• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.599-603
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• 2003

This paper present an error compensation system and On-Machine Measurement(OMM) system for improving the machining accuracy of ultra-precision lathe. The Fast-Tool-Servo(FTS) driven by a piezoelectric actuator is applied for error compensation system. The controller is implemented on the 32bit DSP for feedback control of piezoelectric actuator. The control system is designed to compensates three kinds of machining errors such as the straightness error of X-axis slide, the thermal growth error of the spindle. and the squareness between spindle and X-axis slide. OMM is preposed to measure the finished profile of workpiece on the machine-tool using capacitive sensor with highly accurate ruby tip probe guided by air bearing. The data acquisition system is linked to the CNC controller to get the position of each axis in real-time. Through the experiments, it is founded that the thermal growth of spindle and tile squareness error between spindle and X-axis slide influenced to machining error more than straightness error of X-axis slide in small travel length. These errors were simulated as a sinusoidal signal which has very low frequency and the FTS could compensate the signal less than 30 m. The implemented OMM system has been tested by measuring flat surface of 50 mm diameter and shows measurement error less than 400 mm

• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• 융합신호처리학회논문지
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• 제15권2호
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• pp.64-69
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• 2014

초음파(Ultrasound) 시스템은 진단의학분야, 수중통신, 센서네트워크 등 현대산업분야에 광범위하게 사용되는 복잡한 무선 신호처리 시스템 중 하나이다. 최근에는 초음파 시스템의 소형화가 본격화 되고 있다. 본 논문에서는 소형화되고, 모바일화 되는 진단 초음파시스템에 적합한 혼성 저잡음증폭기(Low Noise Amplifier, LNA)를 개발 하였다. 제안된 LNA는 5dB이하의 낮은 잡음특성을 가지고, 다양한 초음파 변환기(Transducer)의 임피던스매칭을 위해 피드백 저항값들을 전기적으로 조정할 수 있도록 설계하였다. 주파수는 10kHz에서 150MHz까지 초음파주파수 전 대역을 지원할 수 있고, 슬립모드를 지원한다. 시스템의 특성에 맞춰 각각의 변환기를 통해 -17.8dB-29.5dB의 이득을 갖는다. 기존의 LNA와 비교해서 비슷한 성능에 소모전력은 최대 90%를 줄일 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.289-290
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• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• 한국항공우주학회지
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• 제33권1호
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• pp.85-92
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• 2005

가동노즐의 회전운동을 가능케 하는 플렉스실 베어링은 고정되어 있지 않은 회전중심과 고체모터의 연소압력에 의한 압축운동 등과 같은 고유의 비선형 운동특성을 갖는다. 이를 극복하고 발사체의 정확한 자세제어를 수행하기 위해서 플렉스실 베어링 장착 가동노즐의 추력벡터제어용 구동장치시스템은 보상제어회로 구성을 위한 별도의 가동노즐 위치정보 궤환 센서인 카운터 포텐시오미터를 필요로 한다. 이를 반영한 고체모터 가동노즐 추력벡터제어용 구동장치시스템 시제품 및 시험평가장치, 보상제어회로에 대한 설계 및 제작, 시험이 수행되었다. 연계통합시험 결과를 바탕으로 플렉스실 베어링을 장착한 가동노즐의 고유특성과 이의 추력벡터제어에 사용되는 구동장치시스템의 제어특성을 분석하였으며 그 결과를 본 논문에 요약하였다.

• 한국인터넷방송통신학회논문지
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• 제13권4호
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• pp.47-53
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• 2013

현재 조명의 효율화 및 제어시스템 개선을 통해 에너지절감을 추진한다는 계획을 수립하고 조명자체의 고효율화와 조명제어시스템의 성능 향상을 통해 에너지 절감을 추구하는 노력이 한층 강화될 것으로 보인다. 조명시스템에서 LED를 광원으로 사용할 경우 기존 대비 약 50% 이상의 고효율 조명 구현이 가능하다. 본 논문은 LED 디지털 조명을 제어하기 위해 USN을 활용해 유무선 통신을 지원하는 스마트 디머 와 스마트 스위치를 적용한 LEMS(Lighting Energy Management System)를 개발했다. 이 시스템은 유/무선 네트워킹 장치 및 시스템 S/W를 통해 실내외 조명 및 경관 조명을 포함한 특수 목적 등을 효율적이고 신뢰성 있게 제어 한다. 본 시스템은 LED조명의 Digital System Lighting을 통한 USN 원격통합제어기능 및 에너지 효율성을 증대하여 실내외의 조명에너지 사용량을 최소화 하고, 웹 또는 스위치를 통해 조명 에너지 사용량을 사용자가 측정하여 조명 사용량을 피드백 할 수 있게 하는 참여형 시스템이다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 춘계학술대회
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• pp.629-630
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• 2017

