디지탈 신호처리기를 사용한 산업용 로봇(SM5)의 실시간 적응제어

장영희,정동연,신행봉,한성현 慶南大學校 附設 工業技術硏究所 1998 硏究論文集 Vol.16 No.-

본 논문에서 제안되는 적응제어시스템의 구조는 기준모델적응제어의 원리를 토대로 직접 리아프노브 방법(direct Lyapunov method)을 적용하여 제어시스템의 안정성 해석 및 적응제어칙을 유도한다. 제어기의 기본구조는 극배치(pole-placement)방법에 의해 설계되는 피이드백 제어기와 역모델(inverse model)을 적용한 시변 피이드포워드 제어기 그리고 공칭작동점(nominal perating point)에 대한 적응보조신호로 구성되는 새로운 구조의 적응제어기를 설계한다. 매니플레이터의 링크 및 관성파라미터의 불확실성, 부하변동으로 인한 매니플에이터의 역학적 특성의 변화, 제어기의 실현시 수반되는 기계적 오차 및 계산시간의 지연 등의 제반 외부 조건의 병화에 대하여 능동적으로 적응할 수 있으므로써 항상 고정도의 견실한 제어성능을 유지됨을 입증함으로써 제안된 제어기의 견실성을 입증한다. 구체적인 실험은 시뮬레이션을 통해 자료를 바탕으로 직접 개발한 TMS320C31 어셈블리 S/W를 FARA SM5 SCARA 형 로보트에 적용시켜 실험 하였다. 실험 결과를 통한 성능의 신뢰성 확인은 FARA SM5 SCARA형 로보트의 기존의 제어기인 PID 제어기와 개발된 적응 제어 알고리즘의 제어성능을 비교 분석하는 방법으로 진행하였다. This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic mampulators to achieve 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 control 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. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot(SM5) made in samsung electronics company in Korea.

산업용 로봇 아암의 비쥬얼 피드백 제어 알고리즘 개발

한성현,Le Xuan Thu,김홍래,안종국 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

로봇산업의 국내외 현황과 발전동향

한성현,Hashimoto, Hideki 한국공작기계학회 2001 한국공작기계학회지 Vol.10 No.3

디지탈 신호처리기를 사용한 산업용 로버트의 실시간 적응제어기 설계

한성현 한국공작기계학회 1996 한국생산제조학회지 Vol.5 No.4

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve 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 control 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 auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

디지털 시그널 프로세서를 이용한 스카라 로봇의 적응-신경제어기 설계

한성현,차보남 한국공작기계학회 1997 한국생산제조학회지 Vol.6 No.1

During the past decade, there were many well-established theories for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of industrial robot control. Neural network computing methods provide one approach to the development of adaptive and learning behavior in robotic system for manufacturing. Computational neural networks have been demonstrated which exhibit capabilities for supervised learning. matching, and generalization for problems on an experimental scale. supervised learning could improve the efficiency of training an development of robotic systems. In this paper, a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital signal processors is proposed. Digital signal processors, DSPs, are micro-processors that are developed particularly for fast numerical computations involving sums and products of variables. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be an efficient control scheme for implementation of real-time control for SCARA robot with four-axes by experiment.

