• Journal of Sensor Science and Technology
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• v.26 no.5
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• pp.353-359
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• 2017

This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walking assist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensor is used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(Finite Element Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried out respectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability error and the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.

• Journal of Power Electronics
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• v.18 no.4
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• pp.1099-1110
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• 2018

In this paper, a loss minimization control method for interior permanent magnet synchronous motors is presented with considering self-saturation and cross saturation. According to variation of the d-axis and q-axis inductances by different values of the d-axis and q-axis components of currents, it is necessary to consider self-saturation and cross saturation in the loss minimization control method. In addition, the iron loss resistance variation due to frequency variation is considered in the condition of loss minimization. Furthermore, the loss minimization control method is compared with maximum torque per ampere (MTPA), unity power factor (UPF) and $i_d=0$ control methods. Experimental results verify the performance and proper dynamic response of the loss minimization control method with considering self-saturation and cross saturation.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• The Journal of Korean Academy of Prosthodontics
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• v.29 no.3
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• pp.121-140
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• 1991

Fifteen dental college students of Chosun University without the abnormal occlusion, the history and symptom of temporomandibular dysfunction(TMD), and who had all permanent teeth except third molar and the fifteen moderate group and the fifteen severe group classified according to Helkimo's dysfunction index among patients on the basis of the symptom of TMD were selected. The occlusal contact, occlusal force and occlusal interference in eccentric movement was studied and analyzed using T-Scan system. The result were as follows : 1. The TLR centering around midsagittal axis was located at $1.42{\pm}0.82mm$ in control group, $3.36{\pm}1.45mm$ in severe group, and as TMD was heavier, occlusal contact was located at the farther point from midsagittal axis. 2. The PLR from the first contact to the fifth contact centering around midsagittal axis was located at $1.73{\pm}1.78mm$ in control group, $3.36{\pm}1.41mm$ in moderate group, and $5.39{\pm}4.32mm$ in severe group, and as TMD was heavier, occlusal contact was located at the farther point from midsgittal axis. 3. The TFB, PFB, RFB and LFB of occlusal contact centering around incisal axis had no significant difference statistically among control group, moderate group, and severe group, and it was located at first molar. 4.The LF and RF was smaller in TMD group than in control group. 5. The LR moment of occlusal force centering around midsagittal axis was located at $178.51{\pm}139.81N.mm$ in control group, $466.25{\pm}296.47N.mm$ in moderate group, and $749.18{\pm}588.18N.mm$ in severe group. And as TMD was heavier, it was located at the farther point from midsagittal axis. 6. The RL and LL of occlusal force centering around incisal axis had not-significance statistically among control group, moderate group, and severe group, and it was at the first molar. 7. The number of occlusal interference of the eccentric movement was increased in the patients of TMD.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.11
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• pp.983-988
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• 2015

This paper details a new ultra-precise turning method for increasing surface quality, "Multi Point B Axis Control Method." Machined surface error is minimized by the compensation machining process, but the process leaves residual chip marks and surface roughness. This phenomenon is unavoidable in the diamond turning process using existing machining methods. However, Multi Point B axis control uses a small angle (< $1^{\circ}$) for the unused diamond edge for generation of ultra-fine surfaces; no machining chipping occurs. It is achieved by compensated surface profiling via alignment of the tool radial center on the center of the B axis rotation table. Experimental results show that a diamond turned surface using the Multi Point B axis control method achieved P-V $0.1{\mu}m$ and Ra 1.1nm and these ultra-fine surface qualities are reproducible.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.558-563
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• 2008

Optical axis misalignment, which represents the position deviation of the objective lens from the optical axis, is an inevitable assembly error in an optical pick-up. Since the laser power intensity varies with respect to the distance from the optical axis, the misalignment leads to variation of the laser spot power intensity, which is one of the critical factors increasing data bit-error-rate in optical disc drives. In this paper, an auto-adjustment scheme for optical axis alignment is proposed to eliminate the undesirable variation of the laser spot power intensity in optical disc drives. An envelope of the data RF signal is extracted and utilized to detect the optical axis misalignment. Then an adjustment input is added to the driving input of the tracking actuator to shift the objective lens to the optical axis. Finally, the feasibility is verified by experiments.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.8
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• pp.361-366
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• 2001

This thesis proposes a fuzzy logic cross coupled controller for a multi axis servo system. The overall control system consists of three elements: the axial position controller, the speed controller, and a fuzzy logic cross coupled controller. In conventional multi axis servo system, the motion of each axis is controlled independently without regard to the motion of other axes, in which the contour error, defined as the shortest distance between the desired and actual contours is compensated only by the position error of each axis. This decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties, Therefore, the multi axis servo system must receive and evaluate the motion of all axes for a better contouring accuracy. Cross coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However the existing cross coupled controllers cannot overcome friction, backlash and parameter variation. Also, since it is difficult to obtain an accurate mathematical model of multi axis system, here we investigate a fuzzy logic cross coupled controller method. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.161-164
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• 2000

An improved robust hybrid control law is proposed This law uses the separated bounding function: so uncertainties of each axis does not affect the others. Also, this law uses the separated $\varepsilon$, so we can take different $\varepsilon$ for each axis This law guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.341-345
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• 1986

In the course of robot control system building, there are problems in the position control loop of 3rd axis of robot manipulator. The problems are summerized as two: one is uncontrollability of position and the other is oscillation. And these problems are analyzed through experiment, and it is known that the cause of problems in torsional vibration of 3rd axis. So that these two problems are solved by noise immunity enhancement and lowering of PI controller gain.