• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.92.6-92
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• 2001

MSC is being developed to be installed on KOMPSAT(Korea Multi-Purpose Satellite-II and to provide high resolution multi-spectral. MSC consists of three main subsystems. One is EOS(Electro-Optics Subsystem), another is PMU(Payload Management Unit) and the other is PDTS(Payload Data Transmission Subsystem). There is an SBC(Single Board Computer) in the PMU to control all MSC subsystems. SBC incorporates Intel 80486 as a main processor and VxWorks as a real-time operating system. SBC software consists of four main tasks and several modules to deal with all control information for imaging and all the state of health telemetrv data, and to perform interface with another MSC units. SBC software also has to handle a lot of commands in order for MSC to perform his mission. One mission command consists of a series of related commands, which are In be executed in the designated sequence, with a specified time ...

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 한국전자파학회 2002년도 종합학술발표회 논문집 Vol.12 No.1
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• pp.86-90
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• 2002

본 논문에서는 Ka-band 위성중계기에 사용되어지는 수신하향변환기(Receiver-Downconverter) 모듈의 설계 및 제작 그리고 시험 결과에 대하여 기술하였다. 개발된 수신하향변환기는 30.6~31㎓ 대역의 신호를 입력으로 받아들여 20.8~21.2㎓ 대역의 신호를 출력하는 일종의 Downconverter 이지만, 모듈의 입력단에 저잡음 증폭부가 포함된 수신기의 역할도 하고 있다. 개발된 모듈은 제작과정 및 시험과정에 있어 위성중계기 부품 제작 규정을 준수하였으며, 그 개발된 성능은 현재까지 알려진 국내외 유사 부품중의 최고의 성능을 보여주고 있다. 측정된 모듈의 성능은 상온에서 1.9㏈의 잡음지수, 55㏈ 이득, 58dBc의 C/l3 값을 보여주고 있다. 제작된 모듈의 크기는 93mm$\times$84mm$\times$26mm이며 무게는 240g으로서 국내외 유사 제품에 비해 소형이다.

• Proceedings of the KSME Conference
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.686-691
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• 2001

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified.

• Proceedings of the KSME Conference
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• 대한기계학회 2003년도 춘계학술대회
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• pp.462-467
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• 2003

For the Space-borne optical imaging payload system design, light weighting and moderate stiffness of mirror and/or mirror fixation device is very important aspects. The front surface of mirror is regulated by optical performance requirement, but the shape of backplate of mirror is to be optimised while satisfing the required stiffness and weight. According to the results, the best shape of backplate cell is triangular. And also related geometric dimensions and the optimised mounting point of MFD(Mirror Fixation Device) is presented. Finally, natural frequencies and shpaes of mirror structure are analysed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.112-117
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• 1997

This paper presents a GA(Genetic Algorithms)-Optical control strategy for the control of the swing motion and the transverse position of the overhead crane. The overhead crane system is defined uncertain due to unknown system parameters such as payload and trolly mass. To control the overhead crane. the GA-Optimal control scheme is suggested. which transfers a trolly to a desired place as fast as possible and minimizes the swing of the payload during the transfer. The genetic algorithms are applied to fine digital optimal feedback gains. A computer simulation demonstrate the performance of the proposed the GA-digital optimal controller for the overhead crane.

• Journal of Industrial Technology
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• 제16권
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.607-612
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• 1992

This paper presents a tip position control of a single-link flexible arm with a payload by using closed loop control. The shifting problem of the arm from the initial position to desired position is considered by the variation of the displacement gain $G_{p}$ and velocity gain $G_{v}$. The system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. As a result, the increase of the displacement and velocity gain respectively comes to the reduction of tip vibration. Theoretical results are approximately in good agreement with those obtained experimentally.y.y.

• Journal of Institute of Control, Robotics and Systems
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• 제6권4호
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• pp.285-294
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• 2000

This paper shows that the proposed fuzzy-sliding mode control algorithm for a SCARA robot could reduce the chattering due to sliding mode control and is robust against a change of payload and parameter uncertainties. That is, the chattering can be reduced by changing control input for compensating disturbances into a control input by fuzzy rules within a pre-determined dead zone. The experimental results show that the chattering can be reduced more effectively by the fuzzy-sliding mode control algorithm than the sliding mode control with two dead zones. It is proved experimentally that the proposed control algorithm is robust to a change of payload. The proposed control algorithm is implemented to the SCARA robot using a DSP(board) for high speed calculations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.185-189
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• 1992

This paper prsents an end-point control of a one-link flexible arm with a payload by using closed loop control. Tip position of arm is shifted by the base motion according to DC servomotor, whivh is driven by a feedback signal composed of the tip displacement and the estimated tip velocity. The shifting problem of the arm from initial position to desired position is considered by the variation of the displacement gain Gd and velocity agin Gv. Theoretical results are obtained by applying the method of the Laplace transform to the governing equations and the method of numerical inversion. This system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. In controlling the tip displacement of flexible arm, the fundamental bode vibration is supressed more rapidly with an increase of the velocity feedback gain Gv and the feedback displacemenmt gain Gd. Theretical responses are approximately in good agreement with those obtained experimentally.

• Proceedings of the IEEK Conference
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(1)
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• pp.29-32
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• 2001

This paper has simulated the PER(Packet Error Rate), ratio of received packet and payload BER of Bluetooth system with packet types of ACL(Asynchronous Connection Less) and SCO(Synchronous Connection Oriented) link over wireless Ad-hoc environment. AWGN(Additive White Gaussian Noise) and Rayleigh fading are considered as channel model, and the analysis is based on the baseband model of Bluetooth system. In terms of PER and ratio of received packet, performance of DM1 packet is almost same as those of HV1, HV2 and HV3 packets, the performances of the other packets depend on the packet types. In terms of payload BER performance, there is no difference among HV2 packet of SCO link and DM1, DM3, DM5 packets of ACL link. Moreover, there is no difference among HV3 packet of SCO link and DM1, DM3, DM5 packets of ACL link, too.