• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.94-103
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• 1996

This paper is concerned with the theroretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.

• Journal of IKEEE
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• v.2 no.2 s.3
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• pp.200-211
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• 1998

A DS/CDMA system that makes all base stations require equal received power for all mobiles can lead to the non-uniform quality of service when mobiles are non-uniformly located over a service area. In order to resolve this problem the base-received power should be controlled according to base's load in order to make the quality of service uniform, and the pilot power also has to be adjusted to maintain the balance of cell coverage between reverse link and forward link. In this paper, we propose a generalized model including Pilot Power control, base-received power control on the reverse link, transmission power allocation on multiple forward link, and soft handoff on both links. We also apply our model to an initial system design as an example.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.57-63
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• 2002

In this paper, the feedforward control with least mean square (LMS) adaptive algorithm is proposed and examined to reduce rotating error by runout of an active magnetic bearing system. Using eddy-current type gap sensor fur control, the electrical runout caused by non-uniform material properties of sensor target produces rotational error amplified in feedback control loop, so this runout should be eliminated to increase rotating accuracy. The adaptive feedforward controller is designed and examined its tracking and stability performances numerically with established frequency response function. The tested grinding spindle system is manufactured with a 5.5 ㎾ internal motor and 5-axis active magnetic bearing system including 5 eddy current gap sensors which have approximately 15 ~ 30 ${\mu}{\textrm}{m}$ of electrical runout. According to the experimental analysis, the error signal in radial bearings is reduced to less than 5 ${\mu}{\textrm}{m}$ when it is rotating up to 50,000 rpm due to applying the feedforward control for first order harmonic frequency, and vibration of the spindle base is also reduced about same frequency.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.19-25
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• 2005

In this paper, the feedforward control with least mean square (LMS) adaptive algorithm is proposed and examined to reduce rotating error by runout of an active magnetic bearing system. Using eddy-current type gap sensors for control, the electrical runout caused by non-uniform material properties of sensor target produces rotational error amplified in feedback control loop, so this runout should be eliminated to increase rotating accuracy. The adaptive feedforward controller is designed and examined its tracking performances and stability numerically with established frequency response function. The designed feedforward controller was applied to a grinding spindle system which is manufactured with a 5.5 kW internal motor and 5-axis active magnetic bearing system including 5 eddy current gap sensors which have approximately 15∼30㎛ of electrical runout. According to the experimental results, the error signal in radial bearings is reduced to less than 5 ,Urn when it is rotating up to 50,000 rpm due to applying the feedforward control for first order harmonic frequency, and corresponding vibration of the spindle is also removed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.528-532
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• 1997

The structure of satellite was of six parts of control system, power system, thermal control system, remote measurement command system, propellant system and thrust system. In these parts, propellant system consists of propellant tank and thrust device. What we want to perform is optimum design to minimaize the weight of propellant tank. In order to design optimal propellant tank, several parameters should be adopted form the tank geometry like the relative location of the lug and variation of the wall thickness. So the analysis was executed by finite element analysis for finding optimal design parameters. The structure was devided into 3 parts, the initial thickness zone, the transitional zone, and the weak zone,whose effects on the pressure vessel strength was investigated. Finally the optimal lug location and the three zone thickness were obtained and the weight was compared with the uniform thickness vessel.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1053-1054
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.425-428
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• 1994

Non-uniform minute deformation of a cylinderical workpiece resulted from the heat treatment process prior to the grinding makes it diffeclt to control the approaching feedrate of a grinding wheelto a workpiece optimallywithout on-site detection of the grinding states in the plunge grinding. The 4-stage model of the plunge grinding process is proposed according to the state of contact between grinding wheel and workpiece ; precontact, partial contact, entire contact and spark-out. Despite of being scrious to the precision of workpiece finished, the duration of spark-out is determined empirically. The purpose of this research is to develop a monitoring/control system for saving non- production time and setting the optimal spark-out time based on sensor information in the plunge grinding using AE and ultra sonic sensor.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2022.04a
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• pp.251-252
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• 2022

The microfluidic controlled droplet manufacturing system is one of the most powerful methods for capsule manufacturing. The microfluidic control method can control the type and size of the capsule by changing the size and configuration of the channel. In addition, by increasing the number of channels, capsules of uniform size can be mass-produced. In this paper, a capsule manufacturing system including flow-focusing and T junction method was designed. In addition, the effectiveness of this system was verified by manufacturing multi-emulsion capsules with a size of 2.2 to 3 mm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1955-1961
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• 2008

A lot of researches on a linear induction motor(LIM) have been advanced to realize a traction system with high efficiency and performance for railway transit for a long time. However, most of them are limited in design of a LIM part such as Primary and Secondary. At a LIM which is traveling, the change of an air-gap(It occurs by a construction tolerance of a secondary reaction plate) becomes the cause which decreases a smoother ride and the efficiency of railway transit system. Therefore, uniform air-gap operation of LIM is important issue to improve the system efficiency. However, the researches which control the air-gap length of the LIM with technical and high-cost problem have been not advanced a lot. Therefore, in this research, it is introduced an air-gap control system for performance test machine of a scale-downed LIM which is able to control the air-gap length of the LIM and monitor a variety of performance changes of the propulsion system, and conducted a research on feasibility of the system based on characteristic analysis.