• Journal of KSNVE
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• v.8 no.2
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• pp.346-352
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• 1998

This paper presents actuating characteristics of an asymmetric high-speed optical pick-up fine actuator that can be installed in a small area such as a notebook personal computer. In the asymmetric actuator four points (mass center, actuation center, supporting point of wire suspension on a bobbin, and optical axis) are not coincident so that the proposed actuator suspension reveals undesirable suspension resonance in the pitch and yaw direction. Lumped parameter dynamic model in each direction is used to investigate the driving characteristics with respect to relative location of the four points. Some of desired design directions toward reducing resonance peaks are suggested by using sensitivity information. In order to avoid undesirable resonance, at least supporting point on the obbin must be located in the middle of the mass and actuation center of the asymmetric pick-up actuator.

• Publications of The Korean Astronomical Society
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• v.13 no.1 s.14
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• pp.65-73
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• 1998

We installed windscreen at the BOAO 1.8m telescope dome, in order to reduce the degradation of image Quality under strong wind larger than 8m/sec. The windscreen was designed on the basis of that installed at the MSSSO 2.3m telescope dome in Australia. We developed control system (remote control and user program) of the windscreen, being able to operate the windscreen at observation room. We tested the performance of the windscreen under strong wind of 6-15m/see. Tracking error of the telescope, especially in altitude-axis, was greatly decreased when the windscreen was used. Standard deviation of the error was estimated to be less than 0.3arcsec, which has little effect on image quality.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.3
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• pp.76-85
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• 1998

In this paper, a fuzzy tuning method of a control gain in the discrete-time repetitive controller is proposed for precise tracking control of a system whose reference signal is repetitive. The control gain is modified by fuzzy rules which use the magnitude and the variation ofthe maximum output error in the previous repetitive period. The proposed method is applied to a direct drive 2-axis SCARA-type robot and, it is illustratedby computer simulations and real-time experimentation that better performance can be obtained that the fixed gain-based repetitive controller.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• Journal of Science Education
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• v.42 no.2
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• pp.132-147
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• 2018

The goal of this research is to suggest a theoretical process-centered assessment model based on Learning Progressions of key competencies in the context of STEAM instructions. The "Process-Products Combined Module-type (P2CM) STEAM Assessment Model (P2CM STEAM Assessment Model, hereafter) can be used both as an instructional model and as an assesment model, applicable for various STEAM topics and instructional types. consists of 3 axes. The first X axis stands for 4C competencies that should be emphasized through STEAM instruction. The second Y axis stands for the types and the hierarchy of STEAM instructions. The third Z axis stands for the assessment standards based on LP. We also exemplified an assessment module combined creativity competency with creativity-based instruction based on . Based on the research results, we suggested elaboration of assessment models based on Korean LP research outcomes, development and supply of formative assessment models through field-based in-depth research, modification of formative assessment models with the participation of teacher communities and in-service teachers, and the necessity of further research on assessment models for tracking LP.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.30 no.3
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• pp.142-149
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• 1994

In order to investigate the environmental properties of set net grounds located in the coastal waters of Yeosu. The current in the vicinity of set net grounds was observed by drogue and current meter in 1990 and 1992. The results obtained are summarized as follows: The direction of tidal current at the north enterance of Yeosu bay was southerly in ebb and northwesterly in flood without the distiction of the neap tide and the spring tide. In spring tide the maximum Velocity of the tidal current was 68 cm/sec in ebb and 66 cm/sec in flood. In neap tide the maximum velocity of the tidal current was 37 cm/sec in ebb and 35 cm/sec in flood. And so the direction of residual current was the south ward mainly and 21 cm/sec. The direction of tidal current at set net fishing grounds was southwesterly in ebb and westerly or northwesterly in flood. Regardless of the distinction of neap and spring. The maximum velocity of the current in spring tide was 50 cm/sec in ebb and 40 cm/sec in flood and that in neap was 28 cm/sec in ebb and 25 cm/sec in flood. In spring tide the speed vector along the major axis of semidiurnal tide component was three times as large as diurnal tide. In neap tide, however, the speed vector was about 50% less then that in spring tide, and the semidiurnal tide and diurnal tide were equal in the size of current ellipse and the direction of major axis. The sea area had a southwesterly residual current. 11 cm/sec in spring tide and 7 cm/sec in neap tide. According to the result of drogue tracking, the vicinity of set net fishing ground had a southerly residual current which formed in Yeosu Bay and a weak westerly residual current toward Dolsando from Namhedo. Therefore, set net fishing ground in coastal water of Yeosu was distributed in boundary of inner water which formed from Seamjin river and offshore water supplied from the vicinity of Sorido and Yochido.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.663-668
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• 2023

Recently it is very important to collect information such as enemy positions and facilities. To this end, unmanned aerial vehicles such as multicopters have been actively developed, and various mission equipment mounted on unmanned aerial vehicles have also been developed. The coordinate-oriented algorithm refers to an algorithm that calculates a gaze angle so that the mission equipment can fix the gaze at a desired coordinate or position. Flight data and GPS data were collected and simulated using Matlab for coordinate-oriented algorithms. In the simulation using only the coordinate data, the average Pan axis angle was about 0.42°, the Tilt axis was 0.003°~0.43°, and the relatively wide error was about 0.15° on average. As a result of converting this into the distance in the NE direction, the error distance in the N direction was about 2.23m on average, and the error distance in the E direction was about -1.22m on average. The simulation applying the actual flight data showed a result of about 19m@CEP. Therefore, we conducted a study on the self-error of coordinate-oriented algorithms in monitoring and information collection, which is the main task of EOTS, and confirmed that the quantitative target of 500m is satisfied with 30m@CEP, and showed that the desired coordinates can be directed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.12
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• pp.2365-2370
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• 2017

In this paper, we propose a motion and position recognition technique considering an experiential VR environment. Motion recognition attaches a plurality of AHRS devices to a body part and defines a coordinate system based on this. Based on the 9 axis motion information measured from each AHRS device, the user's motion is recognized and the motion angle is corrected by extracting the joint angle between the body segments. The location recognition extracts the walking information from the inertial sensor of the AHRS device, recognizes the relative position, and corrects the cumulative error using the BLE fingerprint. To realize the proposed motion and position recognition technique, AHRS-based position recognition and joint angle extraction test were performed. The average error of the position recognition test was 0.25m and the average error of the joint angle extraction test was $3.2^{\circ}$.

• Journal of IKEEE
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• v.26 no.2
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• pp.211-218
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• 2022

This paper presents a S-band phased array antenna system for receiving LEO satellite telemetry signals. The proposed antenna, which is performed to be beam-tiled along the elevation direction, consists of 16 sub-array assemblies, 16 active circuit modules, a perpendicular feed network and a control/power unit. In order to precisely track an LEO satellite, the developed antenna is placed with its elevation axis along the projected trajectory of the satellite on the earth. The center of antenna aperture is facing to the maximum elevation angle in the LEO trajectory. The beam-tilted angles for tracking LEO satellite are obtained by calculating accurately satellite points. Satellite tracking measurements are carried out in the range of ±30° with the respect to the maximum elevation angle. The S/N ratio of 16.5 dB and the Eb/No of 13.3 dB at the maximum elevation angle are obtained from the measurements. The measured result agrees well with the pre-analyzed system margin.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.