• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.59-66
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• 2010

We developed a model-based controller for 6-DOF micropositioning of a precision stage using $H_{\infty}$ norm, For the design, a state-space system of the mathematical model of the stage is derived In developing the controller, weighting functions are effectively designed in consideration of upper bounds of the sensitivity of the control loop and control input. Step responses in open and closed loop control are provided to verify the micropositioning performance of the stage. By applying the developed controller we prove that the inverse of the weighting function forms the upper bound of the control loop. It is also found that the controller makes the same sensitivity shape with all the DOFs due to the use of $H_{\infty}$ norm. The developed controller is expected to be applied successfully for industrial use.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.3
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• pp.183-188
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• 2015

A 10-bit 10MS/s low power consumption successive approximation register (SAR) analog-to-digital converter (ADC) using a straightforward capacitive digital-to-analog converter (DAC) is presented in this paper. In the proposed capacitive DAC, switching is always straightforward, and its value is half of the peak-to-peak voltage in each step. Also the most significant bit (MSB) is decided without any switching power consumption. The application of the straightforward switching causes lower power consumption in the structure. The input is sampled at the bottom plate of the capacitor digital-to-analog converter (CDAC) as it provides better linearity and a higher effective number of bits. The comparator applies adaptive power control, which reduces the overall power consumption. The differential prototype SAR ADC was implemented with $0.18{\mu}m$ complementary metal-oxide semiconductor (CMOS) technology and achieves an effective number of bits (ENOB) of 9.49 at a sampling frequency of 10MS/s. The structure consumes 0.522mW from a 1.8V supply. Signal to noise-plus-distortion ratio (SNDR) and spurious free dynamic range (SFDR) are 59.5 dB and 67.1 dB and the figure of merit (FOM) is 95 fJ/conversion-step.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.2
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• pp.119-127
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• 2008

In this paper, the modular line-connected photovoltaic PCS (photovoltaic power conditioning system) is proposed. A step-up DC-DC converter using a active-clamp circuit and a dual series-resonant rectifier is proposed to achieve a high efficiency and a high input-output voltage ratio efficiently. An IncCond (incremental conductance) MPPT (maximum power point tracking) algorithm that improves MPPT characteristic is used. The PV module current is estimated without using a DC current sensor. By control a inverter using a linearized output current controller, a unity power factor is achieved. All algorithms and controllers are implemented on a single-chip microcontroller and the superiority of the proposed DC-DC converter and controllers is proved by experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.12
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• pp.1220-1226
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• 2012

This paper proposes a novel type of tactile device utilizing magnetorheological(MR) fluid which can be applicable for haptic master of minimally invasive surgery(MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field(or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 1995.11a
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• pp.351-356
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• 1995

A optical switch which on the LiNbO$_3$substrate is fabricated by using proton exchange method and self-alignet method. The annealing at 400[$^{\circ}C$] was carried out to control waveguide width and depth. A self-aligned method, which doesn\`t need the additional mask precesses, was applied to simplify the fabrication processes and to maximize efficiency of electric field application. The depths of the two annealed optical waveguides, which were measured by using ${\alpha}$-step, ware 1.435[K${\AA}$] and 1,380[K${\AA}$]. Using ${\alpha}$-step facility, we examined that the width of waveguides is increased from 5[$\mu\textrm{m}$] to 6.45[$\mu\textrm{m}$] and 6.3[$\mu\textrm{m}$] due to the annealing effects. The process of proton exchange was done at 400[$^{\circ}C$] for 60[min] and annealing process was done at 400[$^{\circ}C$] for 60[min]. The high speed optical modulator has very good figures of merits: the measured voltage of the input waveguide power is 3.5[V], the voltage of the coupling waveguide power is 3.9[mV], and -29.5[dB] crosstalk and 8[V] switching voltage were achieved.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.5
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• pp.463-467
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• 2003

This paper describes an AC voltage regulator using AC chopper and auxiliary transformer which is series connected with main input. It has many advantages such as fast voltage control, high efficiency and low THD. A detail study of step down AC voltage regulator is described and two kinds of novel step-up/down voltage regulator for AVR application are proposed. The operation principle and PWM method of the proposed regulator are described. Experimental results show that it can be used as AC voltage regulator for special purpose very efficiently.

• Journal of Power Electronics
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• v.19 no.4
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• pp.881-893
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• 2019

This paper proposes a practical sliding-mode controller design for shaping the impedances of cascaded boost-converter power decoupling circuits for reducing the second order harmonic ripple in photovoltaic (PV) current. The cascaded double-boost converter, when used as power decoupling circuit, has some advantages in terms of a high step-up voltage-ratio, a small number of switches and a better efficiency when compared to conventional topologies. From these features, it can be seen that this topology is suitable for residential (PV) rooftop systems. However, a robust controller design capable of rejecting double frequency inverter ripple from passing to the (PV) source is a challenge. The design constraints are related to the principle of the impedance-shaping technique to maximize the output impedance of the input-side boost converter, to block the double frequency PV current ripple component, and to prevent it from passing to the source without degrading the system dynamic responses. The design has a small recovery time in the presence of transients with a low overshoot or undershoot. Moreover, the proposed controller ensures that the ripple component swings freely within a voltage-gap between the (PV) and the DC-link voltages by the small capacitance of the auxiliary DC-link for electrolytic-capacitor elimination. The second boost controls the main DC-link voltage tightly within a satisfactory ripple range. The inverter controller performs maximum power point tracking (MPPT) for the input voltage source using ripple correlation control (RCC). The robustness of the proposed control was verified by varying system parameters under different load conditions. Finally, the proposed controller was verified by simulation and experimental results.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.8
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• pp.1196-1202
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• 2009

In this paper, an estimator design of underwater environment changes is proposed by using observer techniques for ROV control system. The underwater environment changes are considered as an external disturbance term for ROV model and it is added into the input term of ROV model. To estimate the environment changes, a PI observer which does not effect the external disturbance input term is proposed. To verify the effectiveness of the proposed method, the step and the sinusoidal environment changes are considered in simulation. The proposed method will be applied to design the haptic controller for ROV in future.

• Journal of Korean Society on Water Environment
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• v.26 no.5
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• pp.810-815
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• 2010

Ultrasonic sludge pre-treatment has been studied to enhance the performance of anaerobic digestion by increasing sludge hydrolysis which is regarded as the rate-limiting-step of anaerobic digestion. In this study, the effect of ultrasonic pre-treatment on sludge hydrolysis (solubilization) and methane production was investigated. Sludge solubilization efficiency increased with ultrasonic energy input. However, it is uneconomical to apply more than 720 kJ/L as the solubilization efficiency per energy input declines afterwards. Volatile fatty acids concentration increased after the ultrasonic sludge hydrolysis. Anaerobic batch digestion showed that methane volume reached 64.7 and 84.5 mL after 18 days of incubation with the control sludge and ultrasonically hydrolyzed sludge, respectively. Methane production potential, maximum methane production rate, and the lag time of modified Gompertz equation were changed from 70 mL, 6.4 mL/day, and 1.2 days to 89 mL, 9.6 mL/day, and 0.5 day, respectively, after the ultrasonic sludge treatment. The results proved that ultrasonic pre-treatment contributed significantly not only for the methane production but also for the reduction of anaerobic digestion time which is critical for the performance of anaerobic sludge digestion.