• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.10a
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• pp.438-444
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• 1997

Recently, optical disk drives are increasingly demanded to have higher speed as well as high information density, especially for applications like CD-ROM drives. To this end, improvement of their optical pick-up structure and control is recognized the very challenging issue. In this paper, the 2-D motion of the pick-up is first analytically modelled to identify the cause and effect of the troublesome cross coupling between auto-focusing and tracking directions. Subsequently, the overall system equations are derived to include the dynamics of the related components in the auto-focusing servo system. While its unmeasurable parameters being estimated by the least square error method, a simple but decent linear model can be obtained within its operating frequency range. To design the high speed and robust positional servo controller, the design specifications are detailed and H$\sub$.inf./ control method is employed based on the simple model. Using the pickup in a commercial 8 fold speed CD-ROM drive as an example, performance of the designed controller is verified by realtime experiments.

• Journal of Institute of Convergence Technology
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• v.2 no.1
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• pp.43-48
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• 2012

Generally, in-plane position of moving object is measured referring to the reference pattern attached to the object. From optical camera to magnetic reluctance probe, there are many ways detecting a variation of the periodical pattern. In this paper, the various operating principles developed for in-plane positioning are reviewed and compared each other. And, a novel method measuring large rotation as well as x, y linear displacements is suggested, including a detailed description of the overall system layout. It is a modified version of the surface encoder, which is a robust digital measuring method. From the surface encoder, the rotation of an object is measured indirectly through a compensated input of optical servo and independently of linear displacements. So, the operating range can be extended simply by enlarging the reference pattern, without magnifying the decoding units.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.1
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• pp.85-90
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• 2006

This paper presents experimental results relating to the preliminary breakdown characteristics in $SF_6/CO_2$ gas mixtures under a highly non-uniform electric field. The impulse pre-breakdown developments are investigated by the measurements of corona current and light emission images. As a result, the preliminary breakdown development mechanisms for both the positive and negative polarities were fundamentally same. The first streamer corona was initiated at the tip of needle electrode, and the leaders developed with a stepwise propagation and bridged the test gap. The pause time of leader pulses in the positive polarity was significantly shorter than that in the negative polarity. Also, the time interval between the first streamer corona onset and breakdown in the negative polarity was much longer than that in the positive polarity. The discharge channel path in the positive polarity was zigzag, and the leader channel in the negative polarity was thicker and brighter than that in the positive polarity.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2002.10a
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1995.04a
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• pp.258-263
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• 1995

미래 정보와 시대에서 중추적인 역할을 할 광관련 멀티미디어 장비들은 최근 관련 산업계에서 주목을 받기 시작하고 있고 특히 기존 VTR(Video Tape Recorder) 시장을 대체할 차세대 DVDR(Digital Video Disk Recorder)는 기술전쟁이라고 할 정도로 선진 기업의 연구가 치열해지고 있다. DVDR 시스템에서는 필요한 정보들을 레이저빔을 이용한 광학신호로 바꾸어 광디스크에 기록, 재생하는 광픽업이 절대적으로 필요하게 된다. 그런데 광픽업의 위치추종기구인 Actuator는 정확한 위치추종(.+-.1.$\mu$m 오차이내)을 할 수 있는 성능이 요구되며 서보의 특성상 20KHz 이하에서 불필요한 모우드가 가진되지 않는 정밀부품이어야 하므로 Actuator 각 부품의 동적인 특성을 명확히 규명할 필요가 있다. 따라서 본 연구에서는 우선 Actuator 각 부품과 가동부 전체의 중량 및 진동해석을 통해 동특성을 조사하였다. 그리고 Actuator의 중요한 기본성능중 하나인 구동감도 확보여부를 검토할 필요가 있기 때문에 유한요소법 프로그램인 ANSYS를 이용하여 자기회로 부분에 대한 해석을 구하였다. 또한 가동부와 자기회로 등 하위부품을 조립하는 과정에서 발생하는 조립오차로 인해 불필요한 공진과 회전형상이 야기될 수 있으므로 동특성 및 문제점 파악을 위한 민감도 분석이 필요하다. 따라서 본 연구에서는 가동부의 관성 모멘트 값과 강체에 대한 일반식을 이용한 자체 프로그램을 작성하여 조립공차를 구하였다. 이와같은 과정을 통해 구해진 설계값을 바탕으로 실제 제작된 Actuator에 대해서는 비접촉식 측정방법을 통해 동특성값을 측정하였고 이를 해석값과 상호 비교하였다.동강성행렬법(dynamic stiffness matrix method)을 이용하여 해석하고자 한다. 수준임이 입증되었다. 본 연구의 결과를 토대로우리나라 젊고 건강한 남성에게 적합한 무게상수는 작업자군에 대하여 25.05kg, 학생군에 대하여 20.24kg 으로 나타나 이는 미국 NIOSH 안전기준과 대체로 일치함을 발견하였다.ive structures utilized in Client/server architecture for distribution and cooperative processing of application between server and client this study presents two different data management methods under the Client/server environment; one is "Remote Data Management Method" which uses file server or database server and. the other is "Distributed Data Management Method" using distributed database management system. The result of this study leads to the conclusion that in the client/server environment although distributed application is assumed, the data could become centralized (in the case of file server or database server) or decentralized (in the case of distributed

