• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.145-155
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• 1998

An $H{\infty}$ controller with a roll eccentricity filter is proposed to alleviate the effect of entry thickness variation and roll eccentricity occured in rolling stands themselves of tandem cold mills. A robust controller to the disturbances is designed by H$_{\infty}$ control techniques, which can reflect the input direction of disturbances and the knowledge of disturbance spectrum in the frequency domain. First, fundamental problems in tandem cold mills such as process transport delay inherent in the exit thickness measurement and the feedforward loading of roll eccentricity signals on the exit thickness be overcome by the roll eccentricity filtering and the compensation for the error of gaugemeter thickness estimator. And non-satndard $H{\infty}$ control problem caused by the selection of weighting function having poles on the $J{\omega}$-axis is discussed. The resultant controller composed by an $H{\infty}$ controller and an estimator for the roll eccentricity is evaluated through computer simulations. The effectiveness of the proposed control method is compared to that of the conventional LQ controller method and a feedforward controller for the roll eccentricity, which has been already studied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.135-136
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• 2006

A precise linear motion stage supported by magnetically preloaded air bearings is introduced where preloading magnetic actuators are combined with permanent magnets and coils to adjust air bearing clearance by controlling magnetic force actively. Each of the magnetic actuators has a permanent magnet generating nominal magnetic flux for required preload and a coil to perturb the magnetic force resulting adjustment of air-bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate nominal preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder is built for verifying this design concept. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed, and the result shows very good linearity.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2006.11a
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• pp.197-200
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• 2006

ATSC DTV시스템에서는 심볼타이밍 동기를 위해서 ATSC규격에 소개되어있는 $77.3{mu}s$ 마다 반복적으로 삽입되어있는 세그먼트 싱크를 이용하는 세그먼트 동기 방법 또는 QAM과 같은 다중레벨을 가지는 신호에 일반적으로 사용되는 가드너(Gardner)방법을 사용한다. 이중 가드너 방법은 매심볼마다 타이밍 에러성분을 추출하므로 다중경로 채널에서 타이밍동기를 추적하면서 유지하는데 유리한 방식이어서 일반적으로 사용한다. 가드너 방법을 이용하는 ATSC DTV시스템에서 가드너 방법에 에러를 검출하기 위해 사용되는 가드너 타이밍 에러 검출기(Timing Error Detector)는 수신단의 파워레벨이 기준 파워레벨에서 크게 벗어날 경우 에러를 검출 할 수 없는 문제점을 가지고 있다. 이를 해결 하기 위해 가드너 타이밍 에러 검출기 블록 앞에 송신파워 레벨과 수신파워 레벨의 비를 이용하여 정상적인 수신 파워 레벨로 수신학 수 있도록 보정하는 블록을 추가하여 전체적인 동기성능을 향상시키는 알고리즘을 제안한다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.1
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• pp.63-68
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• 2018

At present, ultra-precision cutting technology has been studied in Korean research institutes, focusing on development of ultra-precision cutting tool technology and ultra-precision control engineering. However, the developed technologies are still far behind advanced countries. It focuses on metals including aluminum, copper and nickel, and nonmetals including plastics, silicone and germanium which require high precision while using a lathe. It is hard to implement high precision by grinding the aforementioned materials. To address the issue, the ultra-precision cutting technology has been developing by using ultra-precision machine tools very accurate and strong, and diamond tools highly abrasion-resistant. To address this issue, this study aims to conduct ultra-precision cutting by using ECTS (Error Compensation Tool Servo) to improve motion precision of elements and components, and compensate for motion errors in real time. An IR camera is used for analyzing cutting accuracy differences depending on the heat generated in diamond tools in cutting to examine the heat generated in cutting to study cutting accuracy depending on generated heat.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.633-642
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• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• Journal of the Korea Society of Computer and Information
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• v.13 no.4
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• pp.151-159
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• 2008

Mobile broadband wireless network is emerging as one of the hottest research areas due to technical advances, and the demands of users who wish to enjoy the same network experience on the move. In this paper, we investigate the handover process at the medium access control (MAC) layer in an IEEE 802.16e-based system. In particular, we identify problems concerned with the scan initiation Process called cell reselection and propose a received signal strength (RSS) estimation scheme to dynamically trigger a scanning process. We show how the RSS estimation scheme can timely initiate a scanning process by anticipating RSS values considering scan duration required.

• Journal of the Korea Safety Management & Science
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• v.16 no.4
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• pp.305-311
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• 2014

Recently, though it was developed several services using the context-awareness technology of IoT, there exist also obstacles for high quality service. Specifically it is short the study for uncertainty of context-awareness. This study focused on understanding the effect of frequency interference among several environmental factors for location determination to increase precision of location determination. It was found that frequency interference between devices using 2.4Ghz frequency effect on the location determination precision. It was resulted that frequency interference increase the error of location determination precision. Then, we confirmed that it was required the suitable compensation method corresponding to frequency interference.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.34-41
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• 2003

Finite element analysis of end-to-end artery/PTFE anastomosis recently have been researched. But, these studies were carried out without the compensation for the error of finite element analysis and assumed the artery and PTFE as the simple cylindrical shape in spite of being the fatty tissue which covers the heart. Therefore, we performed the convergency study with respect to increasing the element numbers and considered the fatty tissue as the elastic foundation in the finite element analysis. The results are as fallow ： 1. An anastomosis with the thinner thickness and larger diameter PTFE than artery could reduce the compliance disagreement. 2. A fatty tissue was affected to reduce the compliance mismatch in the vicinity of anastomosis of different material. Therefore a hypercompliant zone become narrorw and a compliance discrepancy decrease between the artery and the PTFE about 70%. And radial displacement with respect to longitudinal direction of an artery and the PTFE anastomosis was similar to a sectional compliance.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.6
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• pp.473-480
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• 2016

This study proposes a performance improvement for parallel-connected thyristor dual converters using a circulating current with an unbalanced parallel operation compensator. The proposed control method determines a variable reference value for the voltage PI controller according to voltage error at firing angle control applied to a difference current control. This method uses circulating current control to maintain a stable voltage and excellent current response during parallel operation. The effectiveness of the proposed control is verified with a simulation and an experiment based on the comparison of the performance of the proposed control method with other conventional methods.