• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.173-180
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• 2000

In the process of grinding a long slender type workpiece, such as ballscrew, by the external cylindrical grinding machine, the cylindricity of the workpiece depends on the distance of rests, the stiffness of supports, the diameter and material of workpiece. Conventionally the process needs to be supported by one or more rests to prevent static deflection and vibration. In this paper, the optimal position of the rests was investigated in order to minimize the cylindricity due to the static deflection, by taking compliance of the workpiece and structure into account. In order to obtain the optimal position of rests, a new modeling that is considering the spring effect of all support elements was established. Since it is so complicated to obtain the optimal position analytically for various conditions due to discontinuity, a genetic algorithm u as utilized.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.91-92
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• 2008

Localization and its applications are very important area of the mobile robot technology. Especially, accurate localization is needed when we move the mobile robot to the goal position. In indoor cases, Global Positioning System(GPS) is not suitable but Radio Frequency Identification(RFID) technology can provide position data to the robot. A proposed algorithm in this paper uses not only odometry data but also RFID data to improve estimation of true position of the robot with the particle filtering.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.24-31
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• 2020

Alternative navigation in underwater environments is essential to prevent accumulating drift error of dead reckoning. In case of using an external positioning system, the installation and management process of the transmission station is cumbersome, and the operation range of underwater vehicle is limited. In order to solve this problem, navigation using geophysical information such as terrain, geomagnetic field and gravity can be used. Unlike the terrain, geomagnetic field and gravity are composed of 3-D information, so continuation process is required. In this paper, we present a integrated navigation algorithm using multiple geophysical information for long-term operation of UUV. The proposed algorithm is verified through numerical simulation in an artificially generated environments. As a result, integrated navigation showed higher navigation accuracy than single alternative navigation.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2576-2578
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• 2005

In this paper, we address two position control scheme; the lead-lag control and the sliding mode control for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. The sliding mode control algorithm is more effective than the lead-lag control algorithm to reduce effects from movements and disturbances of other axis.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.5
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• pp.582-594
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• 2016

Various test data compression techniques have been developed to reduce the test costs of system-on-a-chips. In this paper, a scan chain reordering algorithm for code-based test data compression techniques is proposed. Scan cells within an acceptable relocation distance are ranked to reduce the number of conflicts in all test patterns and rearranged by a positioning algorithm to minimize the routing overhead. The proposed method is demonstrated on ISCAS '89 benchmark circuits with their physical layout by using a 180 nm CMOS process library. Significant improvements are observed in compression ratio and test power consumption with minor routing overhead.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.1033-1037
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• 1997

In the end milling process, the information of axial and depths of cut plays an important role in adaptive control systems for precision machining and tool monitoring systems for unmanned machining. In general, it is not easy to know the depths of cut due to irregular shape of workpieces, inaccurate positioning of them on the table of machine tool and machining error in previous cutting. In addition to, even they are informed, it is difficult to match the individual position of the cutter on the varying shape of the work material. This work suggest an algorithm estimating the depths of cut based on cutting force sigal. The proposed algorithm can be applied in more extensive cutting situations, for example, presence of the tool wear, variation of work material hardness, etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1012-1017
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• 2003

The development of a fast, accurate, and inexpensive position-controlled pneumatic actuator that may be applied to a variety of practical positioning applications with various external loads is described in this paper. A novel modified pulso width modulation (MPWM) valve pulsing algorithm allows on/off solenoid valves to be used in place of costly servo valves. A comparison between the system response of standard PWM technique and that of the novel modified PWM technique shows that the control performance is significantly increased. A state feedback controller with position, velocity and acceleration feedback is successfully implemented as the continuous controller. Switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed. which estimates the external loads of the pneumatic actuator. The effectiveness of the proposed control algorithms are demonstrated through experiments with various loads.

• Journal of Computational Design and Engineering
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• v.2 no.4
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• pp.197-205
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• 2015

Bladed disk (BLISK) is a vital part in jet engines with a complicated shape which is exclusively machined on a five-axis machine and requires high accuracy of machining. Poor quality of tool orientation (e.g., false tool positioning and unsmooth tool orientation transition) during the five-axis machining may cause collision and machine vibration, which will debase the machining quality and in the worst case sabotage the BLISK. This paper presents a reference plane based algorithm to generate a set of smoothly aligned tool orientations along a tool path. The proposed method guarantees that no collision would occur anywhere along the tool path, and the overall smoothness is globally optimized. A preliminary simulation verification of the proposed algorithm is conducted on a BLISK model and the tool orientation generated is found to be stable, smooth, and well-formed.

• Journal of IKEEE
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• v.11 no.4
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• pp.297-306
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• 2007

A sensor network is composed of a large number of sensor nodes that are densely deployed in a field. Each sensor performs a sensing task for detection specific events. After detecting this event, location information of the sensor node is very important. Range-based scheme of the proposed approaches typically achieve high accuracy on either node-to-node distances or angles, but this scheme have a drawback because all sensor nodes have the special hardware. On the other hand, range-free scheme provides economic advantage because of no needed hardware even if that leads to coarse positioning accuracy. In this paper, we propose a range-free localization algorithm without range information in wireless sensor networks. This is a range-free approach and uses a small number of anchor nodes and known sensor nodes. This paper develops a localization mechanism using the geometry conjecture (perpendicular bisector of a chord). The conjecture states that a perpendicular bisector of a chord passes through the center of the circle.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.930-935
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• 2015

An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.