• Journal of Aerospace System Engineering
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• v.9 no.4
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• pp.23-30
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• 2015

The focal plane image stabilization for a camera is one of the most effective method that can increases the digital camera's image quality by compensating the vibration disturbance. The optical image stabilization can be implemented by making the focal plane to trace the path of incident light. To control the position of focal plane motion compensating stage precisely, a nonlinear control algorithm has been applied by considering coulomb friction which is nonlinear behavior of the compensator system. In our study, we have analyzed the hand shaking vibration using the gyro sensor, and made a mathematical model of compensating stage containing optical sensor and piezo-actuator. Then the nonlinear control algorithm has been designed and its performance has been verified by experiment. In this study, a friction driven peizo-electric actuator with $1{\mu}m$ resolution and 10mm/s speed has been used for stage movement.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.3
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• pp.266-272
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• 2014

This study proposes a closed-loop shaping control method with $H_{\infty}$ optimization for optical image stabilization (OIS) in mobile phone cameras. The image stabilizer is composed of a horizontal stage constrained by ball bearings and actuated by the magnetic force from voice coil motors. The displacement of the stage is measured by Hall effect sensors. From the OIS frequency response experiment, the transfer function models of the stage and Hall effect sensor were identified. The weight functions were determined considering the tracking performance, noise attenuation, and stability with considerable margins. The $H_{\infty}$ optimal controller was executed using closed-loop shaping and limiting the controller order, which should be less than 6 for real-time implementation. The control algorithm was verified experimentally and proved to operate as designed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.793-798
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• 1993

In this study the attitude control of the KOREASAT is investigated. The KOREASAT is a geostationary satellite and its 3 attitude angles, namely, roll, pitch and yaw angles, are stabilized by using the 3-axis stabilization technique. In the pitch control loop, the pitch attitude angle received from the earth sensor is processed in the attitude processing electronics by using PI type control logic, and the control command is sent to the momentum wheel assembly to generate the control torque by varying the wheel rate. The roll/yaw attitude control is performed by activating a magnetic torquer or by firing appropriate thrusters. The magnetic torquer interacts with the earth magnetic field to produce the control torque, and the thrusters are used to control the larger roll attitude errors. In this study dynamic modelling of the satellite is performed. And the earth sensor, the momentum wheel, and the magnetic torquer are mathematically modelled. The 3-axis attitude control logic is implemented to make the closed-loop system and simulations are carried out to verify the implemented control laws.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.614-619
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• 2004

The line-of-sight (LOS) stabilization system is a precision electro-mechanical gimbals assembly for rejecting vibration to isolate the load from its environment and point toward the target in a desired direction. This paper describes the design of gimbals system to reject the disturbance and to improve stabilization. To generate movement commands for the actuators in the stabilization system, the control system uses a sensor of angular rotation. The controller is a DSP with transducer and actuator interfaces. Unknown parameters of the gimbals are estimated using the signal compression method. The cross-correlation coefficient between the impulse response from the assumed model and the one from model of the gimbals is used to obtain the better estimation. And SMCPE (sliding mode control with perturbation estimation) is used to control the gimbals. SMCPE provides robustness of the control against the modeling deficiencies and unknown disturbances. In order to compare the performance of SMCPE with the classical SMC, a sample test result is presented.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.157-163
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• 2011

This paper proposes a hybrid image stabilizing system which uses both optical image stabilizing system based on EKF (Extended Kalman Filter) and digital image stabilization based on SURF (Speeded Up Robust Feature). Though image information is one of the most efficient data for object recognition, it is susceptible to noise which results from internal vibration as well as external factors. The blurred image obtained by the camera mounted on a robot makes it difficult for the robot to recognize its environment. The proposed system estimates shaking angle through EKF based on the information from inclinometer and gyro sensor to stabilize the image. In addition, extracting the feature points around rotation axis using SURF which is robust to change in scale or rotation enhances processing speed by removing unnecessary operations using Hessian matrix. The experimental results using the proposed hybrid system shows its effectiveness in extended frequency range.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.323-330
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• 2016

