• 한국CDE학회논문집
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• 제14권1호
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• pp.33-41
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• 2009

Triangular mesh models are widely used in reverse engineering, computer graphics, rapid prototyping and NC(numerical controller) tool-path generation. Triangular mesh models are generated from point clouds, surface models and solid models. A halfedge-based triangular mesh data structure is proposed and the development considerations are presented. In the presented data structure, halfedge is the key data structure. Halfedge stores its triangle index and the order in the triangle. Triangles do not store the halfedge lists explicitly. Halfedge is referred by value and defined when it is required. Proposed data structure supports four design requirements: efficient rendering, compact memory, supporting efficient algorithms and easy programming.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.949-952
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• 1996

The ultrasonic motor(USM) has good characteristics such as compact size, silent motion, low speed, high torque and high speed response. The USM is driven by 2-phase AC electricity. The control parameters of USM are voltage, phase difference, frequency of input power, etc. In this paper, we propose voltage difference control. And we designed USM controller to adjust voltage and phase using pLSI(programmable Large Scale Integration). Voltage difference control has many advantages that are lower current, lower power than phase difference control. Especially there is nearly zero ampere at the zero point of speed and torque. we can apply this voltage difference control to the compliance control of DD manipulator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.308-310
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• 1996

Recently, as a result of the progress in power electronics and microelectronics, the inverter technology is quickly developing. Also, by using the fast microprocessor and small-sized switching devices, such as IPM, the Inverter becomes more compact and cheap. This paper proposes an inexpensive and small-sized vector controller for induction motors using 87C196MC and IPM. The proposed inverter contributes further space-saving, and high performance features to motor drives system.

• 한국정밀공학회지
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• 제13권10호
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• pp.146-153
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• 1996

This paper presents the development of a collocated capacitance sensor and its application to the controller design for magnetic bearing supported rotor systems. The main feature of the sensor is that it is made of a compact printed circuit board(PCB) so that it can be built into the actuator coil of the magnetic bearing unit. The singnal processing unit hax been also developed. The experi- mental results of the sensor performance evaluation on sensitivity, bandwidth and resolution are presented. Then, simulation study shows the advantages of the collocated sensor for magnetic bearings over the nonco- llocated sensor. Finally, the experimental result on the performance of the collocated sensor based contrl- ler for a magnetic bearing rotor system is presented.

• 유변학
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• 제11권2호
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• pp.97-104
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• 1999

본 연구에서는 전기장의 인가 유무에 따라 유체의 유변성질이 가역적으로 변화하는 ER(electro-rheological) 유체를 이용하여 CD-ROM(compact disc-read only memory) 마운트를 구성한 후 피딩 시스템의 진동제어를 수행하였다. 이를 위하여 우선 특수화학처리된 전분계 ER유체를 조성하였으며, 전단모드 및 유동모드하에서 전기장에 따른 항복응력을 실험적으로 도출하였다. 도출된 ER유체의 항복응력에 근거하여 복합모드형 CD-ROM 마운트를 설계, 제작하였다. 제작된 ER CD-ROM 마운트의 진동절연 특성을 주파수 영역에서 고찰하였으며 기존의 고무마운트 성능과 비교하였다. 나아가서 제안된 마운트를 장착한 정보저장기기 드라이브 피딩 시스템의 동적 모델링을 수행하였으며, 진동제어를 위한 스카이훅 제어기를 설계하였다. 컴퓨터 시뮬레이션을 통하여 여러 외란(가진) 조건에 따른 피딩 시스템의 진동제어 성능을 주파수 및 시간 영역에서 고찰하였다.

• Restorative Dentistry and Endodontics
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• 제26권2호
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• pp.134-140
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• 2001

The polymerization shrinkage of composite resins is an important drawback although the composites have many advantages-more esthetic and conservative than metallic restoratives etc. The purposes of this research were to develop a new measurement method and to manufacture an instrument that can measure the initial dynamic volumetric shrinkage of composite resins during polymerization. The instrument was basically an electromagnetic balance that constructed with a force transducer using position sensitive photo detector(PSPD) and a negative feedback servo amplifier of proportional-derivative(PD) controller. The volumetric change of composites during polymerization was detected continuously as buoyancy change in distilled water by means of Archimedes's principle. It was converted to continuous electrical voltage signal in real time. The signal was properly conditioned and filtered and then it was stored in computer by a data acquisition(DAQ) board. By using this electronic instrument. the dynamic patterns of the polymerization shrinkage of eight commercial(Z-100, DenFil, AeliteFil, Z-250, P-60, SureFil, Synergy compact, and Tetric ceram) composite resins were measured and compared. The results were as follows. 1. From this project of developing instrument, the ability has been achieved that can acquire and process data of electrical signal transformed from various physical phenomenon by using temperature, displacement. photo. and force transducer. As a consequence, the instrumentation and measurement system used to analyze the physical characteristics of various dental materials in dental research field can be designed, manufactured and implemented in lab. 2. This instrument has some advantages. It was insensible to temperature change and could measure true dynamic volumetric shrinkage in real time without complicated process. It showed accuracy and high precision results with small standard deviation. 3. The polymerization shrinkage of composites was significantly different between brands and ranged from 2.47％ to 3.89％, The order of polymerization shrinkage was as follows, in order of increasing shrinkage, SureFil, P60, Z250, Z100, Synergy compact. DenFil, Tetric ceram, and AeliteFil. 4. The polymerization shrinkage rate per unit time, dVol％/dt, showed that the instrument can provide an indirect research method for polymerization reaction kinetics.

