• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.846-851
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• 2004

In this paper, a sliding mode control based on disturbance observer is proposed to attenuate disturbance responses in an active magnetic bearing system, which is subject to base motion. An algorithm for exactly decoupling the disturbance estimation dynamics from the sliding mode dynamics is developed. It is also shown that the proposed method preserves the robustness of the sliding mode and asymtotically achieves zero regulation error, in the presence of external disturbances and parametric uncertainties. The proposed control is applied to a 2-DOF active magnetic bearing system subject to base motion. The feasibility of the proposed technique is illustrated, and the results of an experimental demonstration are shown.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2013년도 추계학술발표대회
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• pp.1683-1685
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• 2013

이 논문에서는 환경적 장애 극복을 위한 소프트웨어 접근성 향상을 위한 시스템인 PC Helper을 제안한다. P.C Helper는 [Speech Mode]와 [Motion Mode] 두 가지의 모드로 구성된다. [Speech Mode]에서는 UI Speaking Engine을 활용하여 음성으로 응용프로그램을 제어하고, [Motion Mode]에서는 Gesture Engine을 활용하여 모션을 이용한 가상의 키보드와 마우스를 제어할 수 있다. 이 두 가지 기능을 제공하여 환경적 장애가 있는 사람들에게 용이한 인터페이스를 제공하고자 하였다. UI Speaking Mode로 Microsoft Office 응용 프로그램 약 70%정도 제어하는 것이 가능하였다.

• 한국전자파학회논문지
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• 제26권3호
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• pp.342-348
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• 2015

본 논문에서는 펄스 모드 발진기와 지연선로를 이용하여 새로운 감지 형태를 갖는 버블형 동작감지기를 제안하고, 설계 및 제작하였다. 제안된 동작감지기는 송신 신호의 펄스폭으로 버블 형태의 감지 영역을 형성하며, 지연선로에 의해 시간 지연되는 거리에 해당하는 물체에서 반사된 신호만을 감지하여 IF 신호를 만들어낸다. 제작된 동작감지기는 중심주파수 8 GHz, 펄스 폭 2 nsec, 펄스 주기 30 nsec를 갖는 펄스 모드 발진기를 신호원으로 사용하였으며, 7 nsec와 12 nsec의 지연 시간을 갖는 선로 2개를 사용하여 1 m, 3 m, 5 m의 위치에 버블막 형태의 감지 영역을 성공적으로 형성하여 물체를 감지하였다.

• Structural Engineering and Mechanics
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• 제34권6호
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• pp.719-738
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• 2010

The aim of this paper concerns with the nonlinear analysis of cable-stayed bridges including the vibration effect of cable stays. Two models for the cable stay system are built up in the study. One is the OECS (one element cable system) model in which one single element per cable stay is used and the other is MECS (multi-elements cable system) model, where multi-elements per cable stay are used. A finite element computation procedure has been set up for the nonlinear analysis of such kind of structures. For shape finding of the cable-stayed bridge with MECS model, an efficient computation procedure is presented by using the two-loop iteration method (equilibrium iteration and shape iteration) with help of the catenary function method to discretize each single cable stay. After the convergent initial shape of the bridge is found, further analysis can then be performed. The structural behaviors of cable-stayed bridges influenced by the cable lateral motion will be examined here detailedly, such as the static deflection, the natural frequencies and modes, and the dynamic responses induced by seismic loading. The results show that the MECS model offers the real shape of cable stays in the initial shape, and all the natural frequencies and modes of the bridge including global modes and local modes. The global mode of the bridge consists of coupled girder, tower and cable stays motion and is a coupled mode, while the local mode exhibits only the motion of cable stays and is uncoupled with girder and tower. The OECS model can only offers global mode of tower and girder without any motion of cable stays, because each cable stay is represented by a single straight cable (or truss) element. In the nonlinear seismic analysis, only the MECS model can offer the lateral displacement response of cable stays and the axial force variation in cable stays. The responses of towers and girders of the bridge determined by both OECS- and MECS-models have no great difference.

• 대한기계학회논문집A
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• 제36권9호
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• pp.1017-1026
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• 2012

본 논문에서는 오십견의 재활을 보다 체계적이고 효율적으로 보조할 수 있는 로봇의 개발을 소개하고자 한다. 개발된 로봇의 가장 큰 특징은 크게 두 가지로 나뉜다. 첫째, 구조적 특징으로써 로봇은 환자의 양쪽 어깨를 재활 치료할 수 있도록 설계되었고 롤, 피치, 요 축이 한 점에서 교차하도록 하여 사람과 같은 볼 조인트 움직임을 기구적으로 나타낼 수 있도록 하였다. 둘째, 기능적 특징으로써, 로봇은 두 가지 운동 모드를 가지고 있다. 첫 번째 모드는 관절재활모드로써 모션 캡처로부터 미리 얻어진 패턴대로 환자의 어깨를 운동시켜주어 어깨 관절의 운동 범위를 되찾을 수 있도록 한다. 두 번째 모드는 근육재활모드로써 환자의 움직임에 따라 로봇이 적절히 저항을 하여 근육을 강화시킨다. 이 두 가지 모드를 통하여 환자의 상태에 맞추어서 오십견 재활 보조를 체계적으로 수행할 수 있으며, 자세한 로봇개발 과정에 대한 내용을 본 논문에 서술하였다.