정밀부품 자동검사ㆍ조립을 위한 지능형 로봇 비젼 시스템 개발

장영희,김휘동,한성현 慶南大學校 附設 工業技術硏究所 1999 硏究論文集 Vol.17 No.-

본 연구에서는 21 세기에 대두될 생산제품의 추세에 대응해 개발해야 될 필수적인 자동화 기술은 제품을 지능적으로 제조하고, 모든 요소를 자동검사하는 기술의 개발이 매우 중요한 핵심기술이라할 수 있다. 이의 실현을 위해 크게 그 세부기술을 분류하면, 1) 자동조립기술, 2) 표면실장기술, 3) 자동검사조정기술, 4) Line 네트워크 구성기술 등으로 나눌 수 있다. 본 논문에서는 시스템 자동화 기술 중 정밀기계 및 전자부품의 자동조립기술과 자동검사 기술의 개발에 관한 연구가 수행된다. 자동조립기술의 실현을 위해서는 조립용 로봇을 이용한 부품의 정밀 이동ㆍ삽입등의 작업을 수행하기 위하여 지능형 제어 알고리즘이 개발되고. 자동검사기술의 수행을 위해서는 우선 머신 비젼 기술을 이용한 불량 및 양품을 패턴인식을 통하여 부품의 불량상태를 구별해 낼 수 있는 실시간 비젼 기술이 개발된다. 또한, 자동검사의 실시간 실현을 위해 디지털 신호 처리기를 사용한 고성능 비젼 알고리즘을 개발하여 전자부품 조립검사라인, 즉 카메라 조립검사 라인에서 라인을 따라 흘러 들어오는 백 커버들을 정해진 위치를 따라 로봇을 이동하여 자동인식하고, 인식된 백커버의 납땜상태를 다양한 위치 및 이동공정에서 대해서도 유연하게 검사를 자동으로 수행하고 품질기준 통과여부를 자동 판단할 수 있는, 이른바 다공정 제품의 형상인식 및 자동 검사용 로봇 비젼 기술을 개발한다. 또한, 제안된 로봇 비젼 시스템의 성능을 컴퓨터 시뮬레이션 및 S사의 카메라 백커버 조립라인중 5번 Cell의 공정의 유사모델에 대한 실험을 통해 그 신뢰성을 입증하고자 한다 In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation Robot vision may be defined as the process of extracting, characterizing, and interpreting information from images of a three-dimensional world. This process, also commonly referred to as machine or computer vision, may be subdivided into six principal areas, (1) sensing. (2) preprocessing, (3) segmentation. (4) description, (5) recognition, and (6) interpretation. Sensing is the process that yields a visual image. Preprocessing deals with techniques such as noise reduction and enhancement of details. Segmentation is the process that partitions an image into objects of interest. Description deals with the computation of features (e.g., size, shape) suitable for differentiating one type of object from another. Recognition is the process that identifies these mechanical and electronic parts. Finally, interpretation assigns meaning to an ensemble of recognized objects. In the vision technology for automatic test parts, the reliability of proposed vision algorithm has been illustrated through the simulation for the real time implementation of the pattern recognition for the camera back-cover and the test of soldering. In real-time implementing of pattern recognition of camera back-cover and test of soldering, the MVB-03 vision board has been used. Image can be captured from standard CCD monochrome camera with resolutions up to 640 ×480 pixels. Image processing has performed by using TMS320C31 digital signal processors made in Texas Instruments company Co., Ltd.. It is possible to use c3x machine code for system processing, The developed assembler software can be applied in Borland C+ + or Visual C+ + Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

