• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.309-316
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• 2000

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1655-1658
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• 2004

In this paper, we design and implement remote servo motor control system with real-time micro embedded operating system. The system, where controller and camera image grabber are mounted, handles control commands transmitted from a remote PC web browser. A hard real-time servo motor driver running on the real-time micro embedded OS and then a digital control application which confirms precise sampling time intervals is constructed. Frame grabber images transmitted from camera are saved in a image data format to view on remote PC web browser.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.3
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• pp.362-367
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• 2012

Though a micro pump is a crucial element in miniaturized bio-fluidic systems or drug delivery systems, most of the conventional micro pumps still have some limitations to miniaturize their controller system and to obtain the sufficient back pressure which can rise over the inner pressure of human body or experimental animals. In this paper, to overcome these limitation, a new PZT disc and its controller were designed and fabricated to get the sufficient flowrate and the back pressure with guaranteeing embeddability of the controller into pumping body. The amplitudes of the disc deflections were as large as 40 ${\mu}m$ at 200 V - 100 Hz condition. As results of experiments, the flow rate and the back pressure increase when the frequency increases. The obtainable maximum flow rate and back pressure are 5.2 ml/min at 95 Hz and 13.14 kPa at 90 Hz respectively.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.31 no.3
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• pp.264-271
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• 1995

This paper presents the data parallel processing method between a PC and a micro-controller. To implement the method a dual port RAM for a real time data processing is used. In general an A/D & D/AC card is used to send or receive the data into or from the external plant and the PC does only the computation of the A/D and the D/A data because the A/D & D/AC card does not have the ability of computation. In this study, a data parallel processing method in which the PC and micro-controller own a common dual port RAM, is introduced, so that the PC can compute the A/D and D/A data and control the plant simultaneously. The PC system with a micro-controller and the common dual port RAM is designed and its effectiveness is investigated experimentally considering the performance of both the computation of data and the controlling and monitoring the external plant.

• Proceedings of the KIEE Conference
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• 2005.10a
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• pp.118-121
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• 2005

In this paper, it has been proposed the simultaneous controller of electronic ballast and PFC(power factor corrector) for fluorescent lamp by one chip micro-controller. Boost DC-DC converter is adopted for PFC, and half bridge inverter for electronic ballast. It controls, simultaneously and independently, the boost DC-DC converter and the half bridge inverter. As electronic ballast and PFC are controlled by one chip micro-controller, it is possible to achieve the cheaper controller for fluorescent lamp. Experimental result has shown the feasibility of the proposed simultaneous controller of PFC and electronic ballast.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.568-576
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• 1998

In this thesis discuss with a flexible robotic finger design and controller which is used for the micro flexible robotic finger. So, miniaturization, precision, controller for the control of grasping force and actuator were needed. And, even if we develop a new actuator and controller, in order to use on real system, we must considerate of a many side problem. In a force control of micro flexible finger for grasping an object, the fingertip's vibration was more important task of accuracy control. And, controller were adopt the PD/PI mixed type fuzzy controller. The controller were consist of two part, one is a PD type fuzzy controller for increase the rising time response, the other is a PI type fuzzy controller for decrease of steady-state error. Especially, in a PD type fuzzy controller, we used only seven rules. And, for a PI controller, we adopt a reset factor for the control of input values. so, we have overcome the exceed of controller's input range. For the estimate of ontroller's utility and usefulness, we have experiment and computer simulation of three cases. First, we consider of unit force grasping control for a task object, which is 0.03N. Second, bounding grasping force control which is add to a sinusoidal force on the unit force. At this cases the task force is (0.03+0.01 sin wt N). And consider of following of rectangular forces.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.8
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• pp.573-579
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• 2009

A thermal mass air flow sensor, which consists of a micro-heater and thermal sensors on the silicon-nitride thin membrane structure, is micro-fabricated by MEMS processes. Three thermo-resistive sensors, one for the measurement of microheater temperature, the others for the measurement of membrane temperature upstream and downstream of the micro-heater respectively, are used. The micro-heater is operated under the constant temperature difference mode via a real time controller, based on inlet air temperature. Two design models for microfabricated flow sensor are compared with experimental results and confirmed their applicabilities and limitations. The thermal characteristics are measured to find the best flow indicator. It is found that two normalized temperature indicators can be adopted with some advantages in practice. The flow sensor with this control mode can be adopted for wide capability of high speed and sensitivity in the very low and medium velocity ranges.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.15-22
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• 1999

This paper demonstrates the feasibility of Shape Memory Alloy (SMA) actuators in controlling the motion of micro active catheter. The dynamic behavior of SMA is obtained by several experiments for the design of the controller. With the control parameters obtained in experiments, temperature feedback control algorithm is proposed and realized. The prototype of micro active catheter is fabricated, and its control performance which uses the designed controller is investigated. The results obtained show the potential of the SMA as viable means for actuating the micro active catheter.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.305-308
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• 2006

For controlling micro-flows inside a LOC (lab-on-a-chip) a syringe pump or an electronic device for EOF(electro-osmotic flow) have been used in general. However, these devices are so large and heavy that they are burdensome in the development of a portable micro-TAS (total analysis system). In this study, a new flow control system employing pressure chambers, digital switches and speed controllers was developed. This system could effectively control the micro-scale flows inside a LOC without any mechanical actuators or electronic devices We also checked the feasibility of this new control system by applying it to a LOC of micro-mixer type. Performance tests show that the developed control system has very good performance. Because the flow rate in LOC is controlled easily by throttling the speed controller, the flows in complicate microchannels network can be also controlled precisely.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.9
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• pp.95-103
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• 1995

Recently the trends toward reduction in size of industrial products have increased the application of micro drilling. But micro drilling has still much difficulty so that the needs for active control which give adaptation to controller are expanding. In this paper initial cutting condition was determined for some sorkpieces by experiment and GA-based Fuzzy controller was devised by genetic algorithms and fuzzy inference. The fuzzy inference has been applied to the various prob- lems. However the determination of the membership function is one of the difficult problem. So we introduce a genetic algorithms and propose a self-tuning method of fuzzy membership function. Based on this intelligent control, automation of micro drilling was carried out like the cutting process of skilled machinist.