• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.417-420
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• 2004

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

• Journal of KSNVE
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• v.2 no.1
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• pp.49-59
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• 1992

The motion analysis of a translation device driven by a piezoelectric actuator is performed to identify the mechanics of impact drive mechanism and to find the maximum speed waveform. The translation device is modeled as a semidefinite two-degree-of-freedom system. The motion analysis includes effects of friction force between moving mass and contact surface, dynamics of voltage amplifier and piezoelectric elements, and hysteresis of piezoelectric actuator. Base on the model, simulation studies are carried out and then compared with experimental results. It is found that the error between moving distances obtained by analysis and experiment is less than 15% and that the actual motion of moving mass is well predicted by the analytical work, finally, precision positioning experiments are carried out by using a proximity sensor as a feedback sensor. Position control of moving mass is initiated by the maximum speed waveform and finely tuned by the scaled down waveform so that accurate positioning is accomplished within the resolution of the sensor.

• PNF and Movement
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• v.5 no.1
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• pp.1-8
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• 2007

Purposes : The purpose of this study was to measurement the change of cervical and lumbar range of motion according to plantar surface compliance in standing status. Method : The thirty normal adult(15men and 15women) aged between 20 and 35 were assigned to 3 group: first, in bottom piece shoe plantar form not changed the control group, the fore foot which was hard and the rear foot was soft the FHRS Group, the fore foot which was soft and the rear foot was hard the FSRH Group. The cervical and lumbar Range of motion was examined before and after adaptation with corresponding form types Results : This study investigated the change which appears when it will be soft and hard to be. As a result, FHRS group the cervical extension and lumbar flexion increased and the cervical flexion and lumbar extension decreased(p<0.05). In opposition, the FSRH group the cervical flexion and lumbar extension increased and the cervical extension and lumbar flexion decreased(p<0.05).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.482-487
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• 2002

This paper presents a robot trajectory generation method based on the dual curvature theory of ruled surfaces. Robot trajectory can be represented as a ruled surface generated by the TCP(Tool Center Point) and my unit vector among the tool frame. Dual curvature theory of ruled surfaces provides the robot control algorithm with the motion property parameters. With the differential properties of the ruled surface, the linear and angular motion properties of the robot end effector can be utilized in the robot trajectory planning.

• Journal of Astronomy and Space Sciences
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• v.26 no.4
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• pp.651-658
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• 2009

Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.386-393
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• 2008

A position control method for interpolating aspherical grinding and polishing tool path was reviewed and experimented in a nano precision machine. The position-base algorithm was reformed from the time-base algorithm, proposed in the previous study. The characteristics of the algorithm were in the velocity control loop with position feedback. The aspherical surface was divided by an interval at which each velocity and acceleration were calculated. The theoretical velocity was corrected by position error during processing. In the experiment, a machine was constructed and nano-scale linear encoders were installed at each axis. Relation between process parameters and the variation of position error was monitored and discussed. The best result from optimized parameters showed that the accuracy was 150nm and improved from the previous report.

• Smart Structures and Systems
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• v.25 no.6
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• pp.643-655
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• 2020

Active control of nonlinear vibration of stiffened functionally graded (SFG) cylindrical shell is studied in this paper. The system is subjected to axial and transverse periodic loads in the presence of thermal uncertainty. The material composition is considered to be continuously graded in the thickness direction, also these properties depend on temperature. The relations of strain-displacement are derived based on the classical shell theory and the von Kármán equations. For modeling the stiffeners on the cylindrical shell surface, the smeared stiffener technique is used. The Galerkin method is used to discretize the partial differential equations of motion. Some comparisons are made to validate the SFG model. For suppression of the nonlinear vibration, the linear and nonlinear control strategies are applied. For control objectives, the piezoelectric actuator is attached to the external surface of the shell and the thin ring piezoelectric sensor is attached to the middle internal surface of shell. The effect of PID, feedback linearization and sliding mode control on the suppression of vibration for SFG cylindrical shell is presented.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.3-4
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• 2007

Orientational ordering of polar molecules and excess charges at the interface are main origins of surface polarization. For organic electronics, probing and control of these two surface polarization phenomena are key issues. In this presentation, I report a novel electrical measurement that can directly probe orientational dipolar motion in surface monolayers by Maxwell-displacement-current, and also report a novel optical technique that allows carrier motions in organic materials by measuring the optical second harmonic signals activated by the electric field. Then I discuss how the control of dipolar motions and carrier motions are linked to organic electronics applications such as organic field effect transistors.

• PNF and Movement
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• v.20 no.1
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• pp.51-58
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• 2022

Purpose: The purpose of this study was to investigate the effect of thoracic-lumbar dissociation motion and slump motion on thoracic-lumbar erector spinae and rectus abdominis muscle activity. Methods: Seventeen healthy adult volunteers participated in this study. All participants performed two motions (thoracic-lumbar dissociation motion, slump motion). Muscle activation during the two motions was measured using a surface electromyography device. The data from this were collected from the iliocostalis thoracis, iliocostalis lumborum, and rectus abdominis. The activities of these muscles before and after each motion were then compared. Results: The iliocostalis thoracis activation was significantly greater during the thoracic-lumbar dissociation motion than during the slump motion (p <0.05). The iliocostalis lumborum activation was greater during the slump motion than during the thoracic-lumbar dissociation motion (p <0.05). The rectus abdominis activation was lesser during the slump motion than during the thoracic-lumbar dissociation motion (p <0.05). Conclusion: This study confirmed that individual contraction of the erector spinae muscles is possible during thoracic-lumbar dissociation motion, which increases the stability of the thoracic spine. In addition, this motion could improve control of the rectus abdominis. Therefore, thoracic-lumbar dissociation motion should be considered for rehabilitation programs for patients with kyphosis and back pain.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.