• 대한의용생체공학회:의공학회지
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• 제29권1호
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• pp.32-39
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• 2008

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

• 한국지능시스템학회논문지
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• 제25권4호
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• pp.398-404
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• 2015

본 논문에서는 관성측정장치를 기반으로 블루투스 환경에서의 자율비행을 위한 멀티 로터형 헬리콥터에 대한 설계 및 성능을 제시하였다. 멀티 로터관련 다양한 연구가 진행되어오고 있긴 하지만 최근에는 다양한 서비스를 목적으로 짐벌이 장착된 헥사로터형의 헬리콥터에 대한 관심이 모아지고 있다. 따라서, 본 논문에서는 지상의 원격조정 PC나 고성능의 원격제어장치나 영상시스템과 같은 외부보조 시스템 없이 연구와 구조활동, 모니터링 활동을 수행할 수 있는 컴팩트하고 자율비행을 위한 헥사로터(hexa rotor)형 헬리콥터에 대한 하드웨어 및 소프트웨어를 소개하고자 한다. 제안한 시스템은 헥사로터 헬리콥터의 구조와 관성측정장치 관련 하드웨어 구성과 수학적 모델링 및 시뮬레이션 결과를 각각 제시하였다. 또한, IMU 구현을 위하여 MCU(ARM-cortex) 보드를 장착하여 각 로터의 회전과 관성 측정장치의 입력신호에 대한 상태를 제어할 수 있도록 하였다. 그리고 시스템 시뮬레이션과 실험을 통한 시스템의 성능을 각각 검증하였다.

• 한국정밀공학회지
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• 제26권2호
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• pp.45-53
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• 2009

Today, reduction of $CO_2$ exhaustion gas for global-warming prevention becomes important issues in all industrial fields. Hydraulic systems have been widely used in industrial applications due to high power density and so on. However hydraulic pump is always being operated by engine or electric motor in the conventional hydraulic system. Therefore most of the conventional hydraulic system is not efficient system. Recently, an electro-hydraulic hybrid system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. In the electro-hydraulic hybrid system, hydraulic pump is operated by electric motor only when hydraulic power is needed. Therefore the electro-hydraulic system can reduce the energy consumption drastically when compared to the conventional hydraulic systems. This paper presents a new kind of hydraulic load simulator which is composed of electro-hydraulic hybrid system. Disturbances in the real working condition make the control performance decrease or go bad. QFT controller is designed to eliminate or reduce the disturbance and improve the control performance of the electro-hydraulic load simulator. Experimental results show that the proposed controller is verified to apply for electro-hydraulic hybrid system with varied external disturbances.

• 전자공학회논문지SC
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• 제48권3호
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• pp.6-12
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• 2011

다중 구동기로 이루어진 실시간 분산제어시스템으로 전기자동차, 다중 로봇시스템 등을 들 수 있다. 이러한 시스템들에는 여러 개의 프로세서가 필수적으로 요구된다. 시스템 구성요소별로 프로세서를 내장한 제어 기기에는 모듈화, 소형화, 저전력화 및 상호운용가능성과 내고장성이 요구되며, 이를 위해서 제어시스템이 네트워크기반 실시간 분산제어시스템의 형태로 구현될 필요가 있다. 네트워크기반 실시간 분산제어시스템 구현 시 각 구동부간 동기화 문제에 의해 고속, 고정밀 및 고신뢰성을 갖는 것이 어렵다. 동기화 문제의 원인으로는 부하변동, 구동부간 동특성 불일치 및 구동부 제어기기간의 통신에 따른 시간지연을 들 수 있다. 본 연구에서는 연결 부하가 서로 다른 경우와 연결부하 뿐만 아니라 구동 모터의 동역학적 특성도 다른 경우의 단일 링크 머니퓰레이터에 대하여 외란관측기와 칼만 필터를 이용한 동기화 제어법과 목표치와 실측치 및 실측치들 사이의 에러 벡터의 노름에 대한 스칼라 함수를 정의하고 이 함수의 기울기 벡터를 최소화시키는 목표궤적을 이용한 동기화제어법을 제시하고 실험을 통하여 그 유용성을 확인한다.