DSP) and system identification algorithms. This paper presents an effort to create a proof-of-concept unit, wherein an off-the-shelf FPGA development board, available at a price comparable to a microprocessor development board, was adopted. Data processing functions, including windowing, Fast Fourier Transform (FFT), and peak detection, were implemented in the FPGA using a Matlab Simulink-based high-level abstraction tool rather than hardware descriptive language. Simulations and laboratory tests were carried out to validate the design.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.849-853
• /
• 2014

In micro-scale electromechanical systems, the power to perform accurate position sensing often greatly exceeds the power needed to generate motion. This paper explores the implications of sampling rate and amplifier noise density selection on the performance of a system identification algorithm using a capacitive sensing circuit. Specific performance objectives are to minimize or limit convergence rate and power consumption to identify the dynamics of a rotary micro-stage. A rearrangement of the conventional recursive least-squares identification algorithm is performed to make operating cost an explicit function of sensor design parameters. It is observed that there is a strong dependence of convergence rate and error on the sampling rate, while energy dependence is driven by error that may be tolerated in the final identified parameters.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2012.10a
• /
• pp.651-652
• /
• 2012

Wireless monitoring and hybrid mobile web have become an emerging area of research in recent year. This paper deals with the design and implementation of mobile web page for sensing data monitoring. The mobile web monitoring system for sensing data transmission is implemented by 8-bit AVR microcontroller and bluetooth communication module.

• Proceedings of the IEEK Conference
• /
• 2001.06e
• /
• pp.119-122
• /
• 2001

This paper deals with new type of active magnetic bearing (AMB) for the linear motors. We adopted optical sensing mechanism for the gap sensing. Using the laser and the PSD (Position Sensitive Device), the absolute rotor position is obtained independent of the profile of the guide rail. With this measurement, the rotor can be controller to follow the straight beam of the laser. Another advantage of optical sensing mechanism might be the elimination of the possible interference between the proximity sensor and the electro-magnet. By adopting the push-full actuating mechanism, the bearing stiffness is increased near the equilibrium position. For the simplicity, distributed control system is constructed. Eight independent PID control algorithm is used with the full order observer. Several simulation md test results are presented.