• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.119-122
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• 2003

The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.41 no.2
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• pp.27-32
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• 2004

Absolute optical angle sensor is described that is an essentially digital opto-electronic device. Its purpose is to resolve the relative and absolute angle position of coded disk using Pseudorandom-code and Geometry-code. In this technique, the angular position of disk is determined in coarse sense first by Pseudorandom-code. A further fine angular position data based on Pixel count is obtained by Geometry-code which result 0.006$^{\circ}$ resolution of the system provided that 7 ${\mu}{\textrm}{m}$ line image sensor are used. The proposed technique is novel in a number of aspects, such that it has the non-contact reflective nature, high resolution of the system, relatively simple code pattern, and inherent digital nature of the sensor. And what is more the system can be easily modified to torque sensor by applying two coded disks in a manner that observe the difference in absolute angular displacement. The digital opto-electronic nature of the proposed sensor, along with its reporting of both torque and angle, makes the system ideal for use in intelligent vehicle systems. In this communication, we propose a technique that utilizes Pseudorandom-code and Geometry-code to determine accurate angular position of coded disk. We present the experimental results to demonstrate the validity of the idea.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.596-600
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• 1986

This paper describes a capacitively reading apparatus for determining the angular orientation, speed and/or direction of rotary objects such as shaft, dial hand, counter wheel and the like. The apparatus consists of sensing device and circuit accompanying with said sensing device. The sensing device is provided by arranging many stationary electrodes lying substantially on a surface of a stationary plane member and by arranging rotary electrode lying substantially on a surface of rotary objects to be monitored, in which said rotary electrode is in confronting relationship to some stationary electrodes so as to construct unique capacitors according to the angular position of rotary objects. The angular position of said rotary electrode is determined by sets of stationary electrodes which are in confronting relationship to rotary electrode. A carrier signal is generated by scanning device while scanning said stationarelectrodes, whose periods are in corresponding relationship to said stationary electrodes, respectively. The periods of carrier corresponding to the angular position of said rotary electrode is modulated by a modulation signal generated by detecting device according to said rