• 산업공학
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• 제24권3호
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• pp.187-195
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• 2011

The automatic radiopharmaceutical module consists of several 2-way valves, couple of syringes, gas supply unit, heating(cooling) unit and sensors to control the chemical reagents as well as to help the chemical reaction. In order to control the actuators of radiopharmaceutical module, the process is tabulated using spread sheet as like excel. Unlike the common program, a trivial error is too critical to allowed in the process because the error can lead to leak the radioactive reagent and to cause the synthesis equipment failure during synthesizing. Hence, the synthesis process has been validated using graphic simulation while the operator checks the whole process visually and undergoes trial and error. The verification of the synthesis process takes a long time and has a difficulty in finding the error. This study presents a methodology to verify the process algebraically while the radiopharmaceutical module is converted to the network model. The proposed method is validated using actual synthesis process.

• Journal of Biosystems Engineering
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• 제31권4호
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• pp.334-341
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• 2006

This study designed to develop a mower which can reach to side of a tractor or inclined road side and operate weeding. The prototype consists of 4 parts; the base and turning equipment, the boom, the arm, the weeder. The hydraulic actuators were divided into two operations, weeding and operation of boom and they were controlled by electrical equipment. Weeding was very effective when pressure set up at $15{\ell}/min$ using weeding, as $2.27kg{\cdot}m$, 2,210rpm. Weeding range of flail mower was 1.1 to 2.6m from the center of turning equipment at a flat. In case of disk mower, it was 1.5 to 2m. As a result of operation test, flail mower was appropriate for weeding at fence and short weeds, disk mower was appropriate for long weeds.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.795-800
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• 2014

In this paper, a vibrotactile pad system, T-mobile, is developed to provide vibrotactile cues for hand-held devices. A grooved and slim design is adapted to the back-side plane of the T-mobile, and the contact part consists of 12 vibrotactile panels which can operate independently and separately. To be isolated among vibrotactile actuators, the surface of the cover is divided into several pieces. Each vibrating module consists of a linear resonant actuator, a section of covering surface, and a vibration isolator. In order to provide spatial and directional information, sensory saltation and phantom sensation are applied to the T-mobile. To evaluate the developed device, two experiments were conducted to test whether directional information and spatial information can be successfully displayed by the device. Additionally, in order to find optimal stimulation by sensory saltation, an empirical test was conducted. As a result, spatial and directional information would be useful for displaying intuitive information for hand-held devices with vibrotactile feedback and reasonable near-optimal value for sensory saltation was obtained.

• 한국유체기계학회 논문집
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• 제11권2호
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• pp.20-28
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• 2008

Recently, butterfly valves are used as control valves for industrial process. However, there are not so many reports on cryogenic butterfly valves in spite of broad application in LNG storage station and LNG carriers. Present study is focused on the investigation of the detailed hydrodynamic and aerodynamic characteristics of cryogenic butterfly valves to contribute to the operation during the handling on LNG transportation system, and to the practical utilization in design of butterfly valves and actuators. The results show that large recirculation vortices in the region downstream of the valve are founded and the cavitation flows are intensively generated on the surface of valve disc at the relatively small opening angle. The aerodynamic characteristics, lift, drag and torque, acting on the valve disc are calculated. The pressure distribution and the pressure loss coefficient of the cryogenic butterfly valve show almost similar pattern with those of the butterfly valve which is used on the normal temperature.

• 한국정밀공학회지
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• 제26권4호
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• pp.82-90
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• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.

• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.70-78
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• 2005

This paper presents hybrid control of displacement and force in a Medical Tele-Analyzer by disturbance observer-based controller which is robust to internal and external disturbances; model uncertainty, load, and friction for instances. The developed Medical Tele-Analyzer consists of 2 subsystems; doctor-side subsystem and patient-side subsystem. In the doctor side subsystem, an array of displacement sensor is equipped to detect movement of doctor's hand and fingers. The detected information is transmitted to the patient side to be used in medical analysis. On the other hand, the patient-side subsystem consists of an array of displacement actuators, which is used to follow displacement of doctor's hand and fingers. An array of force sensors is used to detect forces between patient and the equipment. Since displacement control in patient side is coupled with force control in doctor side and vice-versa, design of the controller has to take into account this coupling. Not only using in medical tele-analysis, the proposed system can also be used in any tele-displacement-force controls of industrial processes.

