• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.664-669
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• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 추계학술대회 논문
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• pp.133-137
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have bevome increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking arre indispensable capabilities for their versatile application. the need to meet demanding control requirement in increasingly complex dynamical control systems under sygnificant uncertainties leads toward design of implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme the ntworks intrduced are neural nets with dynamic neurouns whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure fast in computation and suitable for implementation of real-time control, Performance of the neural controller is illustrated by simulation and experimental results for a SCAEA robot.

• 대한임베디드공학회논문지
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• 제3권3호
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• pp.143-150
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• 2008

In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.649-655
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• 2007

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

• 전자공학회논문지A
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• 제32A권5호
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• pp.1-13
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• 1995

In this paper, we evaluated the mean acquisition time and it's variance of the rapid synchronization system using the DMF(Digital Matched Filter) under the DS/CDMA system which uses the long period PN code. And we implemented the synchronization system that satisfies the specification demanded by the proposed EIA/TIA Interim Standard of Qualcomm Company. We showed that the state of the PN spreading code was estimated using the DMF(Digital Matched Filter) and then exact and fast chip synchronization could be achieved by the early-late tracking loop in the multiple channel environment. And we suggested the possibility that this synchronization system could be useful in the emerging digital cellular DS/CDMA system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.207-210
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• 2002

This paper describes a design of multiple-mode single-output DC/DC converter which can be used in both up and down conversion. Proposed up/down converter does not produce a negative voltage which is generated in conventional buck-boost type converter. Three types of operation mode(up/down/bypass) are controlled by the input voltage sense and command signals of target output voltage. PFM(pulse frequency modulation) control is adopted and modified for fast tracking and for precise output voltage level with an aid of output voltage sense. Designed DC/DC converter has the performance of less than 5 % ripple and higher than 80 % efficiency. Chip area is 3.50 mm ${\times}$ 2.05 mm with standard 0.35 $\mu\textrm{m}$ CMOS technology.

• 대한전자공학회논문지SP
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• 제45권2호
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• pp.90-94
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• 2008

적응 필터의 입력 신호의 상관도 (correlation)가 클 경우 LMS 알고리즘의 수렴 속도는 상당히 느려지게 된다. 본 논문에서는 입력 신호의 상관도가 높은 상황에서 수렴 속도를 향상시킬 수 있는 적응 필터링 알고리즘을 제안한다. 입력 신호에 대하여 직교성을 가지도록 변환을 인위적으로 가하여 LMS 알고리즘의 한계를 극복한다. 제안한 알고리즘의 성능 향상은 시스템식별 모델을 통하여 그 수렴 속도의 개선을 확인하며 또한 시변 환경 하에서 적응 필터의 시변 추적 능력을 통해 보여 진다.

• JSTS:Journal of Semiconductor Technology and Science
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• 제15권6호
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• pp.608-614
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• 2015

A multi-channel audio CODEC with inter-channel interference suppression is proposed, in which channel switching noise-referred sampling error is significantly reduced. It also supports a coarse/fine mode operation for fast frequency tracking with good harmonic performance. The proposed multi-channel audio CODEC was designed in a 65 nm CMOS process. Measured results indicated that SNR and SNDR of ADC were 93 dB and 84dB, respectively, with SNDR improved by 43 dB. Those of DAC were 96 dB and 87 dB, respectively, with SNDR improved by 45 dB when all the channels are running independently.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 추계학술대회 논문집 학회본부
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• pp.130-132
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• 1997

This paper proposes a reference model following control system using fuzzy logic controller and genetic algorithm. A fuzzy logic controller is designed such that plant output follows the output generated by a reference model. In this paper, First-order and second-order reference model with no overshoot and fast rise time is designed. Experiment results show the effectiveness of the proposed controller in tracking property and robustness.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.334-336
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• 2007

This paper presents a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To detect an unstructured beat gesture expressed by any part of a body, we apply an optical flow method, and obtain the trajectories of the center of gravity and normalized central moments of moving objects in images. The period of a beat gesture is estimated from the results of the fast Fourier transform. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories, Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.