• 대한임베디드공학회논문지
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• 제2권4호
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• 대한원격탐사학회지
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• 제22권2호
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• pp.141-151
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• 2006

태양광을 광원으로 하고 천정방향을 포함한 다양한 고도각을 이용하는 자외선/가시광선영역에서의 흡수분광학이 최근에 지상용 대기원격 측정에 개발되어오고 있다. 이를 이용하여 지표부근에 존재하는 대기 미량 물질의 공간적 분포가 유추될 수 있다. 대기질 측정기술 중 하나인 MAX-DOAS (Multi-axis Differential Optical Absorption Spectroscopy) 기술은 광원으로서 태양산란광을 이용하고, 다양한 고도각에서 태양산란광을 기록하고 분석을 통하여 대기 중 미량 물질을 측정한다. 광주과학기술원 환경모니터링 신기술 연구센터에서 개발된 MAX-DOAS 시스템은 9004년 1월, 5월, 10월에 각각 도시대기, 화산플룸, 화력발전소 플룸의 측정에 적용되었다. 각각의 경우에 $SO_2,\;NO_2,\;BrO,\;O_4$를 정량분석하기 위하여 기록된 MAX-DOAS 스펙트럼은 자외선/가시광선 영역에서의 고유 흡수스펙트럼을 이용한 DOAS 기술을 이용하여 분석 되었다. 그 결과는 Slant Column Density (SCD)로 표현되었다. 플룸 측정의 경우에서는 플룸 속에 포함된 $NO_2,\;SO_2$의 공간적 분포를 파악하기 위하여 플룸의 진행방향과 수직적인 방향에서 MAX-DOAS 스캔이 이루어졌다. 이를 통하여 얻은 단면적을 토대로 $SO_2,\;NO_2$ 농도가 계산되었다. 화산플룸에서 $SO_2$는 580ppbv, 화력발전소 플룸에서 $NO_2$는 337ppbv, $SO_2$는 227ppbv 로 계산되었다.

• 디지털산업정보학회논문지
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• 제8권1호
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• pp.157-170
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• 2012

Recently, user-created video shows high increasing in production and consumption. Among these, videos records an identical subject in limited space with multi-view are coming out. Occurring main reason of this kind of video is popularization of portable camera and mobile web environment. Multi-view has studied in visually representation technique fields for point of view. Definition of multi-view has been expanded and applied to various contents authoring lately. To make user-created videos into multi-view contents can be a kind of suggestion as a user experience for new form of video consumption. In this paper, we show the possibility to make user-created videos into multi-view video content through analyzing multi-view video contents even there exist attribute differentiations. To understanding definition and attribution of multi-view classified and analyzed existing multi-view contents. To solve time axis arranging problem occurred in multi-view processing proposed audio matching method. Audio matching method organize feature extracting and comparing. To extract features is proposed MFCC that is most universally used. Comparing is proposed n by n. We proposed multi-view video contents that can consume arranged user-created video by user selection.

• 한국정밀공학회지
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• 제31권11호
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• pp.1015-1021
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• 2014

This paper proposes the center distributed embroidery machine structure with 1,500 RPM, 52 heads for productivity and large sized embroidery goods. The synchronous velocity controller is adopted for control of the 2-axis distributed embroidery machine and the DOB(Disturbance Observer) is also adopted for minimizing disturbances caused by needle cams. For driving experiments of 2-axis center distributed driving structure, two conventional 26 heads 1,500RPM embroidery machines are used. It was shown that the center distributed driving structure with 2-axis synchronous control can be one way for implementing a large embroidery machine.

• 한국생산제조학회지
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• 제6권2호
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• pp.10-18
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• 1997

This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes know 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways : First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.

• 에너지공학
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• 제24권3호
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• pp.128-134
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• 2015

본 연구는 연성체와 강체로 구성된 다물체 시스템을 분석한 것이다. 이송용 로봇은 주로 빠른 속도와 넓은 범위의 이동거리의 장점으로 무거운 부품으로 구성된 자동화산업에 사용된다. 주로 3축으로 구성되어 사용되는 이송용 로봇은 커다란 부하를 담당하기 위해 최근에 강도와 강성을 고려하여 개발되어진다. 따라서, 이러한 목적으로 과도모드가 적용된 동적해석을 수행하여 어느 시간과 위치에서 항복되는지 찾기 위해 수행되었다. 이러한 연구의 결과로 로봇의 응력과 변형량을 분석할 수 있었다.

• International Journal of Aeronautical and Space Sciences
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• 제11권2호
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• pp.131-135
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• 2010

We report on the design of a three-axis missile autopilot using multi-objective control synthesis via linear matrix inequality techniques. This autopilot design guarantees $H_2/H_{\infty}$ performance criteria for a set of finite linear models. These models are linearized at different aerodynamic roll angle conditions over the flight envelope to capture uncertainties that occur in the high-angle-of-attack regime. Simulation results are presented for different aerodynamic roll angle variations and show that the performance of the controller is very satisfactory.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1207-1210
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• 2003

This paper deals with experiments for dynamic characteristics and performance evaluation of the 3-axis fine positioning stage developed in [1]. The features of the developed fine positioning stage are the long stroke due to the magnetically preloaded PZT actuators, the minimum motion crosstalk due to the use of a ball contact mechanism and the compact design. The dynamic characteristics of the actuator and the stage are tested with the preload changed in order to validate the actuator and the stage design. Performance evaluation is also made for the PZT actuators as well as the stage positioning accuracy. Experimental results show that the developed stage is accurate enough to be used for nanometer positioning.

• 센서학회지
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• 제24권4호
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• pp.274-279
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• 2015

This paper describes optimizing fabrication methods for 2-axis electrically levitated MEMS gyroscope. Electrostatically levitated gyroscope has very high potential of performance due to the fact that its proof mass is not mechanically bound to any other structures, but its complex structure and difficulty of fabrication holds back the research that only a few researches have been reported. In this work, fabrication method for glass-silicon-glass 3-floor structure for 2-axis electrically levitated MEMS gyroscope is presented, including simplified multi-level glass etch method utilizing photoresist attack, preventing metal diffusion by adding middle layer of metal electrode, overcoming Deep RIE limitation by separate fabrication of silicon structures and keeping the electrode safe from dicing debris.

• Journal of Electrical Engineering and Technology
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• 제5권4호
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• pp.592-596
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• 2010

In a multi-layer interior permanent magnet synchronous motor, the d- and q-axis parameters vary nonlinearly according to different load conditions, consequently changing the level of saturation. The flux-linkage of d- and q-axis conveys ripple characteristics resulting from mechanical structure and degree of magnetic saturation. If the calculated flux-linkage is correct, the torque using the Maxwell stress tensor method is the same torque calculated by the flux-linkage. However, discrepancy between results exists. In this paper, the d- and q-axis flux-linkage, in consideration of the ripple characteristic, is calculated. Simulation results are then compared with experimental results.