• 대한기계학회논문집A
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• 제28권7호
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• pp.1029-1037
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• 2004

High-speed/precision servomechanisms have been widely used in the manufacturing and semiconductor industries. In order to ensure the required high-speed and high-precision specifications in servomechanisms, an integrated design methodology is required, where the interactions between mechanical and electrical subsystems will have to be considered simultaneously. For the first step of the integrated design process, it is necessary to obtain not only strict mathematical models of separate subsystems but also formulation of an integrated design problem. A two-degree-of-freedom controller described in the discrete-time domain is considered as an electrical subsystem in this paper. An accurate identification process of the mechanical subsystem is conducted to verify the obtained mathematical model. Mechanical and electrical constraints render the integrated design problem accurate. Analysis of the system performance according to design and operating parameters is conducted for better understanding of the dynamic behavior and interactions of the servomechanism. Experiments are performed to verify the validity of the integrated design problem in the x-Y positioning system.

• 한국생산제조학회지
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• 제24권2호
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• pp.155-159
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• 2015

Light emitting devices (LEDs) are widely used in the liquid crystal display (LCD) industry, especially for LCD back light units. Therefore, much research has been performed to minimize manufacturing costs. However, the current process does not process LED chips from broken substrates even though the substrate is expensive sapphire wafer. This is because the broken substrates lose their alignment marks. After pre-processing, LED dies are glued onto blue tape to continue post-processing. If auxiliary alignment marks are stamped on the blue tape, post-processing can be performed using some of the LED dies from broken substrates. In this paper, a novel stamper module that can stamp the alignment mark on the blue tape is proposed, designed, and fabricated. In testing, the stamper was reliable even after a few hundred stamps. The module can position the stamp and apply the pattern effectively. By using this module, the LED industry can reduce manufacturing costs.

• 한국정밀공학회지
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• 제27권3호
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• 한국정밀공학회지
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• 제26권6호
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• 한국정밀공학회지
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• 제19권10호
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2001년도 봄 학술발표회 논문집
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• pp.231-238
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• 2001

To investigate the underground structure of shallow water, Han-river near Yangsou-Ri, high resolution hydroacoustic measurements were carried out for the engineering design of railroad bridge. The acoustic source was a Boomer with an energy of 90 to 280J and in a frequency range up to about 16KHz. The reflected signals were received by using both traditional hydrophones(passive element) and a specially devised receiver unit(active element) mainly composed of piezofilms and preamplifier. They are connected to the "SUMMIT" data acquisition system(DMT-GeoTec company), where the sampling interval was set to 1/32㎳. The source position was continuously monitored by a precision DGPS system whose positioning accuracy was on the order of loom. For the quality control purposes, two different source-receiver geometries were taken. That is to say, the measurements were repeated along the profile everytime depending on the different source energy(175J, 280J), the receiving elements(passive, active) and two different source-receiver geometries. It was shown that the data resolution derived from a proper arrangement with the active hydrophone could be greatly enhanced and hence the corresponding profile section caused by the regular data processing system "FOCUS" accounted excellently for the underground formation below the shallow water.w the shallow water.

• 한국위성정보통신학회논문지
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• 제8권1호
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• pp.40-44
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• 2013

본 논문에서는 지상용 GPS(Global Positioning System)와 유사한 GBAS(Ground Based Augmentation Systems)의 위치측정오차에 대해서 연구하였다. GBAS의 위치측정오차에 영향을 주는 요소는 많이 있으며 측위오차(DOP: Dilution Of Precision)도 그 중의 하나이다. 측위오차는 송신기와 수신기의 수와 기하학적 배치위치에 따라서 결정된다. 본 연구에서는 한반도 지형에 2-열로 송신기를 배치하고 수신기의 위치에 따른 고도별 DOP를 예측할 수 있는 알고리즘을 개발하였다. 본 논문은 송신기와 수신기가 배치된 3차원 공간의 DOP를 정확하게 예측할 수 있어서 항법시스템에 매우 유용하게 사용될 수 있을 것으로 판단된다.

• 동력기계공학회지
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• 제19권6호
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• pp.5-11
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• 2015

The 6DOF (degrees of freedom) Parallel Manipulators have some advantages that are high power, high rigidity, high precision for positioning and compact mechanism compared with conventional serial link manipulators. For these Parallel Manipulators, it can be expected to work in the new fields such that the medical operation, high-precision processing technology and so on. For this expectation, it is necessary to control the action reaction pair of forces which act between the Parallel Manipulator and the operated object. In this paper, we analyze the dynamics of the 6DOF Parallel Manipulator and present numerical simulation results.

• 한국정밀공학회지
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• 제34권2호
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• pp.107-114
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• 2017

In this investigation, we describe a metrological technique for surface and thickness profiles of a silicon (Si) wafer by using a 6 degree of freedom (DOF) stitching method. Low coherence scanning interferometry employing near infrared light, partially transparent to a Si wafer, is adopted to simultaneously measure the surface and thickness profiles of the wafer. For the large field of view, a stitching method of the sub-aperture measurement is added to the measurement system; also, 6 DOF parameters, including the lateral positioning errors and the rotational error, are considered. In the experiment, surface profiles of a double-sided polished wafer with a 100 mm diameter were measured with the sub-aperture of an 18 mm diameter at $10\times10$ locations and the surface profiles of both sides were stitched with the sub-aperture maps. As a result, the nominal thickness of the wafer was $483.2{\mu}m$ and the calculated PV values of both surfaces were $16.57{\mu}m$ and $17.12{\mu}m$, respectively.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.88-93
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• 1995

The ball screw preloaded for high nigidity and accuracy increases frictional resistance, therefore, its temperature and positioning error rise. In this paper, 2 diamensional temperature distributions of a ball screw with preload are analyzed according to the rotational speeds and stop times by a finite element method. The theremal behaviors of a ball screw are measured to examine the analyzed datum. The examined results show that the trends of temperature rising and axial distributions in steady state are nearly extimate but the temperature low. The differences of temperature ate seems to be caused by not exact heat transfer coefficients. More than an hour is consumed for calculation by FEM. So the modified lumped method for the real-time estimation of the thermal distribution is proposed. The estimated temperature of a ball serw by the modified lumped method is more exactly estimated than by FEM, nd that method takes less than several millisec. Moreover it can be used to estimate heat transfer coefficients.