최근 현대인들이 많은 업무와 학업으로 인하여 좌식 생활의 빈도가 매우 높아지고 있으며, 장시간 동안 의자에 앉아 있으면서 올바르지 않은 자세와 습관으로 인해 습관성 척추 질환환자가 증가하고 있다. 따라서 이러한 질환을 실시간 모니터링을 통해 사전에 방지하고 사용자가 올바른 자세의 중요성을 인지할 수 있도록 가이드 제시가 요구된다. 본 연구에서는 압력센서 기반의 체중분포 시스템을 사용하여 사용자의 앉은 자세를 판단하고 피드백 함으로써 자세를 교정하는 데 도움을 줄 수 있는 자세 판별 시스템을 구현하였다. 체중의 분포 패턴을 분석하여 1가지의 정상 자세와 6가지의 비정상 자세를 판단하였으며, 비정상 자세를 지속적으로 유지하고 있다면 알림이 울려 바른 자세로 유도하는 어플리케이션의 구현에 대해 기술하였다.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.926-934
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• 2006

This paper proposes intelligent control of a virtual walking machine that can generate infinite floor for various surfaces and can provide proprioceptive feedback of walking to a user. This machine allows users to participate in a life-like walking experience in virtual environments with various terrains. The controller of the machine is implemented hierarchically, at low-level for robust actuator control, at mid-level fur platform control to compensate the external forces by foot contact, and at high-level control for generating walking trajectory. The high level controller is suggested to generate continuous walking on an infinite floor for various terrains. For the high level control, each independent platform follows a man foot during the swing phase, while the other platform moves back during single stance phase. During double limb support, two platforms manipulate neutral positions to compensate the offset errors generated by velocity changes. This control can, therefore, satisfy natural walking conditions in any direction. Transition phase between the swing and the stance phases is detected by using simple switch sensor system, while human foot motions are sensed by careful calibration with a magnetic motion tracker attached to the shoe. Experimental results of walking simulations at level ground, slope, and stairs, show that with the proposed machine, a general person can walk naturally on various terrains with safety and without any considerable disturbances. This interface can be applied to various areas such as VR navigations, rehabilitation, and gait analysis.

• 제어로봇시스템학회논문지
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• 제3권6호
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• pp.644-651
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• 1997

In the water purification plant, chemicals are injected for quick purification of raw water. It is clear that the amount of chemicals intrinsically depends on water quality such as turbidity, temperature, pH and alkalinity. However, the process of chemical reaction to improve water quality (e.g., turbidity) by chemicals is not yet fully clarified nor quantified. The feedback signal in the process of coagulant dosage, which should be measured (through the sensor of the plant) to compute the appropriate amount of chemicals, is also not available. Most traditional methods focus on judging the conditions of purifying reaction and determine the amounts of chemicals through manual operation of field experts using Jar-test data. In this paper, a systematic control strategy is proposed to derive the optimum dosage of coagulant, PAC(Polymerized Aluminium Chloride), using Jar-test results. A neural network model is developed for coagulant dosing and purifying process by means of six input variables (turbidity, temperature, pH, alkalinity of raw water, PAC feed rate, turbidity in flocculation) and one output variable, while considering the relationships to the reaction of coagulation and flocculation. The model is utilized to derive the optimum coagulant dosage (in the sense of minimizing turbidity of water in flocculator). The ability of the proposed control scheme validated through the field test has proved to be of considerable practical value.

• 전기학회논문지
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• 제65권2호
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• pp.349-353
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• 2016

The purpose of this study was to investigate possible age differences in the attenuation of acceleration in the upper body (from pelvis through shoulder to head) during fast walking. Thirty young and 29 elderly subjects participated in this study. Wireless acceleration sensors were attached on head, shoulder, and pelvis. Subjects performed two trials of fast walking on a treadmill, where the fast speed was defined as 1.5 times of the comfortable speed. Root-mean-squared (RMS) accelerations of each axis were compared with age group and sensor position as independent factors. In the AP direction, the pelvis acceleration was greater in the young and the shoulder-to-head attenuation was also greater in the young (p<0.001), so that the head acceleration was comparable between age groups (p=0.581). In the ML direction, the pelvis acceleration was greater in the young and also the pelvis-to-shoulder attenuation was greater in the young (p<0.001), so that the head acceleration was greater in the elderly group (p<0.001). Insufficient attenuation ML acceleration in the elderly resulting in the greater acceleration in the head may deteriorate the balance control which utilize feedback signals from the sensory organs in head, e.g., vestibular and visual systems.