• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1380-1383
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• 2004

The scanning type XY stage is frequently used these days as precision positioning system in equipment for semiconductor or display element. It is requested higher velocity and more precise accuracy for higher productivity and measuring performance. The position accuracy of general stage is primarily affected by the geometric errors caused by parasitic motion of stage, misalignments such as perpendicular error, and thermal expansion of structure. In the case of scanning type stage, H type frame is usually used as base stage which is driven by two actuators such as linear motor. In the point view of scanning process, the stage is used in moving motion. Therefore, dynamic variation is added as significant position error source with other parasitic motion error. Because the scanning axis is driven by two actuators with two position detectors, 2 dimensional position errors have different characteristic compared to general tacked type XY stage. In this study 2D position error of scanning stage is analyzed by 1D heterodyne interferometer calibrator, which can measure 1D linear position error, straightness error, yaw error and pitch error, and perpendicular error. The 2D position error is evaluated by diagonal measurement (ISO230-6). The yaw error and perpendicular error are compensated on the base stage of scanning axis. And, the horizontal straightness error is compensated by cross axis compensation. And, dynamic motion error in scanning motion is analyzed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.10
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.67-75
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• 2007

An attitude control problem for a tethered spacecraft is studied. The tethered spacecraft is viewed as a multi-body spacecraft consisting of a base body, a massless tether that connects the base body and an end mass, and tether actuator dynamics. Moments about the pitch and roll axes of the base spacecraft arise by control of the point of attachment of the tether to the base spacecraft. The control objective is to stabilize the attitude of the base spacecraft while keeping the perturbations of the tether small. Analysis shows that linear equations of motion for the tethered spacecraft are not completely controllable. We study two different control design approaches: (1) we decouple the attitude dynamics from the tether dynamics and we design a linear feedback to achieve stabilization of the attitude dynamics, and (2) we decouple the controllable modes from the uncontrollable mode using Kalman decomposition and we design a linear feedback to achieve stabilization of the controllable modes. Simulation results show that, although it is difficult to control the tether, the tether motion can be maintained within an acceptable range while stabilizing the attitude dynamics of the base spacecraft.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.4
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• pp.429-436
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• 2018

The RCS value of maritime ship is indicator of ship's stealth performance and it should be particularly measured for navy ship to ensure survivability on the battlefield. In the design phase of the navy ship, a RCS prediction should be performed to reduce RCS value and achieve ROC(Required Operational Capability) of the ship through configuration control. In operational phase, the RCS value of the ship should be measured for verifying the designed value and obtaining tactical data to take action against enemy missile. During the measurement of RCS for the ship, ship motion can be affected by roll and pitch in accordance with sea state, which should be analyzed into threat elevation from view point of enemy missile. In this paper, we propose a method to measure and analyze RCS of ship in 3-dimensions using a ship motion measuring instrument and a fixed RCS measurement system. In order to verify the proposed method, we conducted a marine experiment using a test ship in sea environment and compared the measurement data with RCS prediction value which is carried by prediction SW($CornerStone^{TM}$) using CAD model of the ship.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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• pp.145-152
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• 1998

In this research, in order to predict the cutting force using a mechanistic model, specific cutting force was firstly obtained through the cutting experiments. Band sawing process is similar to a milling, that is multi-point cutting. Therefore it is not easy matter to evaluate specific cutting force. Thus, the thickness of workpiec was made smaller than one pitch of the saw in terms of fly cutting in the face milling process. Then the cutting force was predicted by analyzing the geometric shape of a saw tooth The tooth shape used in the research was raker set style that was generally used in band sawing. And a set of teeth is comprised of three teeth, those are ranked as left, straight and right. The mechanistic model was developed in this study considered those shapes of each tooth. From the validation experiments, the predicted cutting forces coincided well with the measured ones. Therefore the predicted cutting forces can be used for the adaptive control of saw engaging feed rate in the band sawing.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.53-56
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• 2001

In this paper we discuss a direct satellite broadcasting system for vehicle. The proposed satellite-steering algorithm and controller based on it are designed for a communication and broadcasting system which uses the Mugungwha satellite. The Mugungwha satellite that the proposed system should steer is a geostationary orbit device. The satellite-steering algorithm computes azimuth and elevation with reference to a stationary point on earth. This is extended to a real satellite steering algorithm that considers position and attitude. Real moving position and attitude are represented by latitude, longitude, roll, pitch and yaw. To apply these five pieces of information to the reference satellite steering algorithm, we introduce Euler's degree coordinates that express independently the rotation of each axis relative to an axis. There are two ways a basic algorithm of the antenna of a vehicle can track and orient to satellite. One way is a feedback loop method for broadcasting gain, while the other is a feedback loop method for position and attitude of a vehicle. In the present paper, we design a controller of satellite broadcasting system for a vehicle using an algorithm that combines the two methods. We performed a simulation and experiment to prove effectiveness.

• International Journal of Advanced Culture Technology
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• v.4 no.4
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• pp.81-86
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• 2016

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.8 s.173
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• pp.27-33
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• 2005

Polishing pads play an important role in chemical mechanical polishing(CMP) which has recently been recognized at the most effective method to achieve global planarization. In this paper, we have investigated CMP characteristics as a change of groove density of polishing pads. The parameter $(K_n)$ is proposed to estimate groove density of pad. The $K_n$ is defined as groove area divided by pitch area. As the groove density value increased, removal rate increased to some point and then gradually saturated in case of increasing the groove density excessively. In addition Within wafer non-uniformity(WIWNU) worse as groove density increased excessively, although WIWNU improved as groove density increased. Also the uniformity of temperature of pad surface decreased as the groove density increased. It was because that the cooling effect increased as groove density increased. In other words, increasing the groove density which means the apparent contact area of pad has influence on amount of discharge of slurry during polishing process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.7
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• pp.1131-1138
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• 2001

This paper concerns the crashworthiness of the widely used vehicle structure, the spot welded hat and double hat shaped section members, which are excellent on the point of the energy absorbing capacity and low production cost. The target of this paper is to analyze the energy absorption capacity of the structure against the front-end collision, and to obtain useful information for designing stage. Changing the spot weld pitches on the flanges, the hat and double hat shaped section members were tested on the axial collapse loads in impact velocities of 4.72m/sec, 6.54m/sec, 7.19m/sec and 7.27m/sec. To efficiently review the collapse characteristics of these sections, the simulation have been carried out using explicit FEM package, LS-DYNA3D. The solutions are compared with results from the impact collapse experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.572-578
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• 1985

A composite gear with involute-circular are tooth profile and a tooth profile of the rack to cut this gear are theoretictically obtained. The composite gear has involute tooth profile in the vicinity of pitch point and has circular arc tooth profiles at addendum adn dedendum. The contact ratio(M$_{c}$), chordal tooth thickness (chordal tip tooth thickness S$_{t}$, chordal root tooth thickness S$_{t}$) of the composite gear are compared with those of involute gear. When module, number of teeth and pressure angle eqaul, S$_{t}$ of composite gear is much larger than that of involute gear. Under the same conditions, S/sib t/ and M$_{c}$ of composite gear become smaller than those of involute gear.lute gear.