• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.24 no.4
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• pp.366-373
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• 2013

This paper discusses the singly curved phased reflector for reduced RCS pattern, which has minimized RCS level at boresight with a null by phase cancelation and the lowered RCS level of main beam by splitting the main beam into multi directions. Considering the reduced level of boresight and main beam compared to the same sized reference PEC, this proposed multi-beam reflector can be adopted in the mono-static radar and the bi-static radar environment. The proposed reflector is a multi-beam reflector, which has different phase distributions at each row for different steering angle. It is designed through an intermediate stage of a single and dual-beam reflector. The behaviors of the designed reflectors are verified through full-wave simulation and experiment. The reflectors are designed in the frequency of 10 GHz and it has a size $240{\times}180mm^2$($8{\times}6\;{\lambda}^2$) with the curvature k=3.3. From the measured results, the proposed reflectors reduce the reflected power by 17 dB at boresight.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.162-170
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• 2010

Adaptive arrays reject interferences while preserving the desired signal, exploiting a priori information on its arrival angle. Subspace-based adaptive arrays, which adjust their weight vectors in the signal subspace, have the advantages of fast convergence and robustness to steering vector errors, as compared with the ones in the full dimensional space. However, the complexity of theses subspace-based methods is high because the eigendecomposition of the covariance matrix is required. In this paper, we present a simple subspace-based method based on the PASTd (projection approximation subspace tracking with deflation). The orignal PASTd algorithm is modified such that eigenvectora are orthogonal to each other. The proposed method allows us to significantly reduce the computational complexity, substantially having the same performance as the beamformer with the direct eigendecomposition. In addition to the simple beamforming method, we present theoretical analyses on the SINR (signal-to-interference plus noise ratio) of subspace beamformers to see their behaviors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.315-321
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• 2014

This paper presents an integrated chassis control system with fail safety using optimum yaw moment distribution for a vehicle with steer-by-wire and brake-by-wire devices. The proposed system has two-level structure: upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control theory. In the lower-level controller, the control yaw moment is distributed into the tire forces of active front steering(AFS) and electronic stability control(ESC) with the weighted pseudo-inverse based control allocation(WPCA) method. By setting the variable weights in WPCA, it is possible to take the sensor/actuator failure into account. In this framework, it is necessary to optimize the variables weights in order to enhance the yaw moment distribution. For this purpose, simulation-based tuning is proposed. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package, CarSim.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.1
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• pp.155-161
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• 2018

Many short range weather radars with the low elevation search capability are needed for analysis and prediction of unusual weather changes or rainfall phenomena which occurs regionally. However, due to the characteristics of low elevation electromagnetic wave beam, it is highly probable that the received weather signals of these radars are contaminated by the ground and sea clutter. Since most of ground clutter appears around the very narrow low Doppler frequency region, it is somewhat easy to separate. However, the sea clutter removal is very difficult since it can occupy the broad Doppler frequency region according to weather conditions. Therefore, in this paper, the sea clutter removal capability is analyzed for a phased array weather radar which use vertical array elements for electronic elevation beam steering. Also, it is shown that the sea clutter removal can be achieved appropriately using the receiver beam forming technology in a phased array antenna.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.10
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• pp.909-916
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• 2016

The beacon receiver is an equipment which detects and measures the signal strength of transmitting satellite beacon signal. Beacon signals transmitted by satellites are low power continuous wave(CW) signals without any modulation intended for antenna steering to satellite direction and power control purposes on the earth. The beacon signal detection method using a very narrow band analog filter and RSSI(Received Signal Strength Intensity) has been typically used. However, it requires the implementation to track the frequency at the beacon receiver, thus a beacon frequency variation of the satellite due to temperature changes and long-term operation. Therefore, in this paper, the beacon signal detection receiver is designed by using a very narrow band digital filter array for a faster acquisition and SNR(Signal to Noise Ratio) method detection. For this purpose, by calculating the satellite link budget with the rain attenuation between satellite and ground station, and then extracting the received $C/N_o$ of the beacon signal, this work derives the bandwidth and the array number of the configured digital filter that gives the required C/N.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.22 no.3
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• pp.336-344
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• 2011

The purpose of this study is to analyze the radiation-pattern characteristics above 1 GHz for the electromagnetic wave radiated from multi-slot such as ventilations, etc. on the enclosure of an EUT and so to make recommendations for suitable test methods. An experimental EUT was formed by putting a comb-generator at the center of a rectangular enclosure with 4 slots, and its radiation pattern was analyzed in the frequency range of 1~6 GHz. As analysis results, multi-lobe appears above 2 GHz and the number of multi-lobes is growing as the frequency increases. And real radiated-emission measurements were performed for the experimental EUT by scanning a receiving antenna in the height of 1~4 m and tilting toward maximum radiation, as well as setting the height of a receiving antenna to the central position of the EUT which is prescribed at the present standards. The measured results are +12.8 dB in the scanning and +16.4 in the scanning and tilting compared with the present standard test method. Therefore, the latter must be revised in order to consider the radiation pattern above 1 GHz.

• Journal of the Microelectronics and Packaging Society
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• v.24 no.2
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• pp.29-35
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• 2017

In this paper, we investigated a manufacturing process of metal micro-wire interconnection on submillimeter diameter catheter. Over the years, flexible electronic researches have focused on flexible plane polymer substrate and micro electrode manufacturing on its surface. However, a curved polymer substrate, such as catheter, is very important for medical application. Among many catheters, importance of submillimeter diameter steerable catheter is increasing to resolve the several limitations of neurosurgery. Steering actuators have been researched for realizing the steerable catheter, but there is no research about practical wiring for driving these actuators. Therefore we developed a new manufacturing process for metal micro-wire interconnection on submillimeter diameter catheter. We designed custom jigs for alignment of the metal micro-wires on the submillimeter diameter catheter. An UV curing system and commercial products were used to reduce the manufacturing time and cost; Au micro-wire, UV curable epoxy, UV lamp, and submillimeter diameter catheter. The assembled catheter was characterized by using an optical microscope, a resistance meter, and a universal testing machine.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.6
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• pp.556-561
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• 2020

The aging and declining agricultural population in the modern society requires improvement of the agricultural environment and is one of the representative problems. And since most of the work systems always require a transport work, the ratio of labor consumed in the transport work is very high. Accordingly, many types of transport vehicles are being developed and sold, and in the early days, most of them are powered transport vehicles using fossil fuels. However, it is paying attention to next-generation eco-friendly energy such as hydrogen, fuel cells, solar power, and bio due to the strengthening of international environmental regulations such as global warming and the Convention on Climate Change and the depletion of fossil fuels. Therefore, in this study, the ultimate goal is to develop an eco-friendly, easy-to-operate, safe agricultural electric vehicle that replaces fossil fuels. It was designed with a focus on controlling a wide range of vehicle speeds and securing stability of electric agricultural vehicles. Considering the performance and design, it is composed of a frame, a driving part, a steering part, and a controller system, and we are going to review and manufacture each part. It is believed that the manufactured electric vehicle for agriculture can be easily and conveniently operated in an agricultural society where young manpower is scarce, and can be helpful to the agricultural society through high efficiency.