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부하변동이 존재하는 DC 모터의 속도 제어를 위한 외란관측기 설계
김성종,신명준,손영익,김갑일,임승철,강환일 明知大學校 産業技術硏究所 2007 産業技術硏究所論文集 Vol.26 No.-
This paper considers a speed control problem of DC motor under load variations. In order to reduce the effect of load variation, a disturbance observer has been designed for the given system. With a cheap encoder there exists considerable measurement noise in the velocity feedback and it should be reflected in designing the disturbance observer. The authors have obtained the nominal transfer function of a DC motor and designed a disturbance observer for the control purpose. With the disturbance observer a digital controller has been implemented using a DSP(TMS32OF2812). Some experiments show the enhanced performance of the control system with the proposed method.
김갑일,한철완,오성남 明知大學校 産業技術硏究所 2006 産業技術硏究所論文集 Vol.25 No.-
In this paper, we consider a digital protection IED(Intelligent Electric Device) for a distributed power system. The IED can measure various elements for protection and communicate with another devices through network. The protection IED is composed of specific function modules: signal process module which converts analog signal from PT and CT handle algorithm to digital one; communication module for connection with another IEDs; input/output module for user-interfaces. A general purpose DSP board with TMS320C2812 is used in the IED. In order to verify the proposed IED, experimental researches with the power system simulator DOBLE has been carried out for a phase earth fault. The results show an under-voltage relaying algorithm has been realized sucessfully in the hardware system.
무궤도 이동 로보트의 설계 및 주행오차 보정에 관한 연구
김갑일,김동준,이병도,유익주 明知大學校 産業技術硏究所 1995 産業技術硏究所論文集 Vol.14 No.-
In this paper, design and construction of mobile robot are conducted and the error reduction and obstacle avoidance techniques are introduced. Up to now, in the design of most mobile robots, there is emphasis on the compensation of tracking errors using the additional sensors and guidance method, rather than the reduction of the tracking errors of motor itself and wheel errors. In this purpose, high performance motor and encoder are used for the driving actuator, and the acceleration/deceleration technique and caster encoder are introduced to reduced the driving errors. Also ultrasonic sensor performs obstacle avoidance, which is proved using the driving test.
조규갑,김갑환,문일경,김기영 한국경영과학회 1993 經營 科學 Vol.10 No.2
A production control information system developed for multi-product, small-lot-sized production is presented. The system is composed of interrelated modules for production planning, shop floor control, and inventory / material management. The architecture of the system, functions of each module, and information processing procedures of each function are discussed.
강환일,김갑일,강환수 명지대학교 산업기술연구소 2001 産業技術硏究所論文集 Vol.20 No.-
정보보호를 위해 비연성 디지털 워터마킹방법으로 웨이브릿 변환을 많이 사용하고 있다. 본 연구에서는 여러 웨이브릿 변환인 드비시(Daubechies)변환, Coiflets 변환, Symlets 변환과 Biorthogonal 변환등을 이용하여 비연성 디지털 워터마킹 기법을 구성하고 각 변환의 특징과 성능비교를 한다. 공격의 형태는 DCT변환 압축에 의한 영향에 의한 영향에 의한 워터마킹의 보존 여부에 관하여 고찰한다.
Xscale 기반의 Mobile Device를 활용한 모터 제어
한철완,김갑일,손영익 明知大學校 産業技術硏究所 2005 産業技術硏究所論文集 Vol.24 No.-
Currently mobile devices change rapidly our life and they have considerable influences over many parts of our society. If the mobile device is applied to a control system, the usability of the control system is increased with its convenient accessibility and mobility. This paper realizes a motor control system by using a mobile device. The device uses Intel Xscale PXA-250 in which Widows CE is ported. The device is very popular at the applications of mobile devices. Also we consider its application to a mobile robot such as home service robot.
임승철,김갑일,손영익,강환일,오성남 明知大學校 産業技術硏究所 2009 産業技術硏究所論文集 Vol.28 No.-
As the related researches progress successfully, humanoid robots are attracting huge attention from various sectors worldwide. However, the levεI of domestic technology still cannot compare to that of leading countries where the support is much more stronger and diverse. To improve such a present situation, authors have worked on a 3-year project and come to announce the development of a new humanoid robot named MHR-l that is 135cm tall and 45kg heavy. It possesses a total of 22 DOFs, adding up 12 for lower limbs, 8 for arms, and one for each of the neck and waist. Dynamic locomotions are enabled by two kinds of micro-conterllers which are hierarchically connected via a high-speed serial communication protocol. Various walking experiments have proved MHR-l to be stable and fairly fast Especially. incorporated rate gyro sensors are expected to greatly enhance stability.
朴貴泰,金甲一 明知大學校 産業技術硏究所 2005 産業技術硏究所論文集 Vol.24 No.-
In this paper, we present a wireless watermarking technique for a new character robot. After we insert a sequence of some action codes inaudibly to an audio signal, the character can act the behaviors indicated in those codes by processing sound with a microphone and extracting concealed codes when the pre-processed audio file is played. For example, the robot dances to the music where the action codes were concealed. For this, we propose a modified echo-hiding algorithm. This modified algorithm uses repeated watermarks for robust extraction and integer watermarks for enough data insertion so that it can solve technical problems with the noise generated in the wireless analog channel, attenuation of sound in proportion to distance between a robot and a source of sound, and synchronization. Finally, we verify the performance of the proposed technique through experiments under several conditions.
윤기돈,손영익,김갑일 명지대학교 산업기술연구소 2005 産業技術硏究所論文集 Vol.24 No.-
In the past time, the protection relay did only a protection function. Currently, its upgraded device i.e. IED (Intelligent Electric Device) has been designed to protect, control, and monitor the whole power system automatically. Also the device is desired to successfully measure important elements of the power system. This paper considers design method of a digital protection IED with a function of measuring various elements and a communication function. The protection IED is composed of the specific function modules that are signal process module, communication module, input/output module and main control module. A signal process module use a DSP processor for analysis of input signal. Main control module use a embedded processor, Xscale, that has an ARM Core. The communication protocol uses IEC61850 protocol that becomes standard in the future. The protection IED is able to process mass information with high-performance processor. As each function module is designed individually, the reliability of the device can be enhanced.
윤동우,오성남,김갑일,손영익,임승철,강환일 明知大學校 産業技術硏究所 2007 産業技術硏究所論文集 Vol.26 No.-
In addition to accurate position and velocity control, force control is necessary for a successful robot operation. In this paper, we have designed a simple robot gripper using a DC motor. For its force control, a current feedback control law is presented without using additional force sensors. Experimental results prove the effectiveness of the proposed control law. A digital controller is also developed with a TMS320LF2406 processor.