• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.500-502
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• 1999

This thesis deals with study and implementation of a cross-coupling controller which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors, which can identify the guiding path. When AGV from the path due to the inevitable error and the deviation must be corrected. It has been shown that compensation only the first term can lead to undesirable oscillatory results and even instability but compensating only the second term leads to a steady state offset error. Cross-coupling control directly minimizes the error by coordinating the motion of the two drive wheels. The cross-coupling controller is analyzed to evaluate its performance. The cross-coupling controller enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller.

• Bulletin of the Korean Chemical Society
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• v.35 no.7
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• pp.1979-1984
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• 2014

We have developed an efficient method to generate highly active Pd and PdO nanoparticles (NPs) dispersed on graphene and graphene oxide (GO) by an impregnation method combined with thermal treatments in $H_2$ and $O_2$ gas flows, respectively. The Pd NPs supported on graphene (Pd/G) and the PdO NPs supported on GO (PdO/GO) demonstrated excellent carbon-carbon cross-coupling reactions under a solvent-free, environmentally-friendly condition. The morphological and chemical structures of PdO/GO and Pd/G were fully characterized using X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), and transmission electron microscopy (TEM). We found that the remarkable reactivity of the Pd/G and PdO/GO catalysts toward the cross-coupling reaction is attributed to the high degree of dispersion of the Pd and PdO NPs while the oxidative states of Pd and the oxygen functionalities of graphene oxide are not critical for their catalytic performance.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.8
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• pp.48-53
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• 2010

5-axis CNC machining now is getting popular because it can deal with complex shapes such as impeller, turbine blade and propeller without additional equipment or process, proving a set of various tool orientations. CAM software related to 5-axis machining is being developed quickly so that users can take advantage of potential capacities of 5-axis machine tools. However, only a few researches can be found in the area of control strategy development for 5-axis machining. This paper proposes a 5-axis cross-coupling control system based on a novel tool orientation error model. The proposed tool orientation error model provides accurate information on the tool orientation error in real time, which in turn enables directly controlling the tool orientation accuracy. The proposed control system also employs a contour error model to calculate the contour error and reflect it in the control as well. The accuracy of the proposed tool orientation error model is verified and the performance of the 5-axis cross-coupling control system in terms of both contouring and tool orientation accuracy is evaluated through computer simulations compared with existing 5-axis control systems.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.924-925
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• 2008

There are many types of grid-connected inverter controllers, PI controller based is the most popular methods. But, a common PI control is produced zero-steady state error and phase delay in sinusoidal reference. Synchronous reference frame or DQ transform based controller is capable for reducing both of zero-steady state error and phase delay is. But DQ transform based controller has cross-coupling component which difficult to analyze the system in single phase model. In this paper, to obtained single phase model of the system, DQ transform based controller is analyzed in two techniques. The first is by neglecting cross-coupling. The second is eliminated cross-coupling component by decoupling method. By these two techniques, single phase model is obtained. Then, the single phase model is analyzed to evaluate its performance in stability and frequency response, through Root Locus and Bode diagram, respectively. MATLAB and PSIM simulation is used to verify the analysis. Simulation result is shown; cross-coupling component has no significant influent to the controller.

• International journal of advanced smart convergence
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• v.7 no.1
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• pp.7-14
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• 2018

In this paper, we derive a transfer function of cross-coupled microwave filter systems by using a characteristics of chain matrices. Depending on the lumped element of capacitor or inductor, the cross-coupled system is negatively- or positively system. We used a ladder network as a starting system composed of several subsystems connected in chain. Each subsystem is descrived by Laplace impedance. By solving the transmission zero characteristic equation derived from the cascaded subsystems, we can find the zeros of filter system with externally cross-coupled lumped elements. With the cross-coupled elements of capacitors, the numerator polynomial of system transfer function is used to locate the quadruplet zeros in complex plane. We show the polynomoials of numerator and denominator of cascaded transfer function, obtaining the zeros of the cross-coupled system.

• Bulletin of the Korean Chemical Society
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• v.32 no.spc8
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• pp.2911-2915
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• 2011

Efficient synthetic method for the preparation of ethyl 2-aryl-2,3-alkadienoates through Pd-catalyzed selective allenyl cross-coupling reactions of aryl iodides with organoindiums generated in situ from indium and ethyl 4-bromo-2-alkynoate was developed. The cyclization reaction of ethyl 2-aryl-2,3-alkadienoates catalyzed by $AuCl_3$ and AgOTf in the presence of AcOH or TfOH produced various ${\alpha}$-aryl ${\gamma}$-butenolides or ${\gamma}$-substituted ${\alpha}$-aryl ${\gamma}$-butenolides.

• Bulletin of the Korean Chemical Society
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• v.32 no.spc8
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• pp.2970-2972
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• 2011

One-pot homo- and cross-coupling reactions of arenediazonium tosylate salts bearing a halogen group have been exploited for the synthesis of biaryls and polyaryls under mild conditions. $Pd(OAc)_2$ has proven to be an efficient catalyst for the successful dual transformation of diazonium salts into p-quaterphenyl (3).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1480-1486
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• 2002

In this study, the cross-coupling control (CCC) with three new features is proposed to maintain contour precision in high-speed nonlinear contour machining. One is an improved contour error model that provides almost exact calculation of the errors. Another is the utilization of variable controller gains based on the instantaneous curvature of the contour and the variable command. For this scheme, a stability is analyzed. As a result, the stability region is obtained, and the variable gains are decided within that region. The other scheme in the proposed CCC is a real-time feedrate adaptation module to regulate cutting force fur better surface finish through regulation of material removal rate (MRR). The simulation results show that the proposed CCC system can provide better precision than the existing method particularly in high-speed machining of nonlinear contours.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.446-451
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• 2000

In this paper, a new adaptive cross-coupling control (CCC) algorithm with an improved contour error model is proposed to maintain contouring precision in high-speed nonlinear contour machining. The proposed method utilizes variable controller gains based on the instantaneous curvature of a contour and the feedrate command. The proposed method is evaluated and compared with the conventional CCC for nonlinear contouring motion through computer simulations. The simulation results show that the proposed CCC improves the contouring accuracy more effectively than the existing method.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.176.1-176.1
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• 2014

Graphene has attracted an increasing attention due to its extraordinary electronic, mechanical, and thermal properties. Especially, the two dimensional (2D) sheet of graphene with an extremely high surface to volume ratio has a great potential in the preparation of multifunctional nanomaterials, as 2D supports to host metal nanoparticles (NPs). Copper oxide is widely used in various areas as antifouling paint, p-type semiconductor, dry cell batteries, and catalysts. Although the copper oxide(II) has been well known for efficient catalyst in C-N cross-coupling reaction, copper oxide(I) has not been highlighted. In this research, CuO and Cu2O nanoparticles (NPs) dispersed on the surface of grapehene oxide (GO) have been synthesized by impregnation method and their morphological and electronic structures have been systemically investigated using TEM, XRD, and XAFS. We demonstrate that both CuO and Cu2O on graphene presents efficient catalytic performance toward C-N cross coupling reaction. The detailed structural difference between CuO and Cu2O NPs and their effect on catalytic performance are discussed.