• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1026-1029
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• 2003

There are always some errors in force sensing of multi-axis force sensors that aggravate sensor performance. Error sources may be classified mainly in two groups. One is structural error due to inaccuracy of sensor body, and the other is error due to noise signals existing in the sensed information. This paper presents a brief review about the principle of multi-axis force sensors, and then a method that can reduce the effect of noise signals. The method is to read digital signals in computer instead of analog voltage signals. We can eliminate the bad effect of electromagnetic waves emitted from computer and of 60 Hz noise emitted from AC source by the proposed method. The proposed method is investigated through experimental demonstration. The experimental results show the proposed method improves the sensor performance significantly.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2688-2695
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• 2000

In multi-axis force sensor, compliance matrices representing structural behaviour of internal sensor bodies play an important role in decoupled sensing and accuracy, Recently, error propagation through compliance matrices has been studied via approximation approach. However the upper bound of measured force error has not been known. In this paper, error propagation in force sensing is analysed in a unified way when both strain measurement error and compliance matrix error exist, and the upper bound of the measured force error is derived exactly(not approximately). The analysis is examined through a numerical example.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.393-397
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• 1996

A stewart platform-based force/torque sensor with 6 elastic legs was designed and manufactured Kinematic design parameters were determined so that the force/torque sensor might have the isotropic force/torque properities. In a force/torque analysis, it was used the solution of forward kinematics by linearization of the solution of the inverse kinematics. The performance of te force/torque sensor was investigated by measurement experiments. The gravity compensation was conducted to reduce the force and torque effects by the weights of the upper plate, joints and other sensor parts.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.11
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• pp.1294-1299
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• 2009

The Korean tilting train called Hanvit 200 was launched recently in Korea to improve train speed up to 200 km/h at conventional lines. In this paper, we propose a HILS system for simulations of mechanical braking of the Hanvit 200 train using actual ASCU, actual dump valves, Simulink, dSPACE board, and ControlDesk software. In the proposed HILS system, dynamics of wheelsets, bogies and car body, brake force generation, creep force generations are realized via mathematical models, and anti-skid logic is realized using actual components. The validity of the proposed HILS system is demonstrated via comparing results of real-time and off-line simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.46-53
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• 2002

The brake system of a high speed train has a crucial role for the safety of the train. To develop a safe brake system of the high speed train, it is necessary to understand the braking principle and phenomena of the total brake system and its subsystems. In this paper, we have suggested a mathematical model which includes car dynamics, interactions between cars, adhesive forces, brake blending algorithm, and the dynamics of each brake devices. Also, we have proposed a ready-time compensation algorithm of eddy-current brake system and a brake control logic on electric-pneumatic blending. A simulation study has shown the proposed models and algorithms are effective on the braking of the train.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.811-816
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• 2008

Train dynamics affects significantly safe and efficient operation of a train, especially during traction or braking period. Train dynamics is intrinsically complex due to many DOF motions in a three-dimensional space, and its behavior during the braking stage is too complex to understand and design an effective braking logic of the train. In this paper, we present a two-dimensional model with three DOF motion in a longitudinal, vertical, and pitch direction for the Hanvit 200 tilting train, which is efficient to analyze a braking performance. Furthermore, we analyze the braking logic and simulate the braking process of the Hanvit 200 tilting train using Simulink.

• Proceedings of the KIEE Conference
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• 2002.07c
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• pp.1552-1554
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• 2002

본 논문에서는 실리콘을 기초로 한 포토다이오드를 제작하여 현재 바이오센서에서 이용되고 있는 luminol 화학 발광을 전기적으로 검출하였다. 우선, 실리콘 웨이퍼에 이온주입을 통해 p-n 접합을 형성하고 Al 전극을 형성시켜 포토다이오드를 제작하였다. PDMS을 passivation 막으로 사용하여 horseradish peroxidase(HRP) 농도 변화에 따른 발광의 최적조건과 luminol, HRP가 섞인 용액에 서로 다른 양의 과산화수소를 넣어 발광이 최대로 발생하는 혼합비를 측정하였다. 최종적으로 2mM luminol, 25U HRP 조건 하에서 과산화수소 농도에 따른 화학 발광을 측정하였으며, $10{\mu}M$부터 $500{\mu}M$ 범위의 과산화수소 농도 변화에 따른 포토다이오드의 감도는 단위 면적당 23.429pA/ ${\mu}M$이다.

• Proceedings of the KIEE Conference
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• 2002.07c
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• pp.1566-1568
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• 2002

본 논문은 혈당, 콜레스테롤센서에 적용이 가능한 과산화수소($H_2O_2$) 검출방식인 전기화학발광(Electrochemiluminescence:ECL)법 사용에 필요한 전극특성에 관한 연구이다. 전기화학전극으로 Pt박막전극을 사용하였으며, luminol(5-amino-2, 3-dihydro-1, 4-phthala edione)과 과산화수소($H_2O_2$)의 반응으로 발생한 빛을 포토다이오드(photodiode)를 사용하여 전류를 측정하였다. 사용된 전극은 직사각형(rectangular-type), 교차형(interdigitated-type)의 두 가지 형태를 사용하여, 전극간의 거리와 면적에 따른 ECL특성을 측정하였다. ECL 발광 특성은 전극 면적이 증가함에 따라, 전극거리가 감소함에 따라 증가함을 관찰할 수 있었다.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.250-256
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• 2009

Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.