• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.592-598
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• 1992

For a high bandwidth, accurate end of arm motion control with good disturbance rejection, the, Momentum Management Approach to Motion control (MMAM) is proposed. The MMAM is a kind of position control technique that uses inertial forces, applied at or near the end of arm to achieve, high bandwidth and accuracy in movement and in the face of force disturbances. To prove the concept of MMAM, the, end point, control of a flexible manipulator is considered. For this purpose, a flexible beam is mounted on the x-y table, and the MMAM actuator is attached on the top of the flexible beam. A mathematical model is developed for the flexible, beam being controlled by the, MMAM actuator and slide base DC motor. A system identification method is applied to estimate some system parameters in the, model which can not be determined because of the complexity of the mechanism. For the end point, control of the. flexible beam, the, optimal linear output feedback control is introduced.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.496-504
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• 2009

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

• 전자공학회논문지B
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• 제30B권7호
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• pp.70-82
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• 1993

In this paper, employing the 3-dimensional discrete cosine transform (DCT) for the utilization of the temporal correlation, an adaptive motion sequence coding technique is proposed. The energy distribution in a 3-D DCT block, due to the nonstationary nature of the image data, varies along the veritical, horizontal and temporal directions. Thus, aiming an adaptive system to local variations, adaptive procedures, such as the 3-D classification, the classified linear scanning technique and the VLC table selection scheme, have been implemented in our approach. Also, a hybrid structure which adaptively combines inter-frame coding is presented, and it is found that the adaptive hybrid frame coding technique shows a significant performance gain for a moving sequence which contains a relatively small moving area. Through an intensive computer simulation, it is demonstrated that, the performance of the proposed 3-D transform coding technique shows a close relation with the temporal variation of the sequence to be code. And the proposed technique has the advantages of skipping the computationally complex motion compensation procedure and improving the performance over the 2-D motion compensated transform coding technique for rates in the range of 0.5 ~ 1.0 bpp.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2009년도 세계 도시지반공학 심포지엄
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• pp.905-912
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• 2009

1-g shaking table test is conducted to evaluate the dynamic behavior of a soil-structure system under seismic loading condition. A consistent similitude law between the model and prototype is needed to predict the behavior of the prototype structure, quantitatively. The natural frequency of geomaterial decreases with the increase of shaking intensity because of the non-linear property of the geomaterial. This phenomenon affects the applicability of similitude laws in 1-g shaking table tests. In this study, a simple method is suggested to determine the frequency of the input motions in 1-g tests in order to enhance the applicability of similitude laws. Modified input frequency is calculated using the frequency ratio with consideration of the variation of the natural frequency according to the intensity of input ground acceleration. To verify the applicability of the suggested method, a series of 1-g shaking table tests were performed for three different sizes of model piles having an overburden mass on their heads by varying the acceleration and the frequency of input motion. The acceleration amplification ratio on the overburden mass, the lateral displacement at the pile head and the maximum bending moment along the pile depth were measured. The projected behaviors of the virtual prototype based on the measured values of the model tests, where the input frequencies were calculated by the new method, showed good consistency, verifying the applicability of the suggested method.

• Earthquakes and Structures
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• 제18권3호
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• pp.275-284
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• 2020

The scope of this study is the comparison between experimental results of tests performed on a base isolated building using helical wire rope isolators (WRs), and results of Nonlinear Response History Analyses (NRHAs) performed using SAP 2000, a commercial software for structural analysis. In the first stage of this research, WRs have been tested under shear deformation beyond their linear range of deformation, and analytical models have been derived to describe the nonlinear response of the bearings under different directions of loading. On the following stage, shaking table tests have been carried out on a 1/3 scale steel model isolated at the base by means of curved surface sliders (CSS) and WRs. The response of the structure under ground motion excitation has been compared to that obtained using numerical analyses in SAP 2000. The feasibility of modelling the nonlinear behavior of the tested isolation layer using multilinear link elements embedded in SAP 2000 is discussed in this paper, together with the advantages of using WRs as supplemental devices for CSSs base isolated structures.

• 한국항해항만학회지
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• 제38권1호
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• pp.11-18
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• 2014

To confirm whether the square tank at Changwon National University (CWNU) can be used for estimation of maneuverability, planar motion mechanism (PMM) test and circular motion (CM) test were performed for various conditions. PMM test can be implemented using an XY carriage and a yaw table in the square tank. However, sometimes test section is insufficient for PMM test owing to low length-breadth ratio of the tank. In addition, the speed of a towing carriage is also quite limited. Therefore, it would be useful if PMM test could be effectively performed diagonally, by establishing coupled control logic to drive three servomotors. In addition, Froude number dependency on the estimated hydrodynamic coefficients was checked. Furthermore, CM tests, which cannot be completed in a conventional linear towing tank, were performed, and its results were compared with the results of PMM test. The results of the PMM tests in the diagonal direction were consistent with the results of the test performed in the direction parallel to the sidewall. However, the results of the CM test were greater than those of the PMM test. This tendency was also observed in the results published at Ulsan University.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.121-124
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• 2004

In this paper, we address an active vibration control system, which suppresses the vibration engaged by magnetically levitated stage. The stage system consists of a levitating platen with four permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force fer suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion via the vertical and horizontal forces. In the stage system, which represents the settling-time critical system. the motion of the platen vibrates mechanically. We designed an active vibration control system for suppressing vibration due to the stage moving. The command feedforward with inertial feedback algorithm is used fer solving stage system's critical problems. The components of the active vibration control system are accelerometers for detecting stage table's vibrations, a digital controller with high precise signal converters, and electromagnetic actuators.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.291-292
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• 2006

Currently A demand of high precision workpiece is increasing in industry. At present, roundness measuring machine using Air bearing, coordinate measuring machine that are used from measurement station. but these machines will not be able to apply to In-line process. because of like these machine's price are very expensive and measurement time is long. also, the complexity of conventional roundness measurement method based on fourier transform, it makes difficult to development analysis program. This work present new architecture of a Out-diameter measuring system fur analysis of roundness of product. In this system, the influence of table motion errors is minimize by using two LVDT sensor and knife edge contact tip. We are produce a test machine and make an experimenter on Out-diameter of test bearing. The measurement result compared with roundness measuring machine.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 춘계학술발표회논문집(1)
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• pp.399-404
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• 1996

We developed a non-contact shape measuring device using computer image processing technology. We present a method of calibrating a CCD video camera and a laser range finder which is the most important step toward making an accurate shape measuring system. An artificial neural network is used for the calibration. Our measurement system is composed of a semiconductor laser. a CCD video camera, a personal computer, and a linear motion table. We think that the developed system could be used for measuring the change in shape of the spent nuclear fuel rod before and after irradiation which is one of the most important tasks for developing a better nuclear fuel. A radiation shield is suggested for the possible utilization of the range finder in radioactive environment.