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A Path-level Smooth Transition Method with Curvature Bound between Non-smoothly Connected Paths
최윤종(Yun Jong Choi),박부견(Poo Gyeon Park) 대한전자공학회 2008 電子工學會論文誌-SC (System and control) Vol.45 No.4
연속적인 경로 사이를 부드러운 곡선으로 잇기 위해서 기존의 로봇 제어기들은 일반적으로 연속적인 경로를 시간 축에서 합성하는 방법을 사용해 왔다. 하지만 이런 방법은 다음과 같은 두 가지 단점을 내재하고 있다. 천이 경로의 형태가 연접하게 생성될 수 없다는 점과 천이하는 동안 속력을 제어할 수 없다는 점이 그것이다. 이러한 문제점들을 극복하기 위해서 본 논문은 매끄럽지 않게 연결된 두 경로들을 부드럽게 잇기 위해 곡률이 제한된 새로운 천이 궤적 생성 방법을 제시하고자 한다. 실험 결과는 기존의 방법들보다 천이 궤적이 더 부드럽게 생성되는 것을 보여주며, 또한 보장된 곡률의 제한 수준은 0.02 ~ 1임을 보여준다. For a smooth transition between consecutive paths, conventional robot controllers usually generate a transition trajectory by blending consecutive paths in a time coordinate. However, this has two inherent drawbacks: the shape of a transition path cannot be designed coherently and the speed during transition is uncontrollable. To overcome these problems, this paper provides a path-level, rather than trajectory-level, smooth transition method with the curvature bound between non-smoothly connected paths. The experiment results show that the resultant transition trajectory is more smoothly connected than the conventional methods and the curvature is closely limited to the desired bound within the guaranteed level (0.02∼1).
광양제철소 전력계통 단독 운전시 발전기 최적제어방안 연구
곽인철(In-cheol Kwak),신민교(Min-kyo Shin),최윤종(Yun-jong Choi),박부견(Poo-gyeon Park) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.10
The electric power system of Kwangyang steel works needs to keep the parallel operation with the system of KOPEC(Korea Electric Power Corporation) for supplying the power with safety. Once it is separated from KOPEC due to an accident, it operates the automatic Mill trip system to prevent huge fluctuating loads from the serious frequency drop. In spite of that, it is recent situations that the continuous growth of electric loads facilitates the frequency drop. Therefore, this paper proposes a model of generator control system so as to quantitatively analyze the response characteristics to the frequency change under the single operation, and also suggests the strategy for minimizing the frequency changes. The simulation results show it is desirable to operate the generators by 3% speed droop and 10% load limiter.
패턴 비교를 통한 TFT-LCD 패널의 결함 검출 방법
李炅玟(Kyong-Min Lee),張聞秀(Moon-Soo Jang),朴符堅(Poo-Gyeon Park) 대한전기학회 2008 전기학회논문지 Vol.57 No.2
In this paper, we propose a novel defects inspection algorithm for TFT-LCD panels. We first compensate the distorted image caused by the camera distortion and the uneven illumination environment using the least squares method and the bezier surface. We find a starting point of each pattern for restricting each pattern. A clean image is compared to each pattern to find defects using modified PCSR-G algorithm. The simulation example shows that our algorithm not only inspects the defects well, but also is robust to the I-pixel error.
제어출력을 이용한 가열로 소오크 구간 균열 시점 추정 방법
이호섭(Ho-Sub Lee),이민호(Min-Ho Lee),박태수(Tae-Su Park),송복한(Bok-Han Song),박부견(Poo-Gyeon Park) 대한전기학회 2019 전기학회논문지 Vol.68 No.12
This paper proposes the soak time estimation method using the slope of control output in heat treatment process. The soak time is the time at which the center temperature of the steel and ambient temperature of the steel reach the target temperature. The center temperature of the steel is needed to find the soak time, but it is difficult to always measure because of the industrial furnace structure. By calculating the relation between soak time and control output, the proposed method can find the soak time using the control output, not the center temperature. To eliminate the noise generated by the Proportional-Integral-Differential controller (PID) controller and to calculate the smooth slope, the moving average filter was used. The proposed method was verified by comparing the estimated soak time and real soak time using the test data.