우리나라 농촌지역의 가족보건서비스 이용상태 및 가족보건 서비스 이용 요인분석

방숙,정경희,한성현 순천향대학교 1988 논문집 Vol.11 No.3

This study is aimed at (1) describing the current status of FP / MCH care services in Eumseong County, (2) identifying the determinants of the utilization of FP and MCH care services, and (3) providing the basic data needed for the effective management of FP and MCH services. This survey was conducted in Eumseoung County, Chungcheong Puk Do, a typical rural community. The data was obtained from a interview survey of 1,440 married rural women between the ages of 15 and 44 who lived in Soyi, Wonnam, and Maingdong townships. The findings were as follows. 1. Demographic characteristics of women studied On average the women's age at first marriage was of 23.7 years. The Women had 2.6 children(1.3 sons and 1.3 daughters). 10% of the women experienced deaths of children 14% of them were spontaneous abortions, 4% still-birth, and 5.5% are currently pregnant. The average ideal mnuber of children was 2.2. 44% of them considered a son as a necessity. 2. The contact rate with health service institutions was relatively high, 43.7% of them visited the health sub-center more than once over the last year, 59.6% of them the private clinic, and 41.5% the Soochunhyang-Eumseong Hospital. 3. The FP acceptance rate of respondents was 76.5% 52.3% of them used tubaligation. 54.2% of the practice was done at the pursuasion of health worker., 8.4% of the respondents had discontinued the practice of which only 26% of them had done so because they wanted to have children or reached menopause. While 74% of them did so due to side effects, discomforts, and the method failure. Thus, proper choices in contraceptive methods are not being made. The FP acceptance rate of women who have one child or less was 35.3%. Of which 38.3% resort to permanent sterilization methods. Accordingly, the case of early stopping of child-birth(after the first child) is ever increasing. According to the results of multiple regression analysis, among the variables used in this analysis, the most important factor in determining the FP practice was the number of sons. 4. Asked about attitudes toward the need for prenatal care, 66.0% of the women who gave birth during the period from Jan. 85 to June 87 stated that it was necessary. But only 50% of the women knew the proper time for the first prenatal care and its frequency. The actual percentage of women receiving prenatal care was 82%, while only 34.6% received it five times or more. Among those receiving pre-natal care, 67.8% of them used clinics or hospitals, 25.8% the MCH center. And while 70% to 80% pregnent women underwent urine tests (78%), weight measurements(77%), and blood pressure measurements(83%), only about 40% received blood tests. 5. 32.0% of the women delivered their babies at the MCH center, 23.2% at hospitals, and 18% at private clinics. Thus, institutional delivery amounted to 76.2%, while home deliveries accounted for 23.8%. Among the home delivery cases, only 26.3% used the safe delivery kit'. The reasons for choosing home delivery were low economic conditions and poor geographical accessibility. 6. 32.0% of the respondents made medical visits after birth and 27.8% of them experienced post-natal problems. The above shows that women who do not experience postnatal problems have a tendency not to make medical visits. 50% or more of the women who received postnatal care used clinics or hospitals. 7. 90% or more of the children got basic immunizations such as BCG, Polio, DPT, but 39% or them did not get the vaccinations in time. Vaccination rates for measles, JBE, and hepatitis were between 50% at birth, 30.3% of them weighed 3.0 kilograms or less and 8.9% of them were 2.5 kilograms or less. 8. Concerning the various medical institutions, respondents regarded the doctors of clinics and the workers at MCH center more highly than any other institution, and they were satisfied with the adequate medical equipment of the Soonhunhyang-Eumseong Hospital, In regard to costs, most of them said that medical costs of private institutions were rather high. 9. In examining which factors were important in utilizing institutions for prenatal care, multiple regression analysis were conducted. Results showed that the number of prenatal care received was affected by birth order and attitudes towards the necessity of prenatal care. That is getting more prenatal care demands a lower birth order and more recognition of the necessity thereof. But risk factors, except for the experience of abnormal delivery, did not have a relation with the number of prenatal care examinations. According to the multiple logit regression analysis, hospital and clinic deliveries are affected by the past experience of abnormal delivery, health insurance, birth order, and the women's pattern of labor, in the stated order. MCH center delivery is affected by the level of costs, the women's pattern of labor, and the birth order, in that order. That is, in the selection of hospital and clinic delivery, risk factors and enabling factors were more important than other factors. And in the case of MCH center delivery, enabling factors(cost) and individual characteristics (pattern of labor) were more important. Based on the findings above, it is recommended that more emphasis be placed on the following strategies in the management of family health services 1. Quantitative increase of FP activities can not be expected any further. Female sterilization has been conducted by target oriented policies. For the adequate choice of FP method which will fit the woman's characteristic, information and knowledge about her preferences must be promoted properly. And it is desirable to diversify service points for easier selection. Public education activities (for discarding son preference, spacing between children, early child-birth stopping) should also be actively done. 2. Recongnition of the necessity of prenatal care and institutional delivery is ever increasing, but the lowerclass and risk groups are being continuously alienated. Contact rates with service institutions are relatively high, but adequate and effective choices have not been made due to the lack of information and knowledge concerning prenatal care. Public institutions are not credible, and private institutions are too high in cost, and referal systems between the public and private sectors do not exist. These are the reasons for woman's dissatifaction in delivery. Postnatal care is absolutely necessary for maternal health care but being neglected. Child care is limited to only vaccination, disregarding other important and more imminent lowing strategies are recommended. First, econimic accessibility is expected to be higher by the national health insurance policy while the number of deliveries is declining. But it is uncertain whether all women will be able to receive adequate care. In order to reach the risk groups people living in remote areas requires: 1) More MCH information and education services to every women in community should be carried out through public health sub-centers and CHP's post. 2) Organization of voluntary community participation such as VHWs and more opportunities for obtanining information are needed. Second, health insurance must be applied to the preventive care, actively supporting pre-and postnatal care and child health care activities. That means the minimal MCH services should be reinforced and child health care required to include nutrition care, health examinations, etc. All the above things should be done on a public service basis. Third, a feedback system between public and private health institutions ought to be formalized. Technical and institutional support is needed for the effective management of a referal system in FP and MCH services.

