• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.741-744
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• 2002

The closed circuit pump is applied to control rotating speed and direction of hydraulic motor in hydrostatic transmission. To development of this pump, first of all the servo control regulator has to be designed. Mechanical-hydraulic type servo control mechanism is excellent to be compared with electronic-hydraulic type servo control valve to reliability and economy. In this paper to development positive and negative variable displacement type servo regulator, the hydro-mechanical servo control mechanism is calculated and designed with force balance of pilot piston and position feedback of servo piston.

• Journal of KSNVE
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• v.2 no.1
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• pp.49-59
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• 1992

The motion analysis of a translation device driven by a piezoelectric actuator is performed to identify the mechanics of impact drive mechanism and to find the maximum speed waveform. The translation device is modeled as a semidefinite two-degree-of-freedom system. The motion analysis includes effects of friction force between moving mass and contact surface, dynamics of voltage amplifier and piezoelectric elements, and hysteresis of piezoelectric actuator. Base on the model, simulation studies are carried out and then compared with experimental results. It is found that the error between moving distances obtained by analysis and experiment is less than 15% and that the actual motion of moving mass is well predicted by the analytical work, finally, precision positioning experiments are carried out by using a proximity sensor as a feedback sensor. Position control of moving mass is initiated by the maximum speed waveform and finely tuned by the scaled down waveform so that accurate positioning is accomplished within the resolution of the sensor.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.533-534
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• 2013

This paper is concerned with the active vibration control of rectangular plate equipped with MFC actuators. To this end, the dynamic model of the rectangular plate bonded with MFC sensors and actuators was derived by means of the Rayleigh-Ritz method. The MFC actuator and sensor were modeled based on the pin-force assumption. The theoretical model was then validated experimentally. The multiinput and multi-output (MIMO) Positive Position Feedback (PPF) controller was designed based on the natural mode shapes and implemented using dSpace system and Simulink. The proposed control algorithm was applied to the cantilever plate having two MFC wafers having both sensor and actuator. Numerical and experimental investigations were carried out. Both theoretical and experimental result shows that the proposed control algorithm can effectively suppress vibrations of cantilever plate.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.368-371
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• 2003

A new accurate and reliable human-in-the-loop control by artificial neural network (ANN) for human assistance robot was proposed in this paper. The principle of human-in-the-loop control by ANN was explained including the system architecture of human assistance robot control the design of the controller the control process as well as the switching of the different control patterns. Based on the proposed method, the control of meal assistance robot was implemented. In the controller of meal assistance robote a feedforward ANN controller was designed for the accurate position control. For safety a feedback ANN forcefree control was installed in the meal assistance robot. Both controllers have taken fully into account the influence of human arm upon the meal assistance robote and they can be switched smoothly based on the external force induced by the challenged person arm. By the experimental and simulation work of this method for an actual meal assistance robote the effectiveness of the proposed method was verified.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.4
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• pp.868-878
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• 1998

There are recently increasing needs for precision XYZ-stage in the fields of nanotechnology, specially in AFMs(Atomic Force Microscope) and STMs(Scanning Tunneling Microscope). Force measurements are made in the AFM by monitoring the deflection of a flexible element (usually a cantilever) in response to the interaction force between the probe tip and the sample and controlling the force neasyred constant topography can be obtained. The power of the STM is based on the strong distance dependence of the tunneling current in the vacuum chamber and the current is a feedback for the tip to trace the surface topography. Therefore, it is required for XYZ-stage to position samples with nanometer resolution, without any crosscouples and any parasitic motion and with fast response. Nanometer resolution is essential to investigate topography with reasonable shape. No crosscouples and parasitic motion is essential to investigate topography without any shape distortion. Fast response is essential to investigate topography without any undesirable interaction between the probe tip and sample surface ; sample scratch. To satisfy these requirements, this paper presents a novel XYZ-stage concept, it is actuated by PZT and has a monolithic flexible body that is made symmetric as possible to guide the motion of the moving body linearly. PZT actuators have a very fast response and infinite resolution. Due to the monolithic structure, this XYZ-stage has no crosscouples and by symmetry it has no parasitic motion. Analytical modeling of this XYZ-stage and its verification by FEM modeling are performed and optimal design that is to maximize 1st natural frequencies of the stage is also presented and with that design values stage is manufactured.

