• Smart Structures and Systems
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• 제7권2호
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.776-778
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• 2003

In the paper, the novel linear ultrasonic motor for precision position control was designed and fabricated. It was composed of two piezoelectric actuators with longitudinal ultrasonic fluctuations and shaking beam. When two AC electric fields ($Usin{\omega}t$, $Ucos{\omega}t$) were applied in two piezoelectric actuators respectively, the middle part of shaking beam had an elliptical trajectory. According to experimental results, good symmetrical characteristic of two piezoelectric actuators were obtained.

• 한국통신학회논문지
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• 제16권8호
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• pp.719-731
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• 1991

본 논문은 일반형의 개통형전자총의 전자 빔 궤도를 비교적 신속 편리하게 해석할 수 있는 computer simulation의 한 방법을 소개하는 것으로써 전극의 구조와 인가전압등을 입력하면 빔 전류, cutoff 전압, 빔 직경 그리고 궤적도가 출력으로 얻어진다. 계산속도를 증가시키기 위해서 공간전위의 계산에는 전극공간을 여러개로 분할하고 요구되는 정도에 따라서 각기 다른 격자크기를 할당하였으며 유한차분법으로 계산하도록 하였다. 몇 가지의 model을 선정하여 본 방법으로 빔 궤적도를 simulation 시켰는데 그 결과는 전극의 집속기구를 명확하게 제시해줄 수 있었으며 본 방식으로 구해진 빔 전류, cutoff 전압, 빔 직경등은 실지의 측정실험에서 얻어진 결과와 실험오차 내의 정확도로써 잘 일치되었다. 이 방법을 적용하면 설계자로 하여금 실지로 전자관을 제작하지 않고서도 전극의 구조변화에 따른 영향을 정확히 파악 할 수 있는 까닭에 전자총의 설계나 개선작업에 유용하게 적용될 수가 있을 것이다.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.67.3-67
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• 2001

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used f3r the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and a second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined fuzzy controller ...

• 융합신호처리학회논문지
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• 제3권1호
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Nuclear Engineering and Technology
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• 제38권8호
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• pp.793-802
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• 2006

The design concept of a bending magnet to be installed in the KSTAR NBI system is presented. It is the function of a bending magnet that removes unconverted ions from the main beam stream and produces an 8 MW, 120 keV deuterium neutral beam. In order to determine the proper size and shape of the bending magnet, a parametric study on the B-field pattern was carried out by changing the dimensions of the pole face model. In addition, the detailed trajectories of the dominant ion species produced in the beam line were calculated. The electrical and cooling parameters of the coil assembly were also estimated.

• 반도체디스플레이기술학회지
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• 제6권3호
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• pp.25-33
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• 2007

A computationally efficient and accurate Monte Carlo (MC) simulator of electron beam lithography process, which is named SCNU-EBL, has been developed for semiconductor nanometer pattern design and fabrication. The simulator is composed of a MC simulation model of electron trajectory into solid targets, an Gaussian-beam exposure simulation model, and a development simulation model of photoresist using a string model. Especially for the trajectories of incident electrons into the solid targets, the inner-shell electron scattering of an target atom and its discrete energy loss with an incident electron is efficiently modeled for multi-layer resists and heterogeneous multi-layer targets. The simulator was newly applied to the development profile simulation of ZEP520 positive photoresist for NGL(Next-Generation Lithography). The simulation of ZEP520 for electron-beam nanolithography gave a reasonable agreement with the SEM experiments of ZEP520 photoresist.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2001년도 추계학술발표대회 개요집
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• pp.121-124
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• 2001

The main characteristic of the Electron Beam Welding technique is its high energy density which produces thin and deep welds with very little distortion. High accelerated electrons, focused in a beam of 0.5 ∼ 2mm diameter, produce narrow welds with deep penetration. The result is a small HAZ as well as a low and uniform distortion which is predictible within very narrow limits. But the small diameter of the EB increases the requirements for the equipment control system for centering the beam on the welding joint in order to avoid any lack of fusion. Therefore, in this paper, we introduce the system developed at our company and the quality of welding zone, the detail function of system.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2004년도 추계학술발표회 발표논문집
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• pp.719-720
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• 2004

A multi-megawatt long pulse ion source (LPIS) of neutral beam injector was developed for the KSTAR. Beam extraction experiments of the LPIS were carried out at the neutral beam test stand (NBTS). Design requirements for the ion source were 120 kV/65 A deuterium beam and a 300 s pulse length. A maximum ion density of $9.1310^{11}$ $cm^{-3}$ was measured by using electric probes, and an optimum arc efficiency of 0.46 A/kW was estimated with ion saturation current of the probes, arc power, and total beam area. An arcing problem, caused by the structural defect of decelerating grid supporter, in the third gap was solved by the blocking of backstream ion particles, originated from the plasma in the neutralizer duct, through the unnecessary spaces on the side of grid supporter. A maximum drain power of 1.5 MW (i.e. 70 kV/21 A) with hydrogen was measured for a pulse duration of 0.5 s. Optimum beam perveance was ranged from 0.75 to 0.85. An improved design of accelerator for the effective control of beam particle trajectory should provide higher beam perveance.