• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.647-655
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• 1999

For linear time-varying systems described by the triple (A(t),B(t),C(t)) where A(t),B(t),C(t) are the system, the input, and the output matrices, respectively, we propose concepts for measures of modal and gross controllability /observability. We introduce a differential algebraic eigenbvalue theory for linear time-varying systems to calculate the PD-eigenvalues and left and right PD-eigenvectors of the system matrix A(t) which will be used to derive the concepts for the measures. The time-dependent angle between the left PD-eigenvectors of the system matrix A(t) and the columns of the input matrix B(t), and the magnitude of the each element of the input matrix B(t) are used to propose the modal controllability measure. Similarly, the time-dependent angle between the right PD-eigenvectors of the system matrix A(t) and the rows of the output matrix C(t) are used to propose the madal observability measure. Gross measure of controllability of a mode from all inputs and its gross measure of observability in all outputs for the linear time-varying systems are also proposed. Numerical examples are presented to illustrate the proposed concepts.

• ETRI Journal
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• 제33권5호
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• pp.752-758
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• 2011

This paper presents a clock and data recovery circuit that supports dual data rates of 5.4 Gbps and 3.24 Gbps for DisplayPort v1.2 sink device. A quarter-rate linear phase detector (PD) is used in order to mitigate high speed circuit design effort. The proposed linear PD results in better jitter performance by increasing up and down pulse widths of the PD and removes dead-zone problem of charge pump circuit. A voltage-controlled oscillator is designed with a 'Mode' switching control for frequency selection. The measured RMS jitter of recovered clock signal is 2.92 ps, and the peak-to-peak jitter is 24.89 ps under $2^{31}-1$ bit-long pseudo-random bit sequence at the bitrate of 5.4 Gbps. The chip area is 1.0 mm${\times}$1.3 mm, and the power consumption is 117 mW from a 1.8 V supply using 0.18 ${\mu}m$ CMOS process.

• 대한치과기공학회지
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• 제20권1호
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• pp.37-49
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• 1998

실용치과재료로 사용되고 있는 Ag-Pd-Cu 3 원계 합금의 시효석출과정을 Pd 및 Cu의 용질 농도의 조성비가 약 1.7인 합금과 이 합금에서 2wt%Au의 첨가합금에 미치는 영향을 조사 분석하여 아래와 같은 결론을 얻었다. Ag-25Pd-15Cu 3원 합금은 ${\alpha}$의 단일상에서 ${\alpha}_1$ (Cu-rich), ${\alpha}_2$(Ag-rich) 및 PdCu 규칙상에 의해서 경화반응이 진행되며 연속승온시효에 의하면 $100{\sim}300^{\circ}C$의 저항증가와 $300{\sim}500^{\circ}C$의 저항감소라고 하는 2단계 변화에 의해서 경화곡선이 얻어졌다. 또한 본 합금의 시효과정은 ${\alpha}{\to}{\alpha}+{\alpha}_2+PdCu{\to}{\alpha}_1+{\alpha}_2+PdCu$이고 2상분리 반응에 경화되며 최고경화는 ${\alpha}_1,\;{\alpha}_2$ 및 PdCu 규칙상의 혼합영역에서 나타났다. 이들 석출반응은 입계반응이고 반응의 진행과 함께 경도값은 상승하고 경화촉진에 기여하였다. 또한 Nodule은 미세한 lamella조직을 나타내고 이들 ${\alpha}_2$와 PdCu상과의 미세한 혼합상의형성이 시효경화에 기여하는 주된 원인이 되었다. 과시효는 lamella의 조대화와 PdCu상의 ${\alpha}2$상으로의 용해에 따른 정량적 감소에 대응하였다. 석출상은 thin lamella구조의 잘 방위된 미세한 판상석출물로서 이들 미세 판상석출물은 AuCu($L1_0$)type의 face-centered tetragonal(fct)의 초격자구조였다. 규칙화된 미세한 판상석출물은 stair-step mode로서 twinning에 의해 형성되며 이것은 시효에 의해 $L1_0$ type의 PdCu 규칙상과 같은 초격자 형성시 정방비틀림 때문이라고 생각된다. 이들 twinning lamella는 귀금속원소에 의해 형성된 $L1_0$ type의 PdCu 규칙상과 같기 때문에 이들 합금의 부식저항에도 기여하였다. Ag-25Pd-15Cu합금은 전반적으로 양호한 내식성을 나타내며 Pd.Cu=1인 합금에서보다도 Pd함량이 높은 Pd/Cu=1.7에서 내식성이 보다 우수한 것은 Pd 함량이 내식성에 기여하였고 2%Au의 첨가에 의해서 부식성을 개선할 수 있었다.

