• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.2
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• pp.112-117
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• 2016

In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.5
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• pp.448-457
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• 2013

This paper proposes a control method under stand-alone operating mode for distributed-module type photovoltaic power conditioners. In conventional schemes, there are some problems of a controller saturation in the DC-link (or load) voltage controller when overly-heavy load, light load, and the generated PV power reduction occurs, as well as when a transition occurs from an overly-loaded to normal conditions. To overcome these problems, the proposed controller method switches the main control target from DC-link voltage to the maximum power point, which is closer to the stable operating point when it returns to normal operating conditions. For the analysis, a state-plane trajectory was given and the circuit analysis by PSIM simulation was done. For the verification, a prototype hardware with 110[W] and 50[W] dual photovoltaic modules has been implemented. From the results, it can be seen that PV power tracking is successfully done with the proposed method even under a stand-alone operation mode.

• Journal of Power System Engineering
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• v.15 no.5
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• pp.91-96
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• 2011

The handling ability of containers at the terminal strongly depends on the performance of the cargo handling system such as RTGC(Rubber Tired Gantry Crane) and RMGC(Rail Mounted Gantry Crane). This paper introduces a guide line measurement system on the operating condition, in which two camera are installed to detect the guide line. Because the line tracking is the basic technique for control system design of RTGC, it is necessary to develop a useful and reliable measurement system. If the displacement and angle of the RTGC relative to a guide line as the trajectory to follow is obtained, the position of RTGC is automatically calculated. Therefore, in this paper, a camera-based measurement system is introduced. The proposed measurement system is robust against light fluctuation and cracks of the guide line. This system consists of two camera and a PC which are installed at the lower side of the RTGC. Two edges of the guide line are detected from an input image taken by the cameras in the moving state, and these positions are determined in a Hough parameter space by using the Hough transformation method. From the experimental results, the accuracy and usefulness of the proposed system is evaluated by comparing other instruments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.10
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• pp.707-713
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• 2015

This paper proposes experimental results for control performance deterioration of a piezoelectric actuator under high temperature conditions due to external heat environment. In this work, a heat environment from 30 ℃ to 190 ℃ is established by a heat chamber which is capable of high temperature of heat environment. Inside the heat chamber, an experimental apparatus consisting of the stack type of piezoelectric actuator, laser sensor, gap sensor and temperature sensor is established. After evaluating temperature dependent blocking force, displacement and time response of a piezoelectric actuator inside the heat chamber, tracking control performances are evaluated under various temperature conditions via proportional-integral-derivative(PID) feedback controller. The desired position trajectory has a sinusoidal wave form with a fixed frequency. Control performances are experimentally evaluated at both room temperature and high temperature and presented in time domain.

• Journal of Drive and Control
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• v.12 no.3
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• pp.1-10
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• 2015

In this paper, the authors propose a method to easily recognize and reproduce the robot motion made by an operator. This method is targets for applications similar to painting and welding, and it is based on a process of that identifies a family of plants, by control design and by conducting an experimental evaluation. In this study, the models and controllers for all joints of 3DOF robot system are obtained individually. And a robust control system for motion control of the individual joints is designed based on $H_{\infty}$ control framework. An experimental comparison is made between the proposed control method and existing PID control method. And the results indicate that the proposed designing method is more efficient and useful than conventional method.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.5
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• pp.991-1000
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• 2019

The flying-disc game has started since 1940. It has been spreading rapidly in Korea since 2007, mainly in elementary schools. Additionally, as sports science has been developed, research on flying discs has been continued to build a monitoring system for technological improvement and efficiency. In this paper, we acquire information on the user's flying-disc using 9-axis motion sensor and GPS. Then we propose a method for wireless transmission using Bluetooth 5.0. Specifically, the HW platform was designed and implemented not only to monitor a real-time data but also to compare and analyze rotational speed, flight trajectory, and a count of disc rotation through post-processing.

• Journal of IKEEE
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• v.24 no.4
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• pp.921-930
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• 2020

The Counter-battery radar estimates the origin and impact point of the artillery by tracking the trajectory of the shell. In addition, it has the ability of identifying the type of weapon. Depending on the position between the shell and the radar, the detected signals appear differently. This has ambiguity to distinguish the type of shells. This paper compares fuzzy logic and artificial intelligence, which classifies type of shell using the parameter of signal processing step. According to the research result, artificial intelligence can improve identification rate of type of shell. The data used in the experiment was obtained from a live fire detection test.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.314-324
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• 2020

Due to the nonlinearity and environmental uncertainties, the design of the ship's steering controller is a long-term challenge. The purpose of this study is to design an intelligent autopilot based on Extended Kalman Filter (EKF) trained Radial Basis Function Neural Network (RBFNN) control algorithm. The newly developed free running model scaled surface vessel was employed to execute the motion control experiments. After describing the design of the EKF trained RBFNN autopilot, the performances of the proposed control system were investigated by conducting experiments using the physical model on lake and simulations using the corresponding mathematical model. The results demonstrate that the developed control system is feasible to be used for the ship's motion control in the presences of environmental disturbances. Moreover, in comparison with the Back-Propagation (BP) neural networks and Proportional-Derivative (PD) based control methods, the EKF RBFNN based control method shows better performance regarding course keeping and trajectory tracking.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Visualization
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• v.21 no.3
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• pp.75-84
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• 2023

In this study, we conducted analysis of bubble dynamics and flow of liquid phase change material(PCM) using shadowgraphy and particle image velocimetry(PIV). Characteristics of internal flow varied depending on locations of injection when solid PCM was liquefied from heated vertical wall. When bubbles rose immediately, they exhibited elliptical shape and zigzag trajectory. In contrast, when bubbles rose after merging at the bottom of solid PCM, with equivalent diameter for the inter-wall distance of 0.64 or greater, they showed a jellyfish shape and strong rocking behavior. It was observed by the PIV that the small ellipse bubbles made most strong flow inside the liquid PCM. Furthermore, the flow velocity was highest in the case of front injection, as the directions of temperature gradients and bubble-driven flow were aligned. The results underscore the significant influence of injection location on various characteristics, including bubble size, shape, rising path of bubbles, and internal flow.