• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1933-1936
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• 2005

The isometric area of the anterior cruciate ligament was calculated during knee flexion-extension. Flexion-extension motion data of the joint were obtained using Fastrak and a three-dimensional motion measurement system. A total of five subjects were seated on a flat table and the tibia sensor position was measured with the femur fixed on the table. A three-dimensional knee model was constructed using a graphic tool to simulate the knee motion. Twenty seven positions of the tibia region and forty two positions of the femur region were selected and the distances between the determined tibial and femoral points were calculated. Highly isometric areas were found and displayed as three dimensional aspects.

• Journal of Institute of Control, Robotics and Systems
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• 제7권5호
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• pp.399-406
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• 2001

This paper presents a dynamic modeling and a sliding mode controller for the high-speed/high-accuracy position control system. The selected target system is the wire bonder assembly which is used in the semiconductor assembly process. This system is a reciprocating one around the pivot point that consists of VCM(voice coil motor) as an actuator and transducer horn as a bonding tool. For the modeling elements, the sys-tem is divided into electrical circuit, magnetic circuit and mechanical system. Each system is modeled using the bond graph method and united into the full system. Two major aims are considered in the design of the controller. The first one is that the horn must track the given reference trajectory. The second one is that the controller must be realizable by using the DSP board. Computer simulation and experimental results show that the designed sliding mode controller provides better performance than the PID controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.213-218
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• 2003

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.22-27
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• 2001

Cochlea is well known to have the ability to analyze a wide frequency and this ability seems to be caused to the Basilar Membrane(BM) configuration. However, the relationship between the Cochlea frequency-position map is not clear. In this paper, the three-dimensional BM Model was made using the Finite Element method. Then, an attempt was made to examine the influence of the BM configuration on the Cochlea frequency-position map. Theoretical consideration reveals that the wide frequency-position of Cochlea is achieved by not only the BM configuration change along the length of the Cochlea but also the change of the Young's module of the BM along the length of the Cochlea.

• Transactions of the Korean Society of Machine Tool Engineers
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• 제11권1호
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• pp.114-119
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• 2002

Cochlea is well known to have the ability to analyze a wide frequency and this ability seems to be caused to the Basilar Membrane(BM) configuration. However, the relationship between the Cochlea frequency-position map is not clear. In this paper, the three-dimensional BM Model was made using the Finite Element Method. Then an attempt was made to examine the influence of the BM configuration on the Cochlea frequency-position map. Theoretical consideration reveals that the wide frequency-position of Cochlea is achieved by not only the BM configuration change along the length of the Coohlea but also the change of the Young's module of the BM along the length of the Cochlea.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 1998년도 추계학술대회 논문집
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• pp.176-179
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• 1998

In general, machining time by electrical discharge machining (EDM) process is much longer than that of cutting process, so rough-cut has done for the purpose of reducing machining time prior to EDM Nowadays EDM speed is improving due to the advance of EDM capacity. Therefore a new method, machining a raw material directly by EDM without rough-cut, is used widely. EDM area is varies according to the EDM position in three-dimensional EDM process, so EDM parameters should be determined adaptively based on the EDM area to increase productivity. However it is difficult to calculate EDM area corresponding to the EDM position the EDM workers who have experience in shop floor determine machining parameters by experience. This paper proposes a method for determining EDM parameters based on EDM area corresponding to EDM position.

• Transactions of the Society of Information Storage Systems
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• 제1권1호
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• pp.23-28
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• 2005

This paper investigates the effects of disk thickness and Pemto slider on PES(position error signal) for high TPI(track per inch) drives above 150kTPI at early stage of their development. In order to reduce the disk flutter which becomes a dominant contributor to the TMR, the thicker disks with both 63 and 69mi1 have been used. Also, PES of a Pemto slider with thinner thickness than Pico slider has been estimated to decrease the conversion factor of disk motion in axial direction to head off-track motion. A frequency-domain PES estimation and prediction tool has been developed via measurement of disk flutter and HSA(head stack assembly) forced vibration. It has been validated by the measured PES in drive level. Based on the model and measurement of disk flutter, PES of a drive with the thicker disk and Pemto slider is predicted and their impact is investigated.

• Transactions of the Korean Society of Machine Tool Engineers
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• 제11권6호
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• pp.98-104
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• 2002

In this study, we have developed an algorithm by attaching a camera at the end-effector of industrial six-axis robot in order to determine position and orientation of the camera system from cartesian coordinates. Cartesian coordinate as a starting point to evaluate for suggested algorithm, it was easy to confront increase of orientation vector for a linear line point that connects two points from coordinate space applied by recursive least square method which includes previous data result and new data result according to increase of image point. Therefore, when the camera attached to the end-effector has been applied to production location, with a calibration mask that has more than eight points arranged, this simulation approved that it is possible to determine position and orientation of cartesian coordinates of camera system even without a special measuring equipment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 1999년도 춘계학술대회 논문집
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• pp.205-209
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• 1999

This paper proposes a variable structure position controller for an induction motor(IM) which uses a reaching law and an integral compensating nonlinear switching function. With the reaching law, reaching mode can be established quantitatively during transient state so that dynamic control performance is improved. With the integral compensating nonlinear switching function, both very low overshoot and high steady state control accuracy can be obtained by compensating the states chattering problem due to the unmodelled dynamics of inverter and feedback sensors. For experiment a digital servo driver which consists of a DSP and an IPM inverter was developed. With the various experimental results, IM position control performance was verified.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제45권1호
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• pp.60-66
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• 1996

Brushless DC(BLDC) motor have been increasingly used in machine tools and robotics applications due to the reliability and the efficiency. In control of BLDC motor, it is important to construct the controller which is robust to parameter variations and external disturbances. Variable structure controller(VSC) has been known as a powerful tool in robust control of time varying systems. In practical systems, however, VSC has a high frequency chattering which deteriorates system performances. In this paper, a binary controller(BC) which takes the form of VSC and MRAC combined is presented to solve this problem. BC consists of the primary loop controller and the external loop controller to change the gain of primary loop controller smoothly. So it can generate the continuous control input and is insensitive to parameter variations in the given domain. To confirm the validity, various investigations of control characteristics for various design parameters in a position control system of BLDC motor are carried out. (author). 11 refs., 18 figs., 1 tab.