공정 제어기 구성을 위한 제어 언어에 관한 연구

서창준,김병국,Seo, Chang-Jun,Kim, Byung-Kook 대한전자공학회 1994 전자공학회논문지-B Vol.b31 No.11

본 논문에서는 대규모 공정 제어 시스템에 대한 다중루프 제어기를 구성하기 위해 고급 공정 제어 언어를 개발하였다. 다중루프 제어기를 구성하기 위해 필요한 기본 기능들을 기능블럭으로 정의하고, 이를 간단하고 이해하기 쉬운 아스키 코드들의 열인 기능코드로 표현하였다. 공정에 대한 제어 알고리듬은 기능 코드들의 순서적 나열에 의해 구성된다. 다양한 적용 대상 하드웨어 환경에서 사용하기 위해 기능코드로 구성한 제어 프로그램을 C-언어 프로그램으로 변환하는 변환 프로그램을 구현하였다. 제안된 제어언어는 사용하기 간편하고 쉬우며 확장이 가능하고 다양한 제어시스템들에 적용될 수 있다. 시뮬레이션 결과는 제안된 제어언어가 실제 환경에서 사용이 유효함을 보여준다. In this paper, a high-level process control language is developed to construct multi-loop controllers for large scale process control systems. Function locks are defined which are basic functions necessary to configure a multi-loop controller. Each block is presented to the function code which is a line of ASCII codes and has the characteristics to be simple and to be easily understood. A control algorithm for a process is attained by means of the arrangement of function codes with order. In order to be used to various environments of target hardwares, a transformation program is prepared that transfers a control program configured by function codes to a C-language program. The proposed control language is easy and simple to use, possible to expend, and able to apply to various control systems. Simulation results are included to show the availability for the usage of the proposed control language in real world.

안정적 보행을 갖는 이족 보행 로봇의 개발

서창준,Seo, Chang-Jun 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2

In this paper, we introduce a biped walking robot which can do static walking with 22 degree-of-freedoms. The developed biped walking robot is 480mm tall and 2500g, and is constructed by 22 RC servo motors. Before making an active algorithm, we generate the motions of robot with a motion simulator developed using C language. The two dimensional simulator is based on the inverse kinematics and D-H transform. The simulator implements various motions as we input the ankle's trajectory. Also the simulator is developed by applying the principle of inverted pendulum to acquisite the center of gravity. As we use this simulator, we can get the best appropriate angle of ankle or pelvic when the robot lifts up its one side leg during the walking. We implement the walking motions which is based on the data(angle) getting from both of simulators. The robot can be controlled by text shaped command through RF signal of wireless modem which is connected with laptop computer by serial cable.

EtherCAT 통신방식을 응용한 IEEE 802.15.4 Ad-Hoc 무선 센서 네트워크 라우팅 방식

박정현,서창준,Park, Jeong-Hyeon,Seo, Chang-Jun 한국전기전자학회 2018 전기전자학회논문지 Vol.22 No.2

IoT 기술을 산업현장에 적용시킨 IIoT는 생산율 향상 및 작업자의 안전을 위한 모니터링의 기술로 이용되고 있다. 하지만 수십에서 수백 대의 공작기계가 부품을 가공하고 있는 생산라인에 Ethernet과 RS485 등을 유선 네트워크를 이용한 IIoT 네트워크의 구축을 통한 모니터링은 기반비용 및 네트워크의 유연성 및 유동성의 문제를 가진다. 이로 인해 유선 네트워크에서 무선 네트워크로의 변화가 필요한 실정이다. 따라서 본 논문에서는 IEEE 802.15.4 표준 무선네트워크 디바이스를 이용하여 생산라인에 Ad-Hoc WSN를 구축한다. 또한 추가적으로 Payload Frame을 모든 센서노드가 공유하는 특징을 가지는 EtherCAT 통신방식을 이용하여 센서노드의 전송주기 및 순서를 설정하였다. 이를 통해 무선 센서 네트워크의 패킷충돌로 인한 신뢰성 저하와 실시간성 문제를 해결했으며 실제 산업현장에 사용할 수 있는 무선 네트워크 라우팅 방식을 확인하였다. IIoT, the IoT technology applied to the industrial field, is being used as a monitoring technology for increasing in production rate and safety of workers. However, monitoring through the construction of IIoT network using Ethernet and RS485 in production lines where dozens to hundreds of machine tools are manufacturing components, have difficulties of infrastructure cost and network flexibility and fluidity. Therefore, in this paper, using IEEE 802.15.4 standard WSN device to construct a Ad-Hoc WSN in the production line. In addition, the transmission period and order of the sensor nodes are set by applying the EtherCAT communication method in which the payload frames are shared by all the sensor nodes. From this, we have overcome the problem of reliability decline and real-time issue due to the packet collision of wireless network and confirmed that it is a wireless network routing method that can be used in the actual industrial field.