주산기 및 영아사망에 영향을 주는 요인분석<<1부 농촌지역 사회를 중심으로>>

한성현 한국인구학회 1987 한국인구학 Vol.10 No.1

이기종 컴퓨팅을 활용한 환율 예측 뉴럴 네트워크 구현

한성현,이광엽 사단법인 인문사회과학기술융합학회 2017 예술인문사회융합멀티미디어논문지 Vol.7 No.11

In this paper, we implemented the exchange rate forecasting neural network using heterogeneous computing. Exchange rate forecasting requires a large amount of data. We used a neural network that could leverage this data accordingly. Neural networks are largely divided into two processes: learning and verification. Learning took advantage of the CPU. For verification, RTL written in Verilog HDL was run on FPGA. The structure of the neural network has four input neurons, four hidden neurons, and one output neuron. The input neurons used the US $ 1, Japanese 100 Yen, EU 1 Euro, and UK £ 1. The input neurons predicted a Canadian dollar value of $ 1. The order of predicting the exchange rate is input, normalization, fixed-point conversion, neural network forward, floating-point conversion, denormalization, and outputting. As a result of forecasting the exchange rate in November 2016, there was an error amount between 0.9 won and 9.13 won. If we increase the number of neurons by adding data other than the exchange rate, it is expected that more precise exchange rate prediction will be possible. 본 논문에서는 이기종 컴퓨팅을 활용한 환율 예측 뉴럴 네트워크를 구현했다. 환율 예측에는 많은 양의 데이터가 필요하다. 그에 따라 이러한 데이터를 활용할 수 있는 뉴럴 네트워크를 사용했다. 뉴럴 네트워크는 크게 학습과 검증의 두 과정을 거친다. 학습은 CPU를 활용했다. 검증에는 Verilog HDL로 작성된 RTL을 FPGA에서 동작 시켰다. 해당 뉴럴 네트워크의 구조는 입력 뉴런 네 개, 히든 뉴런 네 개, 출력 뉴런 한 개를 가진다. 입력 뉴런에는 미국 1달러, 일본 100엔, EU 1유로, 영국 1파운드의 원화 가치를 사용했다. 입력 뉴런들을 통해 캐나다 1달러의 원화가치를 예측 했다. 환율을 예측 하는 순서는 입력, 정규화, 고정 소수점 변환, 뉴럴 네트워크 순방향, 부동 소수점 변환, 역정규화, 출력 과정을 거친다. 2016년 11월의 환율을 예측한 결과 0.9원에서 9.13원 사이의 오차 금액이 발생했다. 환율 이외의 다른 데이터를 추가해 뉴런의 개수를 늘린다면 더 정확한 환율 예측이 가능할 것으로 예상된다.

병치 감법혼합에 의한 하드카피 재생산 방지 기법

한성현 대한전자공학회 2004 電子工學會論文誌 IE (Industry electronics) Vol.41 No.01

This paper presents a new anti-copying methode for hard copy documents. The approach protects the document and its content from unauthorized copying and forgeries, while using ordinary paper and ordinary printer. The paper copy is protected against copying as the photocopy version will appear differently when compared to the authorized printed original hard copy. The anti-copying pattern created through pointillism with a halftone cell and a spot. The proposed method is useful for unauthorized copying and forgeries with high-resolution scanners and photocopiers. 본 논문에서는 하드카피 문서에 대한 새로운 재생산 방지 기법을 제안한다. 일반 프린터로 일반 용지에 출력한 원본 하드카피를 칼라 복사기로 복사하거나 스캐너로 스캔하여 다시 출력할 경우 원본 하드카피에 포함된 복사방지 패턴에 특별한 문구 패턴이 나타나 복사본임을 육안으로 구분할 수 있는 기술이다. 이를 위하여 본 논문에서는 하프톤 셀과 스폿을 사용하여 병치 감법혼합으로 농도가 잘 조절된 칼라패턴을 생성한다. 본 논문에서 제안한 하드카피 복사 방지 기법은 기존의 방법에 비해 고해상도 복사 방지 기법으로 유용한 방법이다.