• 한국세라믹학회지
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• 제55권5호
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• pp.419-439
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• 2018

Piezoelectric materials are essential parts of the electronics and electrical equipment used for consumer and industrial applications, such as ultrasonic piezoelectric transducers, sensors, actuators, transformers, and resonators. In this review, the development of piezoelectric materials and the figures of merit for various electromechanical applications are surveyed, focusing on piezoelectric crystals, i.e., the high-performance relaxor-$PbTiO_3$-based perovskite ferroelectric crystals and nonferroelectric high-temperature piezoelectric crystals. The uniqueness of these crystals is discussed with respect to different usages. Finally, the existing challenges and perspective for the piezoelectric crystals are discussed, with an emphasis on the temperature-dependent properties, from cryogenic temperatures up to the ultrahigh-temperature usage range.

• 조명전기설비학회논문지
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• 제13권1호
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• pp.60-68
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• 1999

본 논문은 미지이거나 변화하는 산업용 로봇 매니퓰레이터의 추종문제를 다룬다. 제시된 방법은 간접적응 제어기 구조를 근거로 퍼지추론에 의한 스위칭 구조를 통해 다중모델 적응제어기를 설계하고자 한다. 매니퓰레이터 한 개의 식별기를 이용한 다중 식별기들은 미지 관성 파라미터와 부하무게의 초기 추정치를 제외하고는 동일하다. 관절 액츄에이터에 가해진 토크입력은 매순간 로봇 동적시스템의 가장 근접한 식별기 모델에 의해 결정된다. 제시된 방법을 이용하여 용접라인 및 부품조립 자동화 설비 등의 적용 예로서 산업용 로봇 매니퓰레이터의 추종성능이 개선됨을 컴퓨터 모의 실험을 통해 보인다.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2001년도 춘계학술대회 발표논문집
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• pp.220-223
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• 2001

Pb가 10% 과잉되고 Zr : Ti = 52 : 48 조성을 갖는 PZT sol이 Pt(3500Å)/Ti(400Å)/SiO₂(3000Å)Si(525㎛)기판 위에 스핀 코팅법으로 반복 코팅된 후, 450℃에서 10분, 650℃에서 2분간 반복 열처리되었다. 이와 같이 다양한 두께로 적층된 박막은 각 시편에 대해 최종적으로 650℃ 30분 동안 어닐링 처리되었다. 제조된 PZT 박막의 두께는 4100Å에서 1.75㎛사이의 4종이었다. 이어서 스퍼터링법으로 Pt전극이 PZT 막 위에 증착되었다. 제조된 PZT 박막의 결정 구조 조사를 위해 XRD, 그리고 미세 구조 및 전기적 특성을 알아보기 위해 FESEM과 P-E 이력 곡선이 각각 관찰되었다. 4100Å에서 1.75㎛까지 두께 증가에 따른 장비상의 포화 이력 한계로 잔류 분극(Pr)값이 25μC/㎠에서 다소 감소되었다. 측정된 X선 회절 결과에서 최초 4회 코팅시 perovskite 결정 구조로 성장한 결정립은 (111)배향이 우세하었으나, 두께가 증가됨에 따라 (111)/(110)값이 감소되었으며, 이를 통해 두께 증가에 따른 (111)배향성이 다소 감소됨을 알 수 있었다. 이상의 결과로부터 제조된 PZT 박막은 큰 힘과 높은 내전압 특성을 갖는 마이크로 압전 액츄에이터에 적용될 수 있을 것으로 생각되었다.