• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.163-177
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• 1999

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it demands also high precision. Therefore it is operated by a skilled worker in handiwork. However the workers avoid gradually a polishing work because of the poor environmental conditions such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, an automatic polishing robot system which is composed of a polishing robot with two degrees of freedom motion and pneumatic system is developed, and it is attached to machining center with three degrees of freedom. The system keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. The polishing robot with DSP(digital signal processor) controller is controlled by sliding mode control. A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A performance experiment for polishing work is executed by the developed automatic polishing robot system. The result shows that the developed automatic polishing robot has a good performance and well polished workpiece surface is obtained.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.536-539
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• 2002

In this paper, we developed the automatic optical fiber aligner by image processing and automatic loading system. Optical fiber is indispensable for optical communication systems that transmit large volumes of data at high speed, but super-precision technology in sub-micron units is required for optical axis adjustment, we have developed 6-axis micro stage system for I/O optical fiber arrays, the initial automatic aligning system/software for a input optical array by the image processing technique, fast I/O-synchronous aligning strategy, the automatic loading/unloading system and the automatic UV bonding mechanism. In order to adjust the alignment it used on PC based motion controller, a $10\mu\textrm{mm}$ repeat-detailed drawing of automatic loading system is developed by a primary line up for high detailed drawing. Also, at this researches used the image processing system and algorithm instead of the existing a primary hand-line up. and fiber input array and waveguide chip formed in line by automatic. Therefore, the developed and manufactured optical aligning system in this research fulfills the great role of support industry for major electronics manufacturers, telecommunications companies, universities, government agencies and other research institutions.

• 로봇학회논문지
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• 제11권4호
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• 한국게임학회 논문지
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• 제11권2호
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• pp.93-104
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• 2011

차세대 게임으로 주목받는 체감형 게임의 발전을 위해서, 본 연구는 현재 체감형 게임의 현황을 파악하고, 하드웨어보다 미흡한 콘텐츠 개발의 문제점을 분석한다. 우선, 체감형 게임 콘텐츠가 지닌 문제점을 세 가지로 구분했다. 그리고 콘텐츠의 수요와 편향된 장르의 문제, 낮은 수준의 게임 난이도, 체감형 인터페이스의 작은 사용범위와 변질한 사용법 문제라는 3가지 문제점에 대응하는 각각의 해결방안을 제시하였다. 체감형 게임 콘텐츠 개발 방법에 대한 논의가 꾸준히 지속됨으로서, 체감형 게임에 특화된 게임 디자인 방식 형성이 발달할 것이며, 차세대 게임으로서 게임 산업과 게임 문화의 성장에 긍정적인 역할이 가능할 것이다.

• 한국분무공학회지
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• 제7권2호
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• pp.7-15
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• 2002

A particle flow visualization, electrostatic charging measurement and separation of triboelectrically charged particles in the external electric field by a fluidized bed tribocharger are conducted for the removal of PVC particles from mixed waste plastics. The laboratory-scale triboelectrostatic separation system consists of the fluidized bed tribocharger, a separation chamber, a collection chamber and a controller. PVC and PET particles can be imparted negative and positive surface charges respectively due to the difference of triboelectric charging series between particles and particles in the fluidized bed tribocharger, and can be separated by passing them through an external electric field. To visualize these charged particles, He-Ne laser is used with cylindrical lenses to generate a sheet beam. In the charging measurement, the particle motion analysis system (PMAS), capable of determining particle velocity and diameter. is used to non-intrusively measure particle behavior in high strength electric field. The average charge-to-mass ratios of PVC and PET particles are $1.4\;and\;1.2{\mu}C/kg$, respectively. The highly concentrated PVC (91.9%) can be recovered with a yield of about 96.1% from the mixture of PVC and PET materials for a single-stage processing. The triboelectrostatic separation system using the fluidized tribocharger shows the potential to be an effective method for removing PVC from mixed plastics for waste plastic recycling.

• 설비공학논문집
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• 제13권10호
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• pp.947-959
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• 2001

We propose a control scheme to control the indoor zone temperature via variable air volume (VAV) unit. To control the room temperature, state space model of the conditioned zone which is partitioned into nine artificial sectional regions is derived. The nonlinearity of the damper motion and actuator are considered for the practical use in the state space system description. The temperature control of the room temperature is performed by manipulating the degree of openness of the damper in relation to the local room temperature and the supplied air flow rate. In general, since a local temperature in the conditioned zone is measured, it is required to estimate the temperature values in each regions for the precise temperature control. We thus design a state observer to estimate the regional temperature, and use these values in the controller. The overall control system consists of the state observer based state feedback with the integral control. We compared the control results of the proposed scheme with those of cascade proportional and integral (PI) control, and showed that the scheme achieved precise control of the conditioned system.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.841-844
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• 2013

본 논문은 동력이 직접 전달되는 휠 허브 모터를 제어 대상으로 소프트웨어를 설계하고 dsPIC30F2010을 이용하는 모터 속도제어기 설계 방법을 제시한다. dsPIC30F2010의 여러 기능 중 내부의 최소 기능인 시스템 클럭, PWM, I/O, Timer 및 통신만을 사용하였고, 각 기능에 대한 동작 특성을 시험하였다. 또한 이러한 기능을 이용하여 PI 속도제어 프로그램을 구현하였다.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.923-924
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• 2006

In this paper, we propose the sensor fusing method for the obstacle avoidance of guiding robot for the visually impaired In our system, we acquire obstacles distances information using ultrasonic sensors, and its width is acquired by image sensor. We also compute avoidance angle using are distance and width information gained by sensor. After the robot avoid the obstacle by computed angle, the robot returns to its original path using odometry. The robot consists of the SA1110-based controller, sensory part using sonar array and image sensor, and motion part using differential drive for climbing stairs. This system use the embedded linux for OS, and also is developed by the QT/Embedded for GUI.

• International Journal of Advanced Culture Technology
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• 제8권2호
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• pp.58-67
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• 2020

In this paper, the maintenance training manual of EV vehicle was produced by utilizing digital twin technology and various sensors such as IR-based light house tracking and head tracker. In addition, through digital twin technology and VR to provide high immersiveness to users, sensory content creation technology was secured through animation and effect realization suitable for EV vehicle maintenance situation. EV vehicle maintenance training manual is 3D engine programming and real-time creation of 3D objects and minimization of screen obstacles and selection of specific menus in virtual space in the form of training simulation. In addition, automatic output from the Head Mount Display (HUD), EV vehicle maintenance and inspection, etc., user can easily operate content was produced. This technology development can enhance immersion to users through implementation of detailed scenarios for maintenance / inspection of EV vehicles" and 3D parts display by procedure, realization of animations and effects for maintenance situations. Through this study, familiarity with improving the quality of education and safety accidents and correct maintenance process and the experienced person was very helpful in learning how to use equipment naturally and how to maintain EV vehicles.