• Journal of Institute of Control, Robotics and Systems
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• v.9 no.8
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• pp.623-631
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• 2003

We have fabricated the two-dimensional inverted pendulum system and designed its controller. The two-dimensional inverted pendulum system, which is composed of X-Y table, is actuated through timing belt by each of two geared DC motors. And the control goal is that the rod is always kept to a vertical position to any distrubance and is quickly moved to the desired position. Because this system has generally nonlinear dynamic characteristics and X-axis and Y-axis move together, it is very difficult to find its exact mathematical model and to design its controller. Therefore, we have designed the PID controller with simple structure and excellent performance. Genetic algorithm(GA), which is blown as one of probabilistic searching methods, and human's heuristic control strategy are introduced to design an optimal PID controller. The usefulness of the proposed GA based PID coefficient searching technique is verified through the experiments and computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.66.4-66
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• 2001

In this paper we have fabricated the two-dimensional Rod Balancing System which expands conventional one-dimensional inverted pendulum control system and designed its controller. The X-axis cart and Y-axis bar of the Rod Balancing System, which is composed of X-Y table, are actuated through timing belt by each of two geared DC motors, and the rod mounted on a X-axis cart can be brought to the desired position and maintained in a vertical position by motor-control. For the control of the Rod Balancing System, we used a fuzzy logic controller that is an approach to systems control when the exact mathematical model of the plant is unknown or the mathematical model is too complex to understand.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.77-83
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• 1996

This paper describes forging of trochoidal gears, which are being widely used in timing belt pulley, pump pulley etc., as a series of development of the simulator for non-axisymmetric elements. Kinematically admissible velocity fields for forging of trochoidal gear were proposed and the loads were calculated by numerical method. When the simulation was carried out, half pith of gear was divided into 6 deformation regions which have different velicity fields by assumptions and boundary conditions. The neutral surface was introduced into forging of trochoidal gears with flat punch and, for each step, it is assumed as a circle with its radius r$_{n}$. The experimental set-up was installed in 200 ton hydraulic press for forging. The billets, of A1 2218 aluminum alloy, were slightly phosphate-coated. It was shown that thd theoretical solutions, as upper bound, are useful to predict the forging load for forging of trochoidal gears, because thdt give estimates that are substantially higher than experimental loads.s.

• 한국지구물리탐사학회:학술대회논문집
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• 2002.09a
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• pp.46-66
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• 2002

High-resolution multichannel seismic data were collected in the coastal area near the Gori nuclear power plant to investigate Quaternary fault pattern and timing. A 12 channel streamer, a sparker, and a portable recorder were used for data acquisition. Because the group interval of the streamer was 6.25 m and the sparker can generate acoustic waves with the frequency content of up to 500 Hz, the data show a significant improvement both in horizontal and vertical resolution. The area surveyed is covered with 30-40 m thick Holocene sediments that constitute the mud belt along the southeastern coast of Korea. The survey area is characterized by the well discriminated Pleistocene and Holocene boundary and shallow gas-charged zones. A number of Quaternary faults were found in the sediment column, that are nearly vertical and extend north-south. The Quaternary faults, arranged at a spacing of a few hundred meters, suggest that they were formed in response to compression, although some of them reveal extensional characteristics. Locally, faults disrupt Incised-channel fills that are interpreted to have formed in the early stage of transgression after the beginning of the Holocene. Seismic sections suggest that shallow gas in the mud belt sediments made its way upward through the fractured fault planes. The tectonism responsible for the opening of the East Sea has not persisted since the late Miocene, but vigorous Quaternary faulting activity in the vicinity of the southeastern Korean Peninsula indicates that tectonic stability has yet to be achieved in this region underlain by the hotter than normal mantle.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2164-2169
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• 2005

SFFS(Solid Freeform Fabrication System) can quickly makes models and prototype parts from 3D computer-aided design (CAD) data. Three dimensional printing(3DP) is a kind of the solid freeform fabrication. The 3DP process slices the modeling data into the 50-200um along to z axis. And we pile the powder and make the manufactures. A manufacture is made by the SFFS has the precision of the 50um. Therefore the x-y table of SFFS to move a printhead must be the system that has a high speed and accuracy. So we proposed the SMCSPO algorithm for SFFS. The major contribution is the design of a robust observer for estimating the state and the perturbation of the timing belt system, which is combined with a robust controller. The control performance of the proposed algorithm is compared with PD control by the simulation and the experiment. The control algorithm of the SFFS is presented in the office environment. The system between control system and printhead for the SFFS is also integrated

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• Physical Therapy Korea
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• v.9 no.3
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• pp.39-46
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• 2002

In this study, vertical acceleration of center of mass was observed along normal gait phases in 9 healthy male volunteers (aged $25.7{\pm}2.18$). The developed wireless accelerometric device was attached on the intervertebral space between L3 and L4 using a semi-elastic waist belt. A three-dimensional motion analysis system, synchronized with the accelerometry, was used for detecting gait phases. There was no significant correlation between the body weight and the acceleration. The first peak curve covered loading response phase. The second downward peak point was matched accurately with the opposite toe-off. In mid-stance and terminal stance, the acceleration curve highly resembled the vertical ground reaction force curve. There was no significant difference in timing between the final upward peak point and the initial contact. Therefore, the developed accelerometry system would be helpful in determining determine temporal gait pattems in patients with gait disorders.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.5
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• pp.1996-2001
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• 2012

Visual inspection systems are widely proposed for the well formed surface materials like electronics parts. But the materials with ill reflection ability have many troubles when visual inspection system is introduced. We have developed a robust visual inspection system that can work well in spite of low reflection ratio and with much noise when truth model is not known in the mixed production line. A workpiece identification technique using k-means has been proposed to identify the type. Based on the identified type, a robust-to-noise segmentation method, called active contour, has been applied to segment the features from the image. Finally, Kalman filter has been applied to adapt the error variation. Experiment shows that performance is about to match the accuracy of manual measurement using projectors.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.103-112
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• 2018

In this paper, a high performance underwater vehicle which can be manufactured at low cost is designed and fabricated, and its performance is verified through experiments. To improve efficiency, the Myring equation is used to design the appearance and the duct structure including the thruster is planned to increase the propulsion efficiency while reducing the drag force. Through various methods, it is secured stable waterproof performance, and also is devised to have high speed movement and turning performance. The developed underwater vehicle is equipped with a high output BLDC motor to achieve a linear speed of up to 2 m/s and can change direction rapidly with stability through four rudders. The rudders are driven by coupling a timing belt and a pulley by extending the axis of a servo motor, and are equipped at the end of the body to turn heading. In addition, for stable posture control, the roll keeps its internal center of gravity low and maintains its stability due to restoring force. By controlling the four rudders, pitch and yaw are handled by the PID controller and show stable performance. To investigate the horizontal turning performance, it is confirmed that the yaw rate controller is designed and stable yaw rate control is performed.