• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.8
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• pp.81-87
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• 2020

A stable rotational-to-linear motion transformation structure using a driving mechanism with 2 degrees of freedom was developed for an orthogonal mechanism to prevent the interference of each axis in 2D motion. In this mechanism, a step motor was used for precise position control. This structure was developed to maneuver workparts in micro particle blast machining experiments. To determine the real-time performance of micro particle blast machining, the control, input, and output were operated simultaneously and precise position control was implemented, using a timer interrupt with multiple execution codes. The two step motors obtained precise position control by removing backlash with a ball-screw mechanism. The device has menu-type control codes for user-friendliness, and real-time sequence control was simultaneously adopted for user control input.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.185-188
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• 2009

In this paper, Position Controller for balance of Seesaw System design using PID Algorithm. Seesaw System is that it's system use widely to analyze of ship or flight dynamics, Inverted Pendulumand, Robot System, manage system for theory of modern control system and all sorts of analysis. In case of Seesaw System, it's necessity that understand and analysis of system and correct selection of parameter because the system is strong nonlinear control system. It guarantees efficiency and stability to adapt quickly for disturbance or change of controller from PID Algorithm of guarantee safe from simple and long history and PSO(Particle Swarm Optimization) that sort of metaheuristic optimization that need to accuracy and fast PID parameter tuning.

• ETRI Journal
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• v.35 no.6
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• pp.1168-1171
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• 2013

We propose an improvement of particle swarm optimization (PSO) based on the stabilization of particle movement (PM). PSO uses a stochastic variable to avoid an unfortunate state in which every particle quickly settles into a unanimous, unchanging direction, which leads to overshoot around the optimum position, resulting in a slow convergence. This study shows that randomly located particles may converge at a fast speed and lower overshoot by using the proportional-integral-derivative approach, which is a widely used feedback control mechanism. A benchmark consisting of representative training datasets in the domains of function approximations and pattern recognitions is used to evaluate the performance of the proposed PSO. The final outcome confirms the improved performance of the PSO through facilitating the stabilization of PM.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.775-781
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• 2006

An intelligent optimization method for designing Fractional Order PID(FOPID) controllers based on Particle Swarm Optimization(PSO) is presented in this paper. Fractional calculus can provide novel and higher performance extension for FOPID controllers. However, the difficulties of designing FOPID controllers increase, because FOPID controllers append derivative order and integral order in comparison with traditional PID controllers. To design the parameters of FOPID controllers, the enhanced PSO algorithms is adopted, which guarantee the particle position inside the defined search spaces with momentum factor. The optimization performance target is the weighted combination of ITAE and control input. The numerical realization of FOPID controllers uses the methods of Tustin operator and continued fraction expansion. Experimental results show the proposed design method can design effectively the parameters of FOPID controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.619-625
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• 2009

FastSLAM which uses the Rao-Blackwellized particle filter is one of the famous solutions to SLAM (Simultaneous Localization and Mapping) problem that estimates concurrently a robot's pose and surrounding environment. However, the particle depletion problem arises from the loss of the particle diversity in the resampling process of FastSLAM. Then, the performance of FastSLAM degenerates over the time. In this work, DIR (Density Information-based Resampling) technique is proposed to solve the particle depletion problem. First, the cluster is constructed based on the density of each particle, and the density of each cluster is computed. After that, the number of particles to be reserved in each cluster is determined using a linear method based on the distance between the highest density cluster and each cluster. Finally, the resampling process is performed by rejecting the particles which are not selected to be reserved in each cluster. The performance of the DIR proposed to solve the particle depletion problem in FastSLAM was verified in computer simulations, which significantly reduced both the RMS position error and the feature error.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.267-268
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• 2002

Microbeam is a new avenue of radiation research especially in radiation biology and radiation protection. Selective irradiation of an ionizing particle to a targeted cell organelle may disclose such mechanisms as signal transaction among cell organelles and cell-to-cell communication in the processes toward an endpoint observed. Bystander effect, existence of which is clearly evidenced by application of the particle microbeam to biological experiments, suggests potential underestimation in the conventional risk estimation at low particle fluence rates, such as environment of space radiations in ISS (International Space Station). To promote these studies we started the construction of our microbeam facility (named as SPICE) to our HVEE Tandem accelerator (3.4 MeV proton and 5.1 MeV $^4$He$\^$2+/). For our primary goal, "irradiation of single particle to cell organelle within a position resolution of 2 micrometer in a reasonable irradiation time", special features are considered. Usage of a triplet Q magnet for focussing the beam to submicron of size is an outstanding feature compared to facilities of other institutes. Followings are other features: precise position control of cell dish holder, design of the cell dish, data acquisition of microscopic image of a cell organelle (cell nucleus) and data processing, a reliable particle detection, soft and hard wares to integrate all these related data, to control and irradiate exactly determined number of particles to a targeted spot.

• Journal of Korean Institute of Industrial Engineers
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• v.37 no.3
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• pp.171-179
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• 2011

In this paper, we deal with the vehicle routing problem that could establish operational plan of military engineer for survivability support of artillery position construction. We propose VRPTW(vehicle routing problem with time-window) model of special form that considered service level to reflect the characteristics of military operations rather than the logic of economic efficiencies in the objective function. Furthermore we suggest modified particle swarm optimization algorithm for service based vehicle routing problem solution that can be possible to search in complicated and uncertain area and control relation softly between global and local search.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1284-1289
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• 2014

In this Paper, outdoor position estimation system was implemented using GPS (Global Positioning System) and INS (Inertial Navigation System). GPS position information has lots of errors by interference from obstacles and weather, the surrounding environment. To reduce these errors, multiple GPS system is used. Also, the Discrete Wavelet Transforms was applied to INS data for compensation of its error. In this paper, position estimation of the mobile robot in the straight line is conducted by EKF (Extended Kalman Filter). However, curve running position estimation is less accurate than straight line due to phase change in rotation. The curve is recognized through the rate of change in heading angle and the position estimation precision of the initial curve was improved by UPF (Unscented Particle Filter). In the case of UPF, if the number of particle is so many that big memory gets size is needed and processing speed becomes late. So, it only used the position estimation in the initial curve. Thereafter, the position of mobile robot in curve is estimated through switching from UPF to EKF again. Through the experiments, we verify the superiority of the system and make a conclusion.

• Journal of the Korean Society for Nondestructive Testing
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• v.28 no.2
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• pp.131-136
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• 2008

Using ultrasonic standing waves, micro particles submerged or flowing in fluid can be manipulated. Due to acoustic radiation force of ultrasound, particles are forced to move to pressure nodal or antinodal lines. In this work, we propose a method to control the position of micro particle in a flow by adjusting the frequency of the standing wave. To this end, standing wave field generation system including a few millimeter thick micro channel was established using an immersible ultrasonic transducer. The present generation system works valid in a frequency range between 2.0 MHz and 2.5 MHz. We observed the SiC particles in water moved to pressure nodal lines by the standing wave. The effect of the channel thickness and operating frequency was also investigated. Interestingly, it was shown that the operating frequency have a close relation with the location of the pressure nodal line. Consequently, it fan be said that the position of particle movement rail be controlled by adjusting the ultrasound frequency. The maximum range of the controllable position was about 261 micrometers under the given condition. The resulted observations reveal the possibility of various applications of the ultrasonic standing wave to the manipulation of particles submerged in a fluid.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.11
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• pp.1379-1389
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• 1999

A new technique for control of size and shape of flame-made particles is Introduced. The characteristic sintering time can be controlled Independently of collision time by heating the particles with irradiation of laser because the sintering time strongly depends on temperature. A coflow oxy-hydrogen diffusion flame burner was used for $SiCl_4$ conversion to silica particle. Nanometer sized aggregates irradiated by a high power CW $CO_2$ laser beam were rapidly heated up to high temperatures and then were sintered to approach volume-equivalent spheres. The sphere collides much slower than the aggregate, which results in reduction of sizes of particles maintaining spherical shape. Light scattering of Ar ion laser and TEM observation using a local sampling device were used to confirm the above effects. When the $CO_2$ laser was irradiated at low position from the burner surface, particle generation due to gas absorption of laser beam occurred and thus scattering intensity increased with $CO_2$ laser power. At high irradiation position, scattering intensity decreased with $CO_2$ laser power and TEM image showed a clear mark of evaporation and recondensation of particles for high $CO_2$ laser power. When the laser was irradiated between the above two positions where small aggregates exist, average size of spherical particles obviously decreased to 58% of those without $CO_2$ laser irradiation with the spherical shape. Even for increased carrier gas flow rate by a factor of three, TEM photograph also revealed considerable reduction of particle size.