• Korean Journal of Agricultural and Forest Meteorology
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• v.4 no.3
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• pp.159-163
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• 2002

This study was analyzed to photosynthetic pigment concentrations and changes of SOD activities on seven species of liana of A. heterophylla, P. scandens, V. thunbergii, P. tricuspidata, C. trilobus, L. japonica and T. kirilowii, and two species of E. arvense and A. princeps of non climbing plants. Concentrations of chlorophyll a and b, total chlorophylls and total carotenoids of P. tricuspidata in 100 ppb ozone site were the most increased. It was the most increased to P. scandens in ratio of chlorophylls and carotenoids, and E. arvense in ratio of chlorophyll a and b. There was difference to ratio of chlorophyll a and b of liana and non liana. At ratio of chlorophyll a and b of 100 ppb ozone site and the control it was more sensitive to chlorophyll a than chlorophyll b, and P. tricuspidata was the most sensitive at comparing with species, and it was more sensitive to liana than non liana. In SOD activities A. princeps was the most increased to 3535.7 unit/g, and P. scandens was the fewest increased to 109.3 unit/g, and A. heterophylla was only decreased to 131.7 unit/g in comparing to 100 ppb ozone sites and the control.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.940-948
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• 2007

The Advanced Spent Fuel Conditioning Process(ACP), which is the process of the reduction of uranium oxide by lithium metal in a high temperature molten salt bath for spent fuel, was developed at Korea Atomic Energy Research Institute (KAERI). Since the ACP equipment is located in an intense radiation field (hot cell) as well as in a high temperature, it must be remotely operated and maintained. The ACP hot cell is very narrow so the workspace of the wall-mounted mechanical Master-Slave Manipulators(MSMs) is restricted. A Bridge Transported Servo Manipulator(BTSM) system has been developed to overcome the limitation of an access that is a drawback of the mechanical MSMs. The BTSM system consists ot a bridge crane with telescoping tubeset, a slave manipulator, a master manipulator, and a control system. We applied a bilateral position-position control scheme with friction compensation as force-reflecting controller. In this paper, the transmission characteristics on the tendon-and-pulley train is numerically formulated and analyzed. Also, we evaluate the performance of the force-reflecting servo manipulator.

• Journal of the Korean Chemical Society
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• v.41 no.5
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• pp.239-245
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• 1997

The sorption kinetic was studied to evaluate feasibility of removing PCBs from mineral oil with activated carbon. Adsorption efficiency for Aroclor 1242 which is composed of lower chlorinated PCB formulations was $\geq$ 95%, whereas the adsorption efficiency for Aroclor 1260 having higher chlorinated constituents was considerably lower with the efficiency falling to 75%. The observed difference in the adsorption efficiency is attributed to the geometry of PCBs with non-planar and coplanar structure. The concentration of coplanar PCBs is appreciably higher in Aroclor 1242. Since toxicity is primarily associated with coplanar congeners, the preferential adsorption of coplanar congeners by activated carbon accounts for the fact that toxicity reduction can be achieved through this process. The efficiency of process was assessed in terms of Toxicity Equivalence Factor (TEF).

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.117-123
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• 2003

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

• Solar Energy
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• v.18 no.3
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• pp.25-30
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• 1998

A sun tracking controller for PTC(parabolic trough concentrator) is a control system used to orient the concentrator toward the sun always, so that the maximum energy can be collected. The work presented here is a design and development of microprocessor based sun tracking control system for PTC. Sun tracking control system consists of a sun sensor and a single axis tracking control system. 80c196KC based control system consists of an analog input unit, 24V DC servomotor drive unit, I/O unit. Sun sensor has been constructed using photodiode and can detect the sun located within ${\pm}50^{\circ}$ measured from the sun sensor normal direction. The sun tracking system developed is being implemented and shows a good sun tracking performance.