• Journal of Industrial Technology
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• v.24 no.B
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• pp.207-214
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• 2004

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It's anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.

• Journal of the Korean Ceramic Society
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• v.29 no.9
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• pp.705-710
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• 1992

For the ultimate purpose of mapping, with a high precision, the local electrochemical potentials of an ionic carrier in nonisothermal conditions, an ionic probe for Ag+ ions, Pt/Ag/AgI, has been miniaturized to a tip size of 20∼30$\mu\textrm{m}$, by an electrochemical technique combined with gas (I2)/solid (Ag) reaction, and its performance checked by measuring the partial electronic and ionic conductivities of Ag2S from the ion and electron blocking cells, Ag/Ag2S/Pt and Ag/Ag2S/AgI/Ag, respectively. The results have firmly confirmed that the miniaturzed probe function quite validly and be very promising.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.6
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• pp.339-346
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• 2019

Multi-axis servo systems are widely used in various fields such as industiral systems for improving production efficiency, robotics and complex systems where many mechanical devices and sensor systems are connected. Such a servo system requires that the servo control technique to realize the synchronization of the drive shaft in the steady state and transient conditions and to control so as to follow the target track in order to improve product precision and production efficiency. In addition, embedded type hardware is required for smooth control of the entire multi-axis system. Therefore, this paper uses hardware based on FPGA which is widely used in digital signal processing field and various control system because hardware design change is easy and parallel processing is possible. In addition, Labview based servo motor control program was studied that can control the servo motor by ensuring the performance and flexibility of the FPGA and follow the target trajectory according to various speed processing and accurate timing synchronization.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.71-79
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• 1997

This paper introduces a methodology of the precise control of a mobile/task robot using visual information captured bythe camera attached at the hand of the task robot. The major problem residing in the precise control of mobile/task robot is providing an accurate and stable base for the task robot through the precise control of mobile robot. On account of uncertainties on the surface, the precise control of mobile robot is not feasible without using external position sensor. In this paper, the methodology for the precise control of mobile robot is proposed, which recognizes the position of mobile robot using the camera attached at the hand of the task robot. While the task robot is approaching to an assembly part, the position of mobile robot is measured using the line correspondence between the image capturesd by the camera and the real assembly part, and using the kinematic transformation from the hand of the task robot to the mobile robot. To verify the solidness of this method, experimental data for the measurement of camera position/orientation and for the precise control of mobile robot using measurement are shown.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1998-2006
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• 2005

The lane departure avoidance systems have been considered promising to assist human drivers in AVCS (Advanced Vehicle Control System). In this paper, a lane departure monitoring and control system is developed and evaluated in the hardware-in-the-loop simulations. This system consists of lane sensing, lane departure monitoring and active steering control subsystems. The road image is obtained based on a vision sensor and the lane parameters are estimated using image processing and Kalman Filter technique. The active steering controller for avoiding the lane departure is designed based on the lane departure metric. The proposed lane departure avoidance system is realized in a steering HILS (hardware-in-the-loop simulation) tool and its performance is evaluated with a driver in the loop.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.47-52
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• 2003

In the recent years, as the research and the development of micro and precision machinery become active, the interest of micro actuators using SMA(Shape Memory Alloy) has been increased. The dynamic characteristic analysis of SMA is necessary for actuator application and many common researches report the material characteristics of SMA sufficiently. However, the research on dynamic characteristics is very deficient. In this paper, the helical spring are fabricated with NiTi SMA wire of high resistivity. The force, response speed, temperature, and displacement are measured by digital force gauge, infrared thermometer, and laser displacement sensor so that the dynamic characteristics of this SMA is analyzed. Also, bidirectional actuator was fabricated and experimented fir its performance.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.346-351
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• 2003

In the recent years, as the research and the development of micro and precision machinery become active, the interest of micro actuators using SMA(Shape Memory Alloy) has been increased. The dynamic characteristic analysis of SMA is necessary for actuator application and many common researches report the material characteristics of SMA sufficiently. However, the research on dynamic characteristics is very deficient. In this paper, the helical spring are fabricated with NiTi SMA wire of high resistivity. The force, response speed, temperature, and displacement are measured by digital force gauge, infrared thermometer, and laser displacement sensor so that the dynamic characteristics of this SMT is analyzed. Also, bidirectional actuator was fabricated and experimented for its performance

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.658-665
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• 2006

RVDT is a transducer that presents rotary phase angle according to the displacement of eccentric rotor such as press machine. However a study on the phase error of RVDT that affects precision is not enough. This paper analyzes RVDT phase error and obtains compensation curves with serial or parallel resistance through simulation. First, error compensation procedure that analyses errors due to the unbalance of reference inductances of each pole and uses parallel resistance as a compensation is proposed. Second, error compensation procedure due to the amplitude unbalance of the sensor driving currents is examined by serial compensation resistance. Experimentally, we got stable RVDT with phase error under $1^{\circ}$ by the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1303-1310
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• 2000

GPS carrier phase is supposed to provide the tool for the most precise 3 dimensional positioning information. The FAST, an OTF technique, has been developed by the GPS System Laboratory of Konkuk University, and has been shown several millimeter level accuracy in root-mean-square sense. This OTF's high precision positioning capability provides an adequate tool of low frequency vibration monitoring of large structures. In this paper, the possibility of vibration measurement of a cantilever beam using FAST has been tested, which is supposed to be extended to more practical applications. The results of the experiment have been compared with those by a strain gage and laser sensor.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.2
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• pp.166-171
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• 2010

Wired monitoring systems have been used for damage detection and dynamic analysis of large structures(bridges, dams, plants, etc.). However, the real-world applications still remain limited, mainly due to time and cost issues inherent to wired systems. In recent years, an increasing number of researchers have adopted WSN(wireless sensor network) technologies to the field of SHM(structural health monitoring). Accurate time synchronization is most critical for the wireless approach to be feasible for SHM purpose, along with sufficient wireless bandwidth and highly precise measuring resolution. To satisfy technical criteria stated above, a wireless vibration monitoring system that uses high-precision MEMS(micro-electro-mechanical system) sensors and A/D convertor is discussed in detail. It was found experimentally that the level of time synchronization fell within $200\;{\mu}sec$.