This paper describes real-time unbalance moment compensation method for line of sight(LOS) stabilization control systems. The factors of system inertia, frictions and unbalance moment affect the control accuracy of drive systems that are equipped to on the move(OTM) platforms requiring LOS stabilization function. In case of the unbalance moment among those factors is continuously changed as variation of relative angle between gravity vector and drive torque vector. Then, consideration of the effect in real-time is very complicate. Therefore, its effect should be designed to be minimized, however, designing it almost zero is impossible in real condition. In other words, it is hard to achieve target performance overcoming stability issue of highly unbalanced systems. To solve these problems, this paper proposes calculation method of unbalance moment by using measured sensor data for LOS stabilization control and its use for control compensation. Also, kinematical converting process and control structure for compensation are explained. The effectiveness of the proposed method as variation of unbalance moment is verified under simulation circumstance modeled by assuming LOS control system with 2-axis gimbal structure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.8
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• pp.44-49
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• 2003

In case of an extrinsic Fabry-Perot interferometric sensor, the phase compensating technique is particularly necessary in applying the interferometer to detecting acoustic emission signals because of signal-fading problems. The technique makes it possible to maintain the phase at the quadrature point. In this paper, we developed the stabilization control sensor system that is composed of a broadband light source, a tunable Fabry-Perot (F-P) filter and a control-circuit board. A tension test of a composite specimen was performed to verify if the developed system could compensate the phase change induced from the tension strain and keep the phase at the quadrature point.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.120-126
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• 2019

Recently, there is an increasing need for highly precise processing with the rapid development of precision machinery, electrical and electronics, and semiconductor industries. Cutting machine control relies on the operator's sense and experience in tradition, but it has been greatly enhanced by the adoption of CNC(Computerized Numeric Controller). In addition, cutting dynamics technology has been paid attention to reflect the operating state of machine in real time. This paper presents a method to detect and stabilize tool vibration by attaching an acoustic sensor to a CNC machine. The sensed acoustic data is synchronized with the tool position and the abnormal vibration frequency is separated from the collected acoustic frequency, then analyzed to detect the tool vibration. Also the reliability the tool vibration detection and stabilization is improved by applying the cutting dynamic method. The proposed method is analyzed and evaluated in terms of the surface roughness.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.12
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• pp.1894-1899
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• 1990

We present an electro-optical voltage sensor. Crystalline bismuth germanate(BI4Ge3O12) used as the electro-opticla crystal exhibited linear birefringences of 1.7x10**-5 to 5.4x10**-4. And these birefringences were observed to be strongly temperature dependent. In order to improve the stability of the electro-opticlal voltage sensor, crystals (Bi4Ge3=12) were annealed and a compensation method was used. After applying this compensation method to the voltage sensor, the temperature stability, pressure stability, and vibration stability of the sensor were highly improved, Noise Equivalent Voltage of this sensor was a few mV/\ulcornerz.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.7
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• pp.1398-1405
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• 2016

As wireless sensor networks become eligible as well as useful in several controled systems where surrounding environments are likely to be monitored, their stabilization become important research challenge. Generally, stabilization is mostly dependent on reliability of sensing value. To achieve such reliability in wireless sensor networks, the most of previous research work have tendency to deploy the same type of multiple sensor units on one node. However, these mechanisms lead to deployment problem by increasing cost of sensor node. Moreover, it may decrease reliability in the operation due to complex design. In order to solve this problem, in this paper, we propose a new validation scheme which is based on prediction and frequency value. In the proposed scheme, we take into exceptional cases account, for example, outbreak of fire. Finally, we demonstrate that the proposed scheme can detect abnormal sensing value more than 13 percent as compared to previous work through diverse simulation scenarios.