• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• Journal of the Optical Society of Korea
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• 제17권6호
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• pp.486-490
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• 2013

A portable infrared laser transmitter delivering a highly uniform detectable beam was demonstrated. It incorporates a flexible beam shaper, comprising a perforated diffuser sheet in conjunction with a pinhole. The beam shaper plays the prominent role of flexibly tailoring the incoming light via both scattering and diffraction, in order to equalize the effective beam width over a long distance. The intensity profile of a generated beam was practically observed, demonstrating that a substantially uniform beam of 70-cm width was achieved for a given threshold detection level, with an average deviation of 6% over a range of 600 m.

• 대한기계학회논문집
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• 제19권6호
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• pp.1371-1381
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• 1995

A novel hybrid control scheme to actively control the endpoint position of a very flexible single-link manipulator is proposed. The control scheme consists of a motor mounted at the beam hub and a piezofilm actuator bonded to the surface of the flexible link. The control torque of the motor to produce a desired motion is firstly determined by employing the sliding mode control theory on the equation of motion of the rigid link having the same mass as that of the proposed flexible link. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezofilm actuator. Consequently, the imposed desired position is accomplished. In order to demonstrate high control performances accrued from the proposed method, computer simulations are undertaken by treating both regulating and tracking control problems.

• 한국소음진동공학회논문집
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• 제26권7호
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• pp.865-874
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• 2016

This research is concerned with the experimental investigation on the vibrations of a flexible two-link system for verifying the theoretical result from simplified equations of motion for the system along with the kinematical synthesis are proposed to simulate the elastic vibrations of a previous study. The structure consists of flexible two-links; The link 2 is attached to the end of the link 1. The link 1 is made of composite fiber reinforced polymer and the link 2 is an aluminum beam. In order to verify the theoretical result, a flexible two-link system operated by the AC and RC servo motors was constructed. Experimental results show that the dynamic modeling approach and the kinematical synthesis proposed in this paper are effective.

• 한국통신학회논문지
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• 제37B권11호
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• pp.1072-1081
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• 2012

Ka 대역 위성통신 시스템에서 강우 감쇠 보상을 위해서는 위성 탑재체에서 강우 지역의 출력 전력을 높일 수 있는 시스템이 요구된다. Ka 대역 출력 전력 제어 기술은 위성 탑재체에서 하향 링크(19.8 ~ 22.2 GHz)의 출력 전력 조정을 가능하게 한다. 본 논문에서는 다중 빔 안테나와 다중 입출력 증폭기를 이용한 Ka 대역 위성 출력전력 제어 기술에 대하여 소개한다. 한반도 상에 8개의 빔을 형성하기 위해 배열 급전 소자와 반사판으로 구성된 다중 빔 안테나가 설계되었다. 빔 당 목표 EIRP는 59 dBW 이상이며, 강우 감쇠 보상을 위한 전력 제어 기능은 강우 지역에 비 강우 지역 대비 최대 6 dB의 EIRP 상승이 가능하도록 설계하였다. 다중 입출력 증폭기는 다중 빔 안테나와 함께 구성될 때 위성 출력 전력 제어를 위해 효과적으로 사용될 수 있다. $4{\times}4$ 다중 입출력 증폭기가 기술 검증을 위해 제작되었으며 Ka 대역 위성 송신 주파수 대역에서 24 dB 이상의 격리도 성능을 나타낸다.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2008년도 International Meeting on Information Display
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• pp.605-608
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• 2008

The preparation and characteristics of flexible indium tin oxide electrodes grown on polyethylene terephthalate (PET) substrates using a specially designed roll-to-roll sputtering system for use in flexible optoelectronics In spite of low a PET substrate temperature, we can obtain the flexible electrode with a sheet resistance of 47.4 ohm/square and an average optical transmittance of 83.46 % in the green region of 500~550 nm wavelength. Both x-ray diffraction (XRD) and field emission scanning electron microscopy (FESEM) analysis results showed that all flexible ITO electrodes grown on the PET substrate were an amorphous structure with a very smooth and featureless surface, regardless of the Ar/$O_2$ flow ratio due to the low substrate temperature, which is maintained by a cooling drum. In addition, the flexible ITO electrode grown on the Ar ion beam treated PET substrates showed more stable mechanical properties than the flexible ITO electrode grown on the wet cleaned PET substrate, due to an increased adhesion between the flexible ITO and the PET substrates.

• 한국전자통신학회논문지
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• 제7권5호
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• pp.1139-1144
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• 2012

산업용 로봇의 하중률은 1대 10에서 1대 30이고, 3대 1의 하중률을 가지는 인간과 비교하여 매우 낮다. 다음 세대 로봇의 목표 중에 하나는 하중률이 될 것이고, 이것은 가벼운 로봇을 개발함으로 가능할 것이다. 2관절 유연한 로봇팔은 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 오일러 베르누이의 보 이론과 라그랑지 방정식을 이용하여 구하였고, $\dot{D}-2C$가 skew symmetric이다는 사실을 사용하여, 계산량을 줄이는 리아프노프 안정도 이론을 이용한 단순한 구조의 새로운 제어기를 제안한다. 2링크 유연한 로봇에 대한 확정적인 적응제어 법칙을 제안하고, 시뮬레이션을 통하여 그 타당성을 보인다.

• 폴리머
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• 제36권3호
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• pp.393-400
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• 2012

광전소자 유연기판으로 사용되는 폴리에테르설폰(PES) 필름 위에 E beam을 이용하여 저온 증착된 indium tin oxide(ITO) 박막 특성을 살펴보았다. 증착 시 기판 온도가 증가함에 따라 저온 열처리 과정에서 ITO 결정화가 잘 이루어져 면 저항의 감소와 투과도가 증가됨을 알 수 있었다. 증착 시 사용된 산소 가스는 ITO의 결정화를 촉진시켜 면 저항 감소와 투과도 증가에 도움을 줌을 확인하였다. PES 기판 표면 거칠기가 증가될수록 증착된 ITO의 결정화가 잘 이루어지지 않으며 이는 면 저항의 증가 및 투과도의 감소 요인으로 작용함을 알 수 있었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.707-710
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• 2005

In this paper, we studied about the dynamic behavior of a cracked rotating cantilever beam. The influences of a rotating angular velocity, the crack depth and the crack position on the dynamic behavior of a cracked cantilever beam have been studied by the numerical method. The cracked cantilever beam is modeled by the Euler-Bernoulli beam theory. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. The lateral tip displacement and the axial tip deflection of a rotating cantilever beam is more sensitive to the rotating angular velocity than the depth and position of crack. Totally, as the crack depth is increased, the natural frequency of a rotating cantilever beam is decreased in the first and second mode of vibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1700-1703
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• 1997

The flexibility of the manipulator inevitably inducess the vibration at the end effector. For the increase in speed and accuracy at the end tip, in this work, position and vibration control of a flexible manipuator with a separate voice coil type actrator for vibration suppression, is studied. The flexible manipulator with a tip mass is modeled an Euler-Bernoulli beam. An H.inf. controller is designed in order to make the controlled system robust against unmodeled higher-order mode vibration of the manipulator, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is valid and that robust vibration control of the flexible manipulator is efficiently achieved.