임베디드 PC 기반 전자칠판 제어시스템 개발

이정민(Lee Jung-Min),서창준(Seo Chang-Jun) 제어로봇시스템학회 2001 제어로봇시스템학회 국제학술대회 논문집 Vol.2001 No.10

비전을 이용한 차량 및 차선 변경 실시간 인지 시스템에 관한 연구

정상진(Jung Sang Jin),Nguyen Van Quang,윤득선(Yun Duk Sun),서창준(Seo Chang Jun),부광석(Boo Gwang Suck) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11

Introduce an approach to detect information about lane and vehicle for driver assistance, or lane change assistant system. Most previous research works could only detect the lanes or vehicle separately. However, the combination of lane information and vehicle information is able to support the lane keeping system, or lane change system, and to improve the reliability of results. For lane change assistant system (LCAS), it must detect frontal lanes and discover other vehicles around the host vehicle. Therefore, in this study, we use a vision system including three cameras, two of them are installed under the right and left wing mirrors, the left one is equipped on the windscreen of the host vehicle. Images from the camera are used to detect three lanes, and detect multiple vehicles.

Robust H∞Output-Feedback Control for Linear Systems with Time-Varying Parameter Uncertainty

Seo, Chang Jun 인제대학교 1998 仁濟論叢 Vol.14 No.2

강인 H∞ 출력 궤환 제어 설계의 새로운 방법을 상태행렬에 놈 제한 시변 불확정성을 갖는 선형 불확정성 시스템에 대해 제안하였다. 관측기에 기초한 강인 H∞ 출력 궤환 제어 법칙은 두 개의 대수 Riccati 식의 해를 구함으로써 얻어진다. 이러한 제어 법칙은 H∞ 놈 경계를 갖는 자성 안정화와 대수 Riccati 식에 기초하여 작성되었는데, 불확정성의 경계를 갖는 선형시스템에 대해 강인 안정성과 H∞ 놈 경계 내의 외란 감쇠를 보장하며 기존의 결과들 보다 나은 성능을 준다. A new method for robust H∞ output-feedback control design is suggested for linear uncertain systems with norm-bounded time-varying uncertainty in the state matrix. Based on the algebraic Reccati equation and the notion of quadratic stabilization with an H∞ -norm bound, an observer-based robust H∞ output-feedback control law is obtained by solving two algebraic Riccati equation. It provides both robust stability and disturbance attenuation with an H∞ - norm bound, for linear systems with uncertainty bound larger than previous results.

알루미나 연마제가 혼합된 희석된 실리카 슬러리의 CMP 특성

서용진,박창준 대불대학교 2002 論文集 Vol.8 No.1

In this paper, we have studied the CMP(chemical mechanical polishing) characteristics of diluted slurry by adding of raw alumina abrasive and annealed alumina abrasive. As a experimental results, we obtained the comparable slurry characteristics compared with original silica slurry in the view point of high removal rate and low non-uniformity. Therefore, we can reduce the cost of consumables(COC) of CMP process for ULSI applications.

HSS STI-CMP적용을 위한이중 패드의 최적화

서용진,박성우,김철복,정소용,이경진,김기욱,박창준 대불대학교 2002 大佛大學校大學院 硏究論文集 Vol.- No.1

As the device geometry shrinks to the deep submicron region, chemical mechanical polishing(CMP) planarization become a more essential technique of advanced ULSI process. Also, CMP process was required for the global planarization of inter-metal dielectric(IMD), inter-level dielectric(ILD) layers and interconnections with free-defect. Especially, the complete global planarization of IMD, ILD and interconnections can be achieved only with the CMP process. However, as the IMD and ILD layer gets thinner, several problems were found in the CMP process. It does have various problems such as dishing effect, torn oxide defects and nitride residues in oxide. So, it leads to severe circuit failure, which affects yield. In this paper, we studied the characteristics of polishing pad, which can apply STI-CMP process for global planarization of multilevel interconnection structure. Also, we investigated the effects of different sets of polishing pad, such as soft and hard pad. As an experimental result, hard pad showed center-fast type, and soft pad showed edge-fast type. Totally, the defect level has shown little difference, however, the counts of scratch was defected less than 2 on JR111 pad. Through the above result, we can select optimum polishing pad, so we can expect the improvement of throughput and device yield.

CMP 공정의 재현성 확보를 위한 공정제어 범위의 결정

서용진,정소영,김철복,박성우,이경진,김기욱,박창준 대불대학교 2002 大佛大學校大學院 硏究論文集 Vol.- No.1

To achieve the ULSI goals of higher density and greater performance, STI(shallow trench isolation)-CMP(chemical mechanical polishing) process has been attracted. Recently, the direct STI-CMP process without the conventional complex reverse moat etch process has established by using slurry additive with the high selectivity between SiO2 and Si3N4 films for the purpose of process simplification and in-situ EPD(end point detection). However, STI-CMP process has various defects such as nitride residue, torn oxide and demage of silicon active region. Also, it was difficult to assure the suitable process margin in the STI-CMP process. To solve these problems, in this paper, we discussed to determine the control limit of process, which can entirely remove the oxide on nitride film from the most area of high density as reducing the damage of dense moat area and minimizing dishing effect in the large field area. We, also, evaluated the wafer-to-wafer thickness variation and the day-by-day reproducibility of STI-CMP process after repeatable tests.