• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1598-1602
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• 2003

The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.422-434
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• 1997

In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.723-725
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• 2004

An iterative robust control design for PZT using Gaussian wavelet networks is proposed. A Gaussian wavelet network with accurate approximation capability is employed to approximate the nonlinear hysteresis dynamics of PZT systems by using an iterative control algorithm. Depending on the finite number of wavelet basis functions which results in unavoidable approximation errors, a robust control law is provided to guarantee the stability of the closed-loop nano positioning system. Finally, the effectiveness of the robust control approach is illustrated through comparative simulations on a PZT.

• Management & Information Systems Review
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• v.2
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• pp.335-354
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• 1998

In this study I construct CAN(Controller Area Network) for automobiles similar to LAN(Local Area Network) and build communication modules in the major part of an automobile to link several sub-systems. Since each station replaces the communication function of sub-systems and has various types of sensor, actuator, controller, and switch, every information about automobile's status is obtained from the network. The manufactured system showed a superior capability. The following is the contents of study. 1. The definition of communication packet through the analysis of CAN protocol. 2. The Design of modules using micro-controller 80C196CA. 3. The Network configuration.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.423-427
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• 1997

Recently, distributed piezoelectric actuators have drawn attention due to their potential applicability within smart structures. Because they serve not only as active components but also passive components, it is difficult to estimate their characteristics accurately. In this study a finite element method based on layerwise theory has been formulated to analyze the characteristics of the distributed piezoelectric actuators. The present method has the capability to describe more refined strain distribution and more realistic boundary conditions.

• Journal of Internet Computing and Services
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• v.17 no.5
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• pp.17-23
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• 2016

Wireless sensor-actuator networks (WSANs) enhance the existing wireless sensor networks (WSNs) by equipping sensor nodes with an actuator. The actuators work with the sensor nodes and perform application-specific operations. The WSAN systems have several applications such as disaster relief, intelligent building, military surveillance, health monitoring, and infrastructure security. These applications require capability of reliable data transfer to act responsively and accurately. Biologically inspired modeling techniques have received considerable attention for achieving robustness, scalability, and adaptability, while retaining individual simplicity. In this paper, an epidemic-inspired algorithm for data dissemination with delay constraints while minimizing energy consumption in WSAN is proposed. The steady states and system stability are analyzed using control theory. Also, simulation results indicate that the proposed scheme provides desirable dissemination delay and energy saving.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.805-815
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• 2001

Glaucoma is an eye disease which is caused by abnormal high IOP (Intra Ocular Pressure). High IOP is caused by the aqueous humor which is produced consistently but not drained due to malfunction of the trabecular system which has a role of draining the aqueous humor into the venous system. Currently, there are three methods to treat glaucoma-using medicines, surgical operation, and using implant device. The first and second methods are not long acting, so the use of implants is increasing in these days in order to drain out the aqueous humor compulsory. However, though conventional implants have a capability of pressure regulation, they cannot maintain IOPs desired for different patients, and too much aqueous humor are usually drained, to cause hypotony. To solve these problems, it is needed to develop a new implant which is capable of controling the IOP actively and copes with personal difference of patients. An active glaucoma implant consists of the valve actuator, pressure sensor, controller, and power supply. In this paper, firstly, we make an analysis of the operation of a conventional implant using a bond graph and show defects and limitations of the conventional valve analytically. Secondly, we design and analyze a valve actuator considering actuation principles, resistance elements, control methods, and energy sources focused on power saving problem. Finally, using simulations the possibility of the proposed valve actuator is investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.227-231
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• 2014

Underwater radiated noise is one of the vital factors in underwater weapon systems like submarine. A passive elastic mount is an effective reduction method for the vibration from a ship-board machinery transmitted to the hull which is radiated as noise outside the hull. A passive elastic mount shows the limitation on the vibration reduction and needs multi stage mounting system including double stage one to meet the required underwater radiated noise criteria. It is necessary for the multi stage mounting system to consider the large displacement in the underwater shock explosion. So it is difficult to apply the multi stage mounting system in submarine because of space limitation. Also recent navy sonar system are trying to have the capability to detect the ship-borne acoustic signals in the low frequency range. An alternative to the passive mount is an active mount with moving-coil type electromagnetic actuator based on a conventional rubber mount in the low frequency range. In the previous paper, 4 active mounts with moving-coil type electromagnetic actuator based on the rubber mount were installed on the hard floor of the facility, which means no consideration on the elastic foundation effect for the control of the active mounts was taken into account. In this study, an experimental performance analysis on the active mount was carried out using 4 active mounts installed on the cylindrical structure to investigate the elastic foundation effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.839-847
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• 2000

This paper presents modal analysis and mean conveying velocity (M.C.V.) control of bowl parts feeder activated by piezoactuators. Bowl parts feeders are being widely used in many industry fields for automatic assembly line. In general, the electromagnet has been and being used as exciting actuator of these vibratory bowl feeders. However, because of complexity of its mechanism and limited capability of the electromagnet actuator, there exist various impending problems such as severe noise, nonlinear motion of parts, passive characteristics and so forth. As one of solutions for these problems, piezoelectric actuators as new actuating technology have been proposed recently to excite the bowl parts feeder. In this paper, modal analysis of the proposed model has been performed to examine the modal characteristics of the model by using commercial FEM software and modeling with respects to MCV is constructed. Finally, MCV of the parts is to be controlled to track the desired one with PID controller.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.163-170
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• 2002

The quality of a precision product, in general, relies on the accuracy and precision of its manufacturing and inspection process. In many cases, the level of precision in the manufacturing and inspection system is also dependent on the positioning capability of tool with respect to the work piece in the process. Recently the positioning accuracy level has reached to the level of submicron and long range of motion is required. For example, for 1 GDARM lithography, 20nm accuracy and 300mm stroke needs. This paper refers to the lithography stage especially to fine stage. In this study, for long stroke and high accuracy, the dual servo system is proposed. For the coarse actuator, LDM (Linear DC Motor) is used and for fine one VCM is used. In this study, we propose the new structure of VCM for the fine actuator. It is 3 axis precision positioning stage for an aligner system. After we perform the optimal design of the stage to obtain the maximum force, which is related to the acceleration of the stage to accomplish throughput of product. And we controlled this fine stage with TDC. So we obtained 50nm resolution. So later more works will be done to obtain better accuracy.