• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.237-239
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• 2005

This paper describes the ultra precise position estimation of a servomotor using sinusoidal encoder based on Arcsine Interpolation Method. The amplitude and offset errors of the sinusoidal encoder output signals are effectively compensated and on-line tuned by utilizing a low cost programmable differential amp without any special expensive equipments. To theoretically evaluate the practical resolution of this system, the relationship between the amplitude of A/D converter input signal errors and the anticipated resolution is briefly dealt with. The performance of the proposed method is verified by the experiments, by comparing it with position and speed control characteristics of the servomotor driving system using a digital incremental 50,000ppr encoder.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1995.10b
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• pp.211-217
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• 1995

Conventional linear control fails to provide precise positioning of a control object under the influence of friction, deadzone, saturation, etc. This paper proposes a high-precision control scheme for a precise point-to-point positioning system, called an X-Y table, even under the same influences above. The proposed scheme is composed of a fuzzy precompensator and a PD controller. The fuzzy precompensator is employed to improve the performance of the PD controller. Its fuzzy rules are obtained from experimental evolutionary programming (EP), not from an expert. The effectiveness of the scheme is demonstrated by experiments on the X-Y table. with a positioning error of within 1$\mu\textrm{m}$.

• Proceedings of the KAIS Fall Conference
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• 2001.05a
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• pp.269-272
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• 2001

실리콘 마이크로머시닝 기술과 바이폴라 공정으로 집적화된 압력센서를 제작하고 동작특성 평가를 수행하였다. 센서부 보상파라미터를 추출하였고 트리밍 공정을 통하여 출력전압의 보상을 수행하였다. 센서 특성은 압저항 위치, 마스크 정렬 오차, 다이어프램 정밀두께제어 정도, 보호막의 과도식각 정도 등에 의하여 민감하게 좌우됨을 알 수 있었다. 웨이퍼별 샘플추출을 통하여 센서부 감도는 평균 0.653mV/kPa, 감도의 온도계수는 -2078.8ppm/℃, 옵셋 전압은 30.78mV, 옵셋전압의 온도계수는 32.11㎶/℃로 측정되었다. 추출된 샘플의 다이어프램 두께오차는 27±2.5㎛였다. 센서부 특성평가 결과를 통하여 신호처리회로의 옵셋 및 스팬보상, 온도보상을 위한 트리밍 공정을 수행한 결과 개발사양을 만족하는 결과를 얻을 수 있었다.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.1006-1008
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• 2003

Position controls are very important in semiconductor manufacturing devices, machine tools precision measuring instruments, etc. to measure the distance of movement of moving objects in minute units and the accuracy of measurement for the moving distance in these devices affect the performance of the whole devices. Therefore, in those precision instruments, a sensing device that can measure the distance of movement with high-precision resolution is required. In this paper, a novel encoder of digital and analog hybrid type is proposed. It is shown that from this experiment a high-resolution angle measurement device can be designed by a low cost incremental encoder.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.517-522
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• 2002

본 연구는 트랙터용 로타리날의 운동특성을 분석하는 연구로서, 로타리날의 운동특성 분석장치를 이용하여 기존에 국내에서 사용되는 로타리날로 경운 작업을 할 경우, 로타리날 운동 및 형상, 구조에 따른 운동특성을 정밀 분석하였다. 본 연구에서 분석된 문제점 및 보완점을 앞으로 개발될 에너지 절감형 트랙터 로타리날 개발에 필요한 주요 인자를 결정하기 위한 수단으로 사용하는 데 목적이 있으며, 그 구체적인 연구 결과는 다음과 같다. (1) 로타리날의 운동특성을 분석할 수 있는 로타리날 운동특성 분석 시스템을 설계, 제작하였다. (2) 분석 시스템 제어용 프로그램 Visual Basic 6.0 프로그래밍 언어를 사용하여 개발하였다. (3) 국내 로타리날 제조회사 4곳 및 외국 1개사 제품의 운동특성을 분석한 결과, B, C, E maker 제품이 로타리 경운 작업에 적합한 것으로 분석되었다. (4) B, C, E maker 제품에서 살펴보면, 토양을 절단할 때의 경심별 위치를 \circled3부분이 되도록 해야하며, 단면이 확실하게 닿지 않도록 단면의 경우 B maker 형상을 따라야 한다. 또한 배면이 토양에 닿는 부위가 적어야 한다.