• 한국정보통신학회논문지
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• 제14권7호
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• pp.1589-1596
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• 2010

본 논문에서는 CBP(coded block pattern) 및 colocated-MB(macro block)의 부호화 정보를 이용하여 인터모드 결정에 소요되는 계산량을 감소시키는 방법을 제안한다. 제안한 방법은 MB를 CBP 특성에 따라 best-CBP와 normal-CBP 로 나눈다. Best-CBP에서는 SKIP 모드 및 M-Type 모드일 확률이 통계적으로 96.3%이므로 인터모드 결정 과정에서 $8{\times}8$ 모드 계산을 제거한다. Normal-CBP에서는 SKIP 모드 및 M-Type 모드 결정에 colocated-MB의 부호화 정보와 MVcost(motion vector cost)를 이용하여 비트율-왜곡 치에 소요되는 계산량을 선택적으로 제거한다. 실험 결과, 제안한 방법은 전체 부호화 시간이 평균적으로 58.44% 감소되었으며, 움직임이 적은 영상에서 계산량 감소 효과가 우수함을 알 수 있었다.

• Journal of Mechanical Science and Technology
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• 제18권10호
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• pp.1755-1762
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• 2004

Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.

• 자동차안전학회지
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• 제16권2호
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• pp.6-13
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• 2024

This paper presents a method of longitudinal motion planning of autonomous vehicles to deal with the non-signalized crosswalk environment. Based on the traffic laws, vehicles should slow down when passing the non-signalized crosswalk to prepare for situations where a nearby pedestrian starts to cross. If a pedestrian is in the crossing phase, vehicles should stop in front of the stop-line and wait until the pedestrian finishes the crossing maneuver. To realize these behaviors in autonomous vehicles, the driving mode and corresponding driving strategy are determined when vehicles encounter the crosswalk. The driving mode is determined according to the behavioral status of the nearby pedestrian. Longitudinal motion for the stopping or passing maneuver is planned according to the determined driving mode. The proposed algorithm has been validated via autonomous driving tests with our test vehicle in a real world. The test results show that the proposed algorithm enables the test vehicle to follow the traffic laws and behave safely against crossing pedestrians in the non-signalized crosswalk.

• 한국정밀공학회지
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• 제24권8호통권197호
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• pp.81-88
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• 2007

This paper presents the development of a new inchworm actuation system using the shearing deformation of the piezoelectric actuators. In this new actuation system, piezoelectric shearing/expanding actuators, an inertial mass and an advanced preload system are configured innovatively to generate the motion of an inertial mass. There are two modes in the new actuation system: (1) stick mode, and (2) clamp mode. In stick mode, the deformation of the piezoelectric shearing actuators drives an inertial mass by means of the friction force at their contact interface. On the other hand, in clamp mode, the piezoelectric expanding actuators provide the gripping force to an inertial mass and, as a result, eliminate its backward motion following the rapid backward deformation of the piezoelectric shearing actuators. To investigate the feasibility of the proposed new actuation system, the experimental system is built up, and the static performance evaluation and dynamic analysis are conducted. The open-loop performance of the linear motion of the proposed new actuation system is evaluated. In dynamic analysis, the mathematical model for the contact interface is established based on the LuGre friction model and the equivalent parameters are identified.

• 센서학회지
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• 제18권6호
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• pp.461-466
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• 2009

This paper represents a piezoelectric ultrasonic linear actuator with flexural vibration mode. The actuator is composed of two piezo ceramics, the elastic body, and the connecting tip. It is driven by the frictional force between the connecting tip and the linear motion guide. Unimorph actuators have flexural vibration. Its middle point is fixed so that suitable to the flexural vibration of $3/2\lambda$. These vibrations contribute to elliptical motion by mixed mode between longitudinal and transverse mode. It was generated when the ultrasonic electrical signals with 90 degree phase difference are applied to two ceramics. A linear movement can be easily obtained using the elliptical motion. The ATILA, FEM simulator has been used to design actuator and verify the kinetic and dynamic analysis. We used the ceramics of $20\times10\times1$ mm size and confirmed the flexural vibration of the $3/2\lambda$ at the 79 kHz through the scanning of 3D-vibrometer. The maximum velocity of actuator was 221 mm/sec and the thrust force of actuator was 2.7 N in 200Vp-p of additional voltage.