• 한국공작기계학회논문집
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• 제17권5호
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• pp.44-51
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• 2008

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.702-705
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• 2005

Burr is an undesirable projection as result of plastic deformation. Burr minimization and effective deburring process are required strongly to reduce the cost of the parts. In doing these efforts, the precise burr measurement must be provided for the efficient process. For this purpose the conoscopic holography sensors are selected before. However, it has been very difficult to measure micro burrs less than $10{\mu}m$ due to their tiny and sharp geometries as well as the effect of ambient vibration during scanning. A new micro burr measurement system using high precision. Conoprobe sensor and XY table can measure the micro burrs which is less than $10{\mu}m$. Experiments were carried out showing that micro burr around $10{\mu}m$ was successfully measured and analyzed.

• 한국항해항만학회지
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• 제38권1호
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• pp.11-18
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• 2014

To confirm whether the square tank at Changwon National University (CWNU) can be used for estimation of maneuverability, planar motion mechanism (PMM) test and circular motion (CM) test were performed for various conditions. PMM test can be implemented using an XY carriage and a yaw table in the square tank. However, sometimes test section is insufficient for PMM test owing to low length-breadth ratio of the tank. In addition, the speed of a towing carriage is also quite limited. Therefore, it would be useful if PMM test could be effectively performed diagonally, by establishing coupled control logic to drive three servomotors. In addition, Froude number dependency on the estimated hydrodynamic coefficients was checked. Furthermore, CM tests, which cannot be completed in a conventional linear towing tank, were performed, and its results were compared with the results of PMM test. The results of the PMM tests in the diagonal direction were consistent with the results of the test performed in the direction parallel to the sidewall. However, the results of the CM test were greater than those of the PMM test. This tendency was also observed in the results published at Ulsan University.

• 한국생산제조학회지
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• 제20권5호
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• pp.589-597
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• 2011

In this paper, optimal tuning of a cross-coupled controller linked with the feedforward controller and the disturbance observer is studied to improve contouring and tracking accuracy as well as robustness against disturbance. Previously developed integrated design and optimal tuning methods are applied for developing the robust tuning method. Strict mathematical modeling of the multivariable system is formulated as a state-space equation. Identification processes of the servomechanism are conducted for mechanical servo models. An optimal tuning problem to minimize both the contour error and settling time is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servo control system. Constraints such as relative stability, robust stability and overshoot, etc. are considered for the optimization. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm the control performance and robustness despite the variation of parameters of the mechanical subsystems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.846-848
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• 1995

Recently, direct drive AC servo motor and DSP is widely used in the factory automation and related field due to the enhanced control and digital technology. In this paper, position control of direct drive AC servo motor and numerical interpolation algorithms are studied using DSP for the future applications. In the direct drived motor control, encoder pulse is divided into the quadruple pulse for the higher resolution and high speed pulse(10MHz) is used as reference for the slower speed motor control (M/T method). As for the general position control, PI controller is adapted for position control. In the trajectory tracking numerical algorithm, interpolation of straight line and curve algorithms are studied for the realization of path following capabilities of XY table. As for the DSP, ADSP 2105 is selected for the economy and performance points of view.

• 반도체디스플레이기술학회지
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• 제10권2호
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• pp.73-81
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• 2011

We manufactured the inkjet printing system for the application into the nano Ag finger line interconnection process in Si solar cells. The home-made inkjet printer consists of motion part for XY motion stage with optical table, head part, power and control part in the rack box with pump, and ink supply part for the connection of pump-tube-sub ink tanknozzle. The ink jet printing system has been used to conduct the interconnection process of finger lines on Si solar cell. The nano ink includes the 50 nm-diameter. Ag nano particles and the viscosity is 14.4 cP at $22^{\circ}C$. After processing of inkjet printing on the finger lines of Si solar cell, the nano particles were measured by scanning electron microscope. After the heat treatment at $850^{\circ}C$, the finger lines showed the smooth surface morphology without micropores.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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• pp.284-287
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• 1987

In this paper, the design and implementation of a multiprocessor based Die Bonder Machine for the semiconductor will be described. This the partial research result, that is, the 1st year portion of the project to be performed for a period of two years from June, 1986 to May, 1988. The mechanical system consists of the following three subsystems : (i) transfer head unit, (ii) die feeding XY-table unit, and (iii) plunge up unit. The overall control system is designed to be essentially a master-slave type in which each slave is functionally fixed in view of software and also the time shared common bus structure with hardwired bus arbitration scheme is utilized, the control system consists of the following three subsystems each of which employs a 16 bits microprocessor MC 68000 : (i) die bonder processor controller, (ii) visual recognition/inspection and display system, (iii) the servo control system. It is reported that the proposed control system were applied to Working Sample and tested in real system, and the results are successful as a working sample phase.