• Proceedings of the KIPE Conference
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• 2002.11a
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• pp.49-52
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• 2002

This paper presents neural load torque observer that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is adopted. The parameter compensator with RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller. The parameter estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1711-1712
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• 2007

액체탱크의 레벨을 정밀측정하는 데 FMCW(Frequency Modulated Continuous Wave)를 이용하고자 한다. 우리는 1GHz 대역폭으로 Sweep하는 Frequency Source Module을 개발하여 테스트 중이다. 개발한 송수신 모듈은 주파수의 송수신을 위한 주요부품들로 구성되는데, VCO(Voltage Controlled Oscillator), 서큘레이터(Circulator), 필터(Filter), 전력분배기(Power Divider), PLL(Phase Locked Loop)제어부, 믹서, 증폭기 등이 그것이다. 이들 부품들이 위치한 RF Board와, 패치로 구성한 안테나를 이용하여 마이크로웨이브 신호를 송수신할 수 있으며, 송수신한 신호 간의 차주파수(beat frequency)성분을 측정하면 거리정보를 획득할 수 있다. 차주파수의 아날로그신호는 DSP를 이용하여 FFT를 수행하여 주파수 성분을 찾아 거리계산을 하도록 개발하였다. 거리 측정의 성능에 영향을 미치는 가장 큰 요소는 안정된 주파수를 만들어 낼 수 있느냐 하는 것이다. 본 논문에서는 제작한 VCO 모듈을 비롯한 개발 중인 각 모듈들을 소개하였다. 향후 VCO의 선형성 개선과, 난반사에 대한 Echo Cancel 알고리듬을 적용하여 제품의 상용화를 목표로 한다.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1150-1156
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• 2009

The spread of wireless Internet technology development and applications with location information in the form of location-based services are more varied. In particular, where you recognize the location of objects such as people and things, and to provide valuable services based on ubiquitous, location-based services (Ubiquitous Location Based Services: u-LBS) is emerging as an important service. In this paper precise location data to the car crash through the location and offers related service system. In this paper the precise location tracking proposed by the concept of the Rail, road, to extract the location Data Matching Data and the current location is obtained. System used in GPS Packet and information about the location of the vehicle collision and the collision time, the vehicle consists of NodeID is about. Using these data, a packet is to be created when the conflict between vehicles in the vehicle will be sent to Gateway. Gateway to the packets that were sent from the Server to determine whether the conflict is that in an emergency situation, Emergency Center for location information and let me know whether or not the conflict will be measured. Also, for those on the outside of an emergency such as a family related to the wireless terminal wireless (PDA, cell phone) is to let me know. Server get into the conflict that was configured to store information on the Database. Additionally, the proposed u-LBS system to verify the validity of the experiment was performed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.331-339
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• 2016

This paper developed a home wellness robot platform to perform the roles in basic health care and life care in an aging society. A robotic platform and a sensory platform were implemented for an indoor wellness service. In the robotic platform, the precise mobility and the dexterous manipulation are not only developed in a symbiotic service-robot, but they also ensure the robot architecture of human friendliness. The mobile robot was made in the agile system, which consists of Omni-wheels. The manipulator was made in the anthropomorphic system to carry out dexterous handwork. In the sensing platform, RF tags and stereo camera were used for self and target localization. They were processed independently and cooperatively for accurate position and posture. The wellness robot platform was integrated in a real-time system. Finally, its good performance was confirmed through live indoor tests for health and life care.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.6
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• pp.1141-1149
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• 2007

This paper describes two major techniques; image processing and gas vent insert and rejection control, for efficient gas vent exchange and holes detecting on the shoes mold. The key idea is to detect holes on the mold to select which holes to insert and to reject automatically guide center of hole's position. This allows us to save labor time while minimizing defective rate of PU shoes mold forming and production costs for gas vent exchange such as insertion and rejection.. Our experimental results have demonstrated that the hole's detection and gasvent exchange mechanism are more efficient and provide accurate mechanism to mitigate risks of vent injection/rejection failures.