• 제어로봇시스템학회논문지
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• 제9권8호
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• pp.623-631
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• 2003

We have fabricated the two-dimensional inverted pendulum system and designed its controller. The two-dimensional inverted pendulum system, which is composed of X-Y table, is actuated through timing belt by each of two geared DC motors. And the control goal is that the rod is always kept to a vertical position to any distrubance and is quickly moved to the desired position. Because this system has generally nonlinear dynamic characteristics and X-axis and Y-axis move together, it is very difficult to find its exact mathematical model and to design its controller. Therefore, we have designed the PID controller with simple structure and excellent performance. Genetic algorithm(GA), which is blown as one of probabilistic searching methods, and human's heuristic control strategy are introduced to design an optimal PID controller. The usefulness of the proposed GA based PID coefficient searching technique is verified through the experiments and computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.66.4-66
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• 2001

In this paper we have fabricated the two-dimensional Rod Balancing System which expands conventional one-dimensional inverted pendulum control system and designed its controller. The X-axis cart and Y-axis bar of the Rod Balancing System, which is composed of X-Y table, are actuated through timing belt by each of two geared DC motors, and the rod mounted on a X-axis cart can be brought to the desired position and maintained in a vertical position by motor-control. For the control of the Rod Balancing System, we used a fuzzy logic controller that is an approach to systems control when the exact mathematical model of the plant is unknown or the mathematical model is too complex to understand.

• 한국정밀공학회지
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• 제13권9호
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• pp.77-83
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• 1996

This paper describes forging of trochoidal gears, which are being widely used in timing belt pulley, pump pulley etc., as a series of development of the simulator for non-axisymmetric elements. Kinematically admissible velocity fields for forging of trochoidal gear were proposed and the loads were calculated by numerical method. When the simulation was carried out, half pith of gear was divided into 6 deformation regions which have different velicity fields by assumptions and boundary conditions. The neutral surface was introduced into forging of trochoidal gears with flat punch and, for each step, it is assumed as a circle with its radius r$_{n}$. The experimental set-up was installed in 200 ton hydraulic press for forging. The billets, of A1 2218 aluminum alloy, were slightly phosphate-coated. It was shown that thd theoretical solutions, as upper bound, are useful to predict the forging load for forging of trochoidal gears, because thdt give estimates that are substantially higher than experimental loads.s.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2002년도 정기총회 및 제4회 특별심포지움
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• pp.46-66
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• 2002

스파커와 12채널 스트리머, 그리고 휴대용 기록기를 이용하여 고리원전 연안에서 탄성파탐사를 수행함으로써 4기 단층의 분포와 특성을 파악하였다. 스트리머의 채널간격은 6.25 m이며 스파커는 500 Hz까지의 음파를 발생시키므로 수평 및 수직분해능이 매우 높은 자료를 얻을 수 있었다. 조사지역에는 한반도의 동남부 해안을 따라 분포하는 mud belt를 구성하는 홀로세 퇴적물이 30-40 m의 두께로 쌓여 있다. 조사지역 전체에서 홀로세와 플라이스토세의 경계를 이루는 반사면은 매우 뚜렷하며 천부가스층의 분포도 확인되었다. 조사지역내에서 다수의 4기 단층들이 발견되는데 이들은 수직에 가까운 경사를 가지며 남북방향으로 연장되고 있다. 이들 단층들은 수백 m의 간격으로 배열되어 있으며 지역적으로 인장력에 의해 형성된 특성을 보여주기도 하지만 대체로 압축력이 우세한 영역에서 형성된 것으로 해석된다. 홀로세 전기동안 해침과 관련된 침식충진 퇴적층으로 해석되는 지층을 자르는 단층들도 지역적으로 발견되었다. Mud belt를 구성하는 퇴적층 내에 분포하는 천부가스는 균열이 생긴 단층면을 따라 올라온 것 같은 양상을 보여주기도 한다. 동해를 형성시킨 지구조 운동이 마이오세 후기 이후 약해졌지만 그 이후에 한반도의 남동연안에서 단층운동이 활발하였음은 아직도 정상보다 뜨거운 맨틀영역에 속하는 이 지역이 지체구조적으로 안정되지 못함을 지시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2164-2169
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• 2005

SFFS(Solid Freeform Fabrication System) can quickly makes models and prototype parts from 3D computer-aided design (CAD) data. Three dimensional printing(3DP) is a kind of the solid freeform fabrication. The 3DP process slices the modeling data into the 50-200um along to z axis. And we pile the powder and make the manufactures. A manufacture is made by the SFFS has the precision of the 50um. Therefore the x-y table of SFFS to move a printhead must be the system that has a high speed and accuracy. So we proposed the SMCSPO algorithm for SFFS. The major contribution is the design of a robust observer for estimating the state and the perturbation of the timing belt system, which is combined with a robust controller. The control performance of the proposed algorithm is compared with PD control by the simulation and the experiment. The control algorithm of the SFFS is presented in the office environment. The system between control system and printhead for the SFFS is also integrated

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• 한국전문물리치료학회지
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• 제9권3호
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• pp.39-46
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• 2002

In this study, vertical acceleration of center of mass was observed along normal gait phases in 9 healthy male volunteers (aged $25.7{\pm}2.18$). The developed wireless accelerometric device was attached on the intervertebral space between L3 and L4 using a semi-elastic waist belt. A three-dimensional motion analysis system, synchronized with the accelerometry, was used for detecting gait phases. There was no significant correlation between the body weight and the acceleration. The first peak curve covered loading response phase. The second downward peak point was matched accurately with the opposite toe-off. In mid-stance and terminal stance, the acceleration curve highly resembled the vertical ground reaction force curve. There was no significant difference in timing between the final upward peak point and the initial contact. Therefore, the developed accelerometry system would be helpful in determining determine temporal gait pattems in patients with gait disorders.

• 한국산학기술학회논문지
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• 제13권5호
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• pp.1996-2001
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• 2012

본 시각 검사시스템은 전자 부품과 같이 잘 형성된 표면 재료에 널리 사용되고 있다. 반사 능력이 나쁜 재료의 경우, 시각 검사시스템이 도입될 때 많은 문제점이 발생한다. 혼합 생산 라인에서 진위의 모델을 알 수 없을 때 저 반사비와 많은 노이즈에도 잘 작동할, 강인한 시각 검사시스템을 개발하였다. 유형을 인식하기 위하여 k-means를 이용한 작업물 인식 기법이 제안되었다. 인식 유형에 기반하여 active contour라는 노이즈에 강인한 분할 기법이 영상에서 특징을 분할하는데 응용되었다. 오차 변화를 조정하는데 Kalman 필터가 사용되었다. 자동시각 검사시스템의 실험은 프로젝터를 이용한 수작업 측정의 정확도 수준을 보여준다.

• 로봇학회논문지
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• 제13권2호
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.