• 대한기계학회논문집A
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• 제26권2호
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.83-88
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• 2004

Acoustic modes of internal region of 4-hp scroll compressor are identified by measuring transfer functions between a reference and 84 measuring points. The corresponding acoustic mode-shapes and natural frequencies were calculated by analysis software SYSNOISE. There exist two clearly distinguishable dipole modes of vertical and horizontal direction and a single quadrupole mode in the frequency region of interest. It shows that the natural frequencies of the identified modes are linearly sensitive to suction pressure (Ps) but relatively in sensitive to discharge pressure (Pd) in operating condition.

• 한국정밀공학회지
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• 제15권1호
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• pp.117-129
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• 1998

Micro-hole drilling (holes less than 0.5 mm in diameter with aspect ratio larger than 10) is recently having more attention in a wide spectrum of precision production industries. Alternative methods such as EDM. laser drilling, etc. can sometimes replace the mechanical micro-hole drilling but are not acceptable in PCB manufacture because of the inferior hole quality and accuracy. The major difficulties in micro-hole drilling are related to small signal to noise ratios, wandering motions of the inlet stage, high aspect ratios, high temperatures and so forth. Of all the difficulties. the most undesirable one is the increase of drilling force as the drill proceeds deeper into the hole. This is caused mainly from the chip effects. Peck-drilling is thus widely used for deep hole drilling despite that it suffers from low productivity. In the paper, a method of cutting force regulation is proposed to achieve continuous drilling. A PD and a sliding mode control algorithms were implemented through controlling the spindle rotating frequency. Experimental results show that the sliding mode control reduces the nominal cutting force and the variation of the cutting force better than the PD control. The advantages of the regulation, such as increase of drill life, fast stabilization of a wandering motion, and the precise positioning of the hole are verified in experiment.

• Journal of Electrochemical Science and Technology
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• 제9권3호
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• pp.202-211
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• 2018

In this work, Fe-Pd alloy films have been electrodeposited on different substrates using an electrolyte containing $[Pd(NH_3)_4]^{2+}$ (0.02 M) and $[Fe-Citrate]^{2+}$ (0.2 M). The influences of substrate and overpotential on chemical composition, nucleation and growth kinetics as well as the electrodeposited films morphology have been investigated using energy dispersive X-ray spectroscopy (EDS), current-time transients, scanning electron microscopy (SEM), atomic force microscopy (AFM) and X-ray diffraction (XRD) patterns. In all substrates - brass, copper and sputtered fluorine doped tin oxide on glass (FTO/glass) - Fe content of the electrodeposited alloys increases by increasing the overpotential. Also the cathodic current efficiency is low due to high rate of $H_2$ co-reduction. Regarding the chronoamperometry current-time transients, it has been demonstrated that the nucleation mechanism is instantaneous with a typical three dimensional (3D) diffusion-controlled growth in the case of brass and copper substrates; while for FTO, the growth mode changes to 3D progressive. At a constant overpotential, the calculated number of active nucleation sites for metallic substrates is much higher than that of FTO/glass; however by increasing the overpotential, the number of active nucleation sites increases. The SEM micrographs as well as the XRD patterns reveal the formation of Fe-Pd alloy thin films with nanostructure arrangement and ultra-fine grains.

• 공업화학
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• 제18권1호
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• pp.94-97
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• 2007

대기압 조건에서 고정층 상압 유통식 반응기를 사용하여 Pd(5)/SPK 촉매상에서 산소의 몰 비 변화에 따른 메탄의 열분해 반응으로부터 탄소 나노튜브 및 탄소 나노선을 제조하였으며, SEM과 TEM을 이용하여 분석하였다. $CH_4/O_2$의 몰 비가 1인 경우, 촉매층 지지대 표면상에 탄소가 거의 침적되지 않았으나, $CH_4/O_2$의 몰 비가 2인 경우에는 촉매층 지지대 표면상에 반응기를 봉쇄할 정도로 다량의 탄소가 침적되었다. 침적된 탄소를 SEM과 TEM을 통하여 분석한 결과 많은 수의 단일 벽 탄소 나노튜브와 탄소 나노선들이 만들어졌음을 확인할 수 있었다. 촉매 표면상에 침적된 탄소 나노튜브의 생성 메카니즘은 첨단성장방식이었고, 촉매 지지대 표면상에 만들어진 탄소 나노튜브 및 나노선들의 생성은 일정한 탄소 성장속도 벡터와 탄소 나노선의 링구조의 핵형성이 중요한 역할을 하였다. SPK 촉매 담체는 열 안정성이 우수하였으며, $N_2$ 흡착등온선은 중기공 세공이 잘 발달된 IV형이었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.

• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.43-53
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• 2002

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.