• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.93-100
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• 2006

In this paper, a new-type Extended Kalman Filter (EKF) is proposed as a robust nonlinear filter for a stochastic nonlinear system. The original EKF is widely used for various nonlinear system applications. But it is fragile to its estimation errors because they give rise to linearization errors that affect the system mode1 as the modeling errors. The linearization errors are nonlinear functions of the estimation errors therefore it is very difficult to obtain the accurate error covariance of the EKF using the linear form. The inaccurately estimated error covariance hinders the EKF from being a sub-optimal estimator. The proposed filter tries to obtain the upper bound of the error covariance tolerating the uncertainty of the error covariance instead of trying to obtain the accurate one. It treats the linearization errors as uncertain modeling errors that can be handled by the robust linear filtering. In order to be more robust to the estimation errors than the original EKF, the proposed filter minimizes the upper bound like the robust linear filter that is applied to the linear model with uncertainty. The in-flight alignment problem of the inertial navigation system with GPS position measurements is a good example that the proposed robust filter is applicable to. The simulation results show the efficiency of the proposed filter in the robustness to initial estimation errors of the filter.

• Journal of Mechanical Science and Technology
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• v.19 no.4
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• pp.968-975
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• 2005

The shearing process for the sheet metal is normally used in the precision elements such as semi-conductor components. In these precision elements, the burr formation brings a bad effect on the system assembly and demands the additional de-burring process, so this imposes high cost on manufacturing. In this paper, we have developed the in-situ auto-aligning precision meso-punching system to investigate the burr formation mechanism and ultimately minimize burr. Firstly, we introduced the punch-die contact sensing method to align the punch and the die at initial state prior to the punching process. Secondly, by using the low-price semi-con­ductor laser, burr formed on the edges is measured intermittently during the punching process. We could, finally, make burr on the sheet metal uniformized and minimized by controlling of the precision X - Y table, $1\;{\mu}m$ resolution, and measuring burr height by semiconductor laser. Experimental results show the validity of our system for pursuing the burr-free punched elements.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.275-278
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• 1999

We have grown vertically aligned carbon nanotubes in a large area of Co-Ni codeposited Si substrates by the thermal CVD using $C_2$H$_2$gas. Since the discovery of carbon nanotubes, Synthesis of carbon nanotubes for mass production has been achieved by several methods such as laser vaporization, arc discharge, and pyrolysis. In particular, growth of vertically aligned nanotubes is of technological importance for applications to FED. Recently, vertically aligned carbon nanotubes have been grown on glass by PECVD. Aligned carbon nanotubes can be also grown on mesoporous silica and Fe patterned porous silicon using CVD. Despite such breakthroughs in the growth, the growth mechanism of the alignment are still far from being clearly understood. Furthermore, FED has not been clearly demonstrated yet at a practical level. Here, we demonstrate that carbon nanotubes can be vertically aligned on catalyzed Si substrate when the domain density reaches a certain value. We suggest that steric hindrance between nanotubes at an initial stage of the growth forces nanotubes to align vertically and then nanotubes are further grown by the cap growth mechanism.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.72-78
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• 2007

Determination of the local vertical is not trivial for a moving vehicle and in general will require corrections for the Earth geophysical deflection. The vehicle's local vertical can be estimated by INS integration with initial alignment in SDINS(Strap Down INS) system. In general, the INS has drift error and it cause the performance degradation. In order to compensate the drift error, GPS/INS augmented system is widely used. And in the event that GPS is denied or unavailable, celestial navigation using star tracker can be a backup navigation system especially for the military purpose. In this celestial navigation system, the vehicle's position determination can be achieved using more than two star trackers, and the accuracy of position highly depends on accuracy of local vertical direction. Modern tilt sensors or accelerometers are sensitive to the direction of gravity to arc second(or better) precision. The local gravity provides the direction orthogonal to the geoid and, appropriately corrected, toward the center of the Earth. In this paper the relationship between direction of center of the Earth and actual gravity direction caused by geophysical deflection was analyzed by using precision orbit simulation program embedded the JGM-3 geoid model. And the result was verified and evaluated with mathematical gravity vector model derived from gravitational potential of the Earth. And also for application purpose, the performance variation of pure INS navigation system was analyzed by applying precise gravity model.

• JSTS:Journal of Semiconductor Technology and Science
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• v.6 no.4
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• pp.264-269
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• 2006

A $0.12GHz{\sim}1.4GHz$ DLL-based clock generator with the capability of multiplied four phase clock generation was designed using a 0.18um CMOS process. An adaptive bandwidth DLL with a regulated supply delay line was used for a multiphase clock generation and a low jitter. An extra phase detector (PD) in a reference DLL solves the problem of the initial VCDL delay and achieves a fast lock time. Twice multiplied four phase clocks were generated at the outputs of four edge combiners, where the timing alignment was achieved using a coarse lock signal and the 10 multiphase clocks with T/8 time difference. Those four clocks were combined one more time using a static XOR circuit. Therefore the four times multiplication was achieved. With a 1.8V supply, the rms jitter of 2.1ps and the peak-to-peak jitter of 14.4ps were measured at 1.25GHz output. The operating range is $0.12GHz{\sim}1.4GHz$. It consumes 57mW and occupies 450*325um2 of die area.

• Korean Journal of Computational Design and Engineering
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• v.20 no.4
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• pp.431-442
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• 2015

Currently, a BIM-based quantity takeoff (QTO) system is mainly focused on architectural projects. To perform this, diverse quantity takeoff methods such as an object-based automatic quantity takeoff, manual quantity and base functions of calculation have widely been utilizing. However, since BIM library for road projects includes structural elements associated with alignment, it is necessary to establish cost estimation system interlocked with historical cost using 3D library by each unit length. Accordingly, the aim of this study is to develop cost estimation model with using a historical cost approach so that it can be utilized in construction planning based on the BIM library for road projects. For this, based on the BIM library for road, the standardized quantity is estimated, and a process for calculating historical cost and a verification model with a 5D simulation was developed by mapping a WBS code with each BIM library object. This can be applied during the approximate cost estimation process in a project planning and an initial design phase for road projects. Besides, it is expected that these results will be utilized in constructing an optimal historical cost estimation process for project libraries.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.10 s.253
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• pp.957-965
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• 2006

A high-performance hot chuck is designed as a heating device for an ultra-precision flip-chip bonder with infrared alignment system. Analysis of design requirements for thermal performance leads to a radiative heating mechanism employing two halogen lamps as heating source. The heating tool is made of silicon carbide characterized by high thermal diffusivity and small thermal expansion coefficient. Experimental tests are performed to assess heat-up performance and temperature uniformity of the heating tool. It is revealed that the initial design of hot chuck results in a good heat-up speed but there exist a couple of troubles associated with control and integrity of the device. As a means to resolve the raised issues, a revised version of heating tool is proposed, which consists of a working plate made of silicon carbide and a supporting structure made of stainless steel. The advantages of this two-body heating tool are discussed and the improved features are verified experimentally.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.536-539
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• 2002

In this paper, we developed the automatic optical fiber aligner by image processing and automatic loading system. Optical fiber is indispensable for optical communication systems that transmit large volumes of data at high speed, but super-precision technology in sub-micron units is required for optical axis adjustment, we have developed 6-axis micro stage system for I/O optical fiber arrays, the initial automatic aligning system/software for a input optical array by the image processing technique, fast I/O-synchronous aligning strategy, the automatic loading/unloading system and the automatic UV bonding mechanism. In order to adjust the alignment it used on PC based motion controller, a $10\mu\textrm{mm}$ repeat-detailed drawing of automatic loading system is developed by a primary line up for high detailed drawing. Also, at this researches used the image processing system and algorithm instead of the existing a primary hand-line up. and fiber input array and waveguide chip formed in line by automatic. Therefore, the developed and manufactured optical aligning system in this research fulfills the great role of support industry for major electronics manufacturers, telecommunications companies, universities, government agencies and other research institutions.

• Proceeding of EDISON Challenge
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• 2015.03a
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• pp.48-52
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• 2015

Control of polymer conformations in heterogeneous confinement plays an important role in natural and engineering processes. We present a simulation study on the conformational structure and dynamics of a single, flexible polymer in a dense array of nanoposts with different sizes and separations, especially, when the volume of the interstitial space formed between four nanoposts is less than the size of the polymer chain. When a polymer is placed in the array of nanoposts, the size of polymer increases compared with that in the absence of nanoposts due to the confinement effect. It is shown that when a polymer is confined in the array of nanoposts the chain is elongated in the direction parallel to the nanoposts. As the interstitial volume between four nanoposts decreases either by increasing the nanopost diameter or by decreasing the separation between nanoposts, the chain elongation becomes more pronounced. On the contrary, the polymer size varies in a non-monotonic fashion, with an initial elongation followed by a chain contraction, as the interstitial volume is reduced both by increasing the nanopost diameter and decreasing the separation at the same time while keeping constant the width of the passageway between two nanoposts. The simulation analysis shows that the non-monotonic dependence of polymer size is determined by interplay between the chain alignment along the nanoposts in each interstitial volume and the chain spreading through passageways over several interstitial volume.

• Journal of the Optical Society of Korea
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• v.19 no.6
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• pp.604-613
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• 2015

An unobstructed off-axis two-mirror system is presented in this paper. First a suitable initial configuration is established based on third-order aberration theory. In order to achieve a wide field of view (FOV) with high image quality , the diffractive mirror is adopted in the two-mirror system to increase the optimization freedom and the aberration relationship between diffractive phase coefficients and Zernike coefficients is derived. Furthermore, a complete comparison design example with a focal length of 1200 mm, F-number of 12, and FOV of 40° × 2° is given to verify the aberration correction ability of the diffractive mirror. The system average wavefront error is 0.007 λ (λ=0.6328 μm) developed from 0.061 λ when the system didn’t adopt the diffractive mirror. In this system the phase modulation function of the diffractive mirror is established as an even function of x, so we could obtain a symmetrical imaging quality about the tangential plane, and the symmetric aberration performance also brings considerable convenience to alignment and testing for the system.