• Journal of the Semiconductor & Display Technology
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• 제15권3호
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• pp.62-66
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• 2016

Optical system needs to be aligned before its undergoing process, is usually shows coma aberrations, which occurred due to imperfection in the lens or other components results in off-axis point sources, appearing to have a tail like a comet. There are some methods to correct coma aberration. In this paper, to correct coma aberration in optical system, using a robot arm type coordinate measuring machine(CMM). CMMs are widely used to measure the form of accuracy of parts and positioning accuracy of systems. Among them, robot arm type CMM has more advantages than the others, such as its mobility and measuring range. However, robot arm type CMM has lower accuracy than cantilever type CMM. To prove robot arm type CMM's accuracy, several factors were suggested in this paper and the final measuring results were compared to a commercial cantilever type CMM. Based on this accuracy, a typical optical system was successfully aligned by using our robot arm type CMM.

• Journal of Mechanical Science and Technology
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• 제20권8호
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• JSTS:Journal of Semiconductor Technology and Science
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• 제5권4호
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• pp.221-228
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• 2005

In this work, our goal is to develop a fast and accurate power model of the ARM926EJ-S processor in the industrial design environment. Compared with existing work on processor power modeling which focuses on the power states of processor core, our model mostly focuses on the cache power model. It gives more than 93% accuracy and 1600 times speedup compared with post-layout gate-level power estimation. We also address two practical issues in applying the processor power model to the real design environment. One is to incorporate the power model into an existing commercial instruction set simulator. The other is the re-characterization of power model parameters to cope with different gate-level netlists of the processor obtained from different design teams and different fabrication technology.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 한국정보통신학회 2013년도 춘계학술대회
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• pp.93-95
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• 2013

The conventional assistive tool for visually impaired people provide Simple service using a ultrasound, or an RFID tag to identify the obstacles. It is impossible to clear guide and has a vulnerability to unforeseen circumstances because of short recognition distance, The ARM Cortex-A9 Platform based implementation of the Portable Navigation System and Service Center will help the visually impaired gait. The Service Center will also provide solution for the lack of jobs due to the increase of the aging population. Navigation System that the visually impaired can carry possessing devices such as a camera, GPS, Audio, Ethernet transmit Image shown at the location of the visually impaired, GPS information and Sound Via TCP / IP. The staff of the service center receives information and can provide directions by communicating with them. So, the system can provide effective guidance to the visually impaired.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제63권12호
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• pp.1742-1746
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• 2014

In order to develop a overhead catenary system for the maximum speed of 400 km/h on Honam high-speed line, increasing tension of contact wire, changing dropper distributions, reducing a hard point and etc. should be considered. And it is also essential to develop core components taking account of the increased tension. Therefore we developed a new steady arm for the max. speed of 400 km/h in this study. FEM (Finite Elements Method) analysis was performed to ensure the strength of the arm. An oval shape was applied to the arm, so that 25 % of strength was increased and 9 % of weight was decreased. And a type test according to the code KRSA-3012 was performed to ensure the performance. Fatigue test in KRRI (Korea Railroad Research Institute)'s test-bed was also performed to evaluate its performance. Some section of the Honam High-speed line was constructed with the developed steady arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1901-1905
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• 2004

A controller designed by CDM for a servo type system which is an augmented system constructed from a rotational inverted pendulum with an integrator added to its arm, is presented in this paper. In order to be able to apply the CDM concept, the augmented system must be linearized and converted into controllable canonical form. Then, the controller consisting of the state feedback gain matrix and an integral gain in the sense of CDM can be obtained. This shows that design procedure for the proposed controller is easy. The experimental results obtained from the rotational inverted pendulum controlled by the proposed controller show that the system response has no steady-state error, however, the oscillation amplitude of the arm angle is still significant. Therefore, in this paper, the friction compensation using Coulomb friction with stiction is also added to the controller. The oscillation amplitude of the arm angle that can be reduced remarkably is also shown in the experimental results.

• Proceedings of the KIEE Conference
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.735-739
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• 2003

This paper presents a direct seek control algorithm for swing-arm type dual stage servo system that consists of a coarse actuator and a fine actuator. The proposed scheme is to design a control system that attenuates the effect of dynamic coupling between the two actuators so that the seek operation can be performed in a single-shot with stability. In an optical drive system with dual stage servo mechanism, the effect of dynamic coupling between the two actuators needs to be handled during the coarse seek operation due to its inherent structure. In an extreme case, the two actuators can collide each other, which leads to critical degradation of the seek performance. To handle this problem, our proposed control scheme is to generate the drive signals such that the two actuators behave as if they are a single fixed body. To this end, a feedforward controller and two feedback controllers are designed that enable the current drive system perform wide range of track seek. Simulation results are provided to show the validity and feasibility of our proposed algorithm.

• Journal of the Institute of Electronics Engineers of Korea TC
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• 제43권11호
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• pp.185-191
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• 2006

DSRC((Dedicated Short Range Communication) is dedicated short range communication for wireless communications between RSE(Road Side Equipment) and OBE(On-Board Unit) within vehicle moving high speed. In this paper, we implemented 5.8GHz DSRC modem according to Korea TTA(Telecommunication Technology Association) standard and investigated implementation results and design process for SoC(System on a Chip) embedding ARM CPU which control overall signal and process arithmetic work. The SoC is implemented by 0.11um design technology and 480pins EPBGA package. In the implemented SoC ($Jaguar^{TM}$), 5.8GHz DSRC PHY(Physical Layer) modem and MAC are designed and included. For CPU core ARM926EJ-S is embedded, and LCD controller, smart card controller, ethernet MAC, and memory controller are designed as main function.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.400-403
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• 1995

A robot system is proposed to realize coordinated motion of two arm robot. Due to a 3-D vision sensor, precise coordinated motions could be realized. Using a sophisticated IC chip, real time image processing could be executed using a simple circuit.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2126-2131
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• 2005

Interactions of a humanoid with a human are important, when the humanoid is requested to provide people with human-friendly services in unknown or uncertain environment. Such interactions may require more complicated and human-like behaviors from the humanoid. In this work the arm motions of a human are discussed as the early stage of human motion imitation by a humanoid. A motion capture system is used to obtain human-friendly arm motions as references. However the captured motions may not be applied directly to the humanoid, since the differences in geometric or dynamics aspects as length, mass, degrees of freedom, and kinematics and dynamics capabilities exist between the humanoid and the human. To overcome this difficulty a method to adapt captured motions to a humanoid is developed. The geometric difference in the arm length is resolved by scaling the arm length of the humanoid with a constant. Using the scaled geometry of the humanoid the imitation of actor's arm motions is achieved by solving an inverse kinematics problem formulated using optimization. The errors between the captured trajectories of actor arms and the approximated trajectories of humanoid arms are minimized. Such dynamics capabilities of the joint motors as limits of joint position, velocity and acceleration are also imposed on the optimization problem. Two motions of one hand waiving and performing a statement in sign language are imitated by a humanoid through dynamics simulation.