• 한국정밀공학회지
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• 제12권9호
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• pp.156-166
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• 1995

This paper presents a bin picking method using a slit beam laser in which a robot recognizes all of the unoccluded objects from the top of jumbled objects, and picks them up one by one. Once those unoccluded objects are removed, newly developed unoccluded objects underneath are recognized and the same process is continued until the bin gets empty. To recognize unoccluded objects, a new algotithm to link edges on slices which are generated by the orthogonally mounted laser on the xy table is proposed. The edges on slices are partitioned and classified using convex and concave function with a distance parameter. The edge types on the neighborhood slices are compared, then the hamming distances among identical kinds of edges are extracted as the features of fuzzy membership function. The sugeno fuzzy integration about features is used to determine linked edges. Finally, the pick-up sequence based on MaxMin theory is determined to cause minimal disturbance to the pile. This proposed method may provide a solution to the automation of part handling in manufacturing environments such as in punch press operation or part assembly.

• Radiation Oncology Journal
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• 제14권3호
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• pp.247-253
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• 1996

목적 : Buchler type의 강내조사장치에 대한 선량계산 프로그램을 개발하였다. 방법 : 프로그램 디스크를 5도씩 72 분할하여 구한 좌표에서 선원의 왕복 크기와 activity의 분포를 결정하였다. 각각의 프로그램 디스크별 그리고 각 선원별로 선량율을 계산하여 선량율 표를 작성하였다. 이 선량율표를 이용하여 인체내 관심점에 대한 선량율 계산에 이용하도록 하였다. 각 관심점에 대한 선량율을 계산한 후 등선량 분포곡선을 작성하여 화면에 표시하였다. 결과 : 각 프로그램 디스크와 선원별로 선량율표를 작성하므로써 저장 용량은 다소 증가한다. 그러나 인체내 관심점의 선량 계산이 빠르게 이루어지기 때문에 환자 치료시 바로 이용할 수 있다. 또한 등선량곡선을 바로 확인할 수 있어 선원의 배열 등을 즉시 교정 할 수 있다. 결론 : 종전의 등선량 분포곡선을 이용한 근사적 계산보다 정확한 선량 계산을 훨씬 빠르게 할 수 있다. 선량계산 문제점의 해결로 Buchler type의 강내조사장치를 다양하게 치료에 응용할 수 있다. 또한 다양한 선원에 대한 선량계산에도 이용할 수 있다.

• 한국산림과학회지
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• 제8권1호
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• pp.11-16
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• 1968

왕죽(王竹) 및 맹종죽(孟宗竹)을 지위(地位) 상등지(上等地), 중등지(中等地), 하등지(下等地)에 따라서 생장인자(生長因子) 즉(卽) 죽고(竹高), 지하고(枝下高), 죽관장(竹冠長), 흉고주위(胸高周圍), 근경부주위(根莖部周圍)를 각각(各各) 측정(測定)하여 제(第)8표(表)를 작정(作定)하였다. 본표(本表)에 의거(依據)하여 맹종죽(孟宗竹)에서는 어느 정도(程度)의 등차(等差)를 그리고 왕죽(王竹)에서는 하등지(下等地)의 생장인자(生長因子) 특(特)히 근소(僅少)한 구티(數値)를 나타내고 있다. 다음에 상관표(相關表)를 작성(作成)하여 이에 의거(依據)한 상관계수(相關係數)를 산출(算出)하였다. 이때에 사용(使用)한 공식(公式)은 ${\mu}=\frac{{\Sigma}xy}{\sqrt{{\Sigma}X^2y^2}}$ 또 She.ppard 식(式)으로 추정(推正)할때 적욕(適用)한 공식(公式)은 ${\mu}=\frac{{\Sigma}xy}{\sqrt{({\Sigma}X^2-\frac{m}{12})({\Sigma}y^2-\frac{n}{12})}}$ 평균오차(平均誤差)의 공식(公式)은 $e=0.6745\frac{1-{\mu}^2}{\sqrt{n}}$ 상관계수(相關係數)에 따라 신뢰도(信賴度)를 좌우(左右)하는데 ${\mu}$ >0.5일때에는 상관계수(相關係數)가 있고 ${\mu}$ <0.3일때에는 상관계수(相關係數)가 없다고 하여 맹종죽(孟宗竹)에 있어서 죽고(竹高)와 흉고주위(胸高周圍) 죽고(竹高)와 근경부주위(根莖部周圍)와의 상관계수(相關係數)는 높으며 죽고(竹高)와 지하고(枝下高)와의 상관율(相關率)은 0.49로서 약(弱)한 상관관계(相關關係)가 성립(成立)되고 있다. 또한 왕중(王竹)에 있어서는 죽고(竹高)와 흉고주위죽고(胸高周圍竹高)와 근경부주위(根莖部周圍) 그리고 죽고(竹高)와 지하고(枝下高)의 상관계수(相關係數)가 0.45, 0.46, 0.48로서 높은 유의성(有意性)은 아니나 상관관계(相關關係)는 성립(成立)된다고 하겠다. 일반적(一般的)으로 지위조정(地位組定)에 있어서는 Daher 씨(氏)의 수고생장(樹高生長)을 이용(利用)하고 있으나 상술(上述)된 상관관계(相關關係)를 통(通)하여 생장인자(生長因子)인 죽고(竹高) 흉고주위(胸高周圍) 근경부주위(根莖部周圍) 및 지하고중(枝下高中) 어느 한가지만을 특정(測定)하여도 지위(地位)를 결정(決定)할수 있다는 것이 본연구(本硏究)를 통(通)하여 입증(立證)되고 있다.