• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.7
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• pp.34-42
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• 2022

Minimizing the backlash of gears and reducers is important for their proper and precise functioning. In this study, an automatic backlash measuring system was developed for the mass production and quality control of a military-grade reducer. The developed automatic backlash measurement system eliminates human error during the backlash measurement process. It also reduces the manufacturing time and digitizes the backlash number. The system was tested for an aircraft machine gun control reducer that required low-torque and high-precision conditions. The test results show that the torque range was 0.820-4.788 Nm. The maximum torque error is less than 0.231 N·m at 2.943 N·m, and 1.2 arcmin of the maximum backlash error with ± 0.3 arcmin of repeatability. The developed system satisfies all required conditions: torque of 1-3 Nm, torque accuracy within ± 0.5 N·m, and backlash accuracy of ± 3 arcmin.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.495-495
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• 2000

The Stewart platform manipulator is a closed-kinematis chain robot manipulator that is capable of providing high st겨ctural rigidity and positional accuracy. However, this is a complex structure, so controllability of the system is not so good. In this paper, it introduces a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the slate and the perturbation w.hich is integrated into a variable structure controller(VSC) structure. The combination of controller/observer gives rise to the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). The optimal gains of SMCSPO are easily obtained by genetic algorithm. Simulation and experiment are presented in order to apply to the stewart platform manipulator. There results show highly' accuracy and performance.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.2
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• pp.81-87
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• 2023

With the development of BCI devices, it is now possible to use EEG control technology to move the robot's arms or legs to help with daily life. In this paper, we propose a customized vehicle control model based on BCI. This is a model that collects BCI-based driver EEG signals, determines information according to EEG signal analysis, and then controls the direction of the vehicle based on the determinated information through EEG signal analysis. In this case, in the process of analyzing noisy EEG signals, controlling direction is supplemented by using a camera-based eye tracking method to increase the accuracy of recognized direction . By synthesizing the EEG signal that recognized the direction to be controlled and the result of eye tracking, the vehicle was controlled in five directions: left turn, right turn, forward, backward, and stop. In experimental result, the accuracy of direction recognition of our proposed model is about 75% or higher.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.13 no.2
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• pp.31-44
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• 2007

The purposes of this study were to examine the normal lumbar proprioception and identify the effect of vision and proprioception on lumbar movement accuracy through measuring a reposition error in visual and non-visual conditions and to provide the basic data for use of vision when rehabilitation program is applied. The subjects of this study were 39 healthy university students who have average physical activity level. They were measured the ability to reproduce the target position(50% of maximal range of motion) of flexion, extension, dominant and non-dominant side flexion in visual and non-visual conditions. Movement accuracy was assessed by reposition error(differences between intended and actual positions) that is calculated by the average of absolute value of 3 repeated measures at each directions. The data were analysed by paired samples t-test, independent samples t-test, and repeated measures ANOVA. The results were as follows : 1. Movement accuracy of flexion, extension, dominant side flexion, and non-dominant side flexion was increased in visual condition. 2. There were no differences in the lumbar movement accuracy between sexes in visual and non-visual conditions. 3. In non-visual condition, the movement in coronal plane(dominant and non dominant side flexion) is more accurate than that in sagittal plane(flexion and extension). 4. In non-visual condition, there were no differences in the lumbar movement accuracy between dominant and non-dominant side flexion. In conclusion, this study demonstrates that the movement is more accurate when the visual information input is available than proprioception is only available. When proprioception is decreased by injury or disease, it disturbs the control of posture and movement. In this case, human controls the posture and movement by using visual compensation. However it is impossible to prevent an injury or trauma because most of injuries occur in an unexpected situation. For this reason, it is important to improve the proprioception. Therefore, proprioceptive training or exercise which improve the ability to control of posture and movement is performed an appropriate control of permission or interception of the visual information input to prevent an excessive visual compensation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.911-916
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• 1991

Spent nuclear fuel is highly radioactive and requires remote operation due to radiation exposure. Motors which have been used in the highly radioactive environments are a DC type because of their easy implementation on control system. However there are some problems such as mechanical maintenance of brush and commutator, high cost, and heavy material control. AC servo motors are applied and tested on fuzzy and conventional control algorithms. Fuzzy logic controls of AC servo give adequate control accuracy and power for spent fuel handling in radioactive environments.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.239-243
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• 1989

This paper represents the control software development for Direct Drive Arm Robot with the WHILE language composed the 68000 assembly language and high level language modula-2. Direct Drive Ann Robot needs the control program which is fast step and exactly position moving because Direct Drive Arm Robt depends on accuracy. We found that the self-tuning algorithm for this robot control is very good for the real time control and the floating point operation using the 32 bit CPU(MC 68020) controller.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.586-591
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• 1986

In this paper, we designed simultaneous 2-axis control system using commercialized custom ICs for positioning and interpolation that is very compact and high reliable. This system is primarily designed for NC system, we verified it is more complete than the other hardware & software based system in its function, control accuracy and cost. Also, this system can be expanded for multi-axis control, it can be applied to the control of more complicated mechanism such as articulated robot.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.5
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• pp.66-74
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• 1994

A loop-shaping LQ controller is synthesized for tandem cold mills. And a new loop- shaping technique is suggested for LQ controller design. The suggested loop-shaping LQ control system is compared with the standard loop-shaping LQ control system. The simulation results show that the theickness and interstand tension control accuracy of tandem cold mills can be improved by the compensated loop-shaping LQ controller.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.08a
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• pp.452-456
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• 1999

Newly constructed plate shape control system, using attached shape measuring instruments and work roll bender, was put in service in No. 2 Plate Mill, POSCO. Recently, customers demand the improvement of flatness and plate crown accuracy. Many competition Plate Mill introducted shape control system, for example, pair cross mill, work roll bender which includes shape measuring instrument and shape control mathematical models, and No. 2 Plate Mill, POSCO introducted work roll bender and shape measuring instruments. This report describes the properties of No. 2 Plate Mill shape control system and work roll bender.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.110-113
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• 2002

This paper propose a method for the temperature control using cool-plate in the track equipment. The employed control algorithm is PID control algorithm. The control gains are found using relay auto-tuning algorithm. After that the gains are adjusted manually in trial and error. The control hardware circuit is designed and implemented in the lab. The controlled temperature reached the desired value Within $\pm0.05^{\circ}C$ accuracy.