• The Journal of the Acoustical Society of Korea
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• v.38 no.4
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• pp.467-475
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• 2019

A high-intensity ultrasound wave generates acoustic streaming and acoustic radiation forces when propagating through a medium. An acoustic radiation force generated in a three-dimensional space can produce a solid tactile sensation, delivering spatial information directly to the human skin. We placed 154 ultrasound transmit elements with a frequency of 40 kHz on a concave circular dish, and generated an acoustic radiation force at the focal point by transmitting the ultrasound wave. To feel the tactile sensation better, the transmit elements were excited by sine waves whose amplitude was modulated by a 60 Hz square wave. As an application of ultrasonic tactile sensing, a region where tactile sense is formed in the air is used as an indicator for the position of the hand. We confirmed the utility of ultrasonic tactile feedback by implementing a system that provides the number of fingers to a machine by receiving the shape of the hand at the focal point where the tactile sense is detected.

• Journal of the Korean Vacuum Society
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• v.15 no.3
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• pp.294-300
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• 2006

We fabricated the distributed feedback (DFB) InP/InGaAs/InP grating structures on InP (100) substrates by metal-organic chemical vapor deposition, and their structural properties were investigated by atomic force microscopy and scanning electron microscopy. Self-assembled InAs/InAlGaAs quantum dots (QDs) were grown on the InP/InGaAs/InP grating structures by molecular beam epitaxy, and their optical properties were compared with InAs/InAlGaAs QDs without grating structure. The duty of the grating structures was about 30%. The PL peak position of InAs/InAlGaAs QDs grown on the grating structure was 1605 nm, which was red-shifted by 18 nm from that of the InAs/InAlGaAs QDs without grating structure. This indicates that the formation of InAs/InAlGaAs QDs was affected by the existence of the DFB grating structures.

• Bulletin of the Society of Naval Architects of Korea
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• v.26 no.2
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• pp.32-40
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• 1989

Dynamic ship positioning(DP) system is used to keep the position and heading of a ship, or a floating platform, above a pre-selected site on the seabed by using thrusters. This paper presents a control system based on filtering technique and optimal control theory. The planar motions of a vessel are assumed to consist of low frequency(LF) component and high frequency(HF) one. The former is mainly due to thrusters, current, wind and second order wave forces, while the latter is mainly due to first order oscillatory component of the wave force. Furthermore position measurement signals include the noise. By means of self-tuning filter and Kalman filter techniques, LF motion estimates and HF ones are seperately achieved from the position measurements of the vessel. The estimated LF motions are used as input to the feedback loops. The total thruster power is minimized using the Linear Quadratic Gaussian control theory. The performance of the vessel with the DP system is investigated by computer simulation.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1742-1745
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• 1997

We have developed a highly responsible probing system for inspection of electrical properties of assemble PCB$_{s}$ (printed circuit boards). However, as the duration of the impact occurring between a probe and a solder joint on PCB is very short, it is very difficult to control the harmful peak impact force and the slip motion of the probe to sufficient level only by its vorce feedback control with high gains. To overcome these disadvantages of the prototype, it needs ot obtain some information of the solder joint in advance before the contact. In addition, to guarantee the reliability of the probing task, the probing system is required to measure several points around the probale target point at high speed. There fore, to meet such requirements, we propose a new noncontaet sensor capable of detecting simultaneously position and normal vectors of the multiple points around the probable target point in real time. By using this information, we can prepare a control strategy for stable contact motion on impact. In this paper, we described measuring priniciple, design, and development of the sensor. The effectiveness of the proposed sensor is verified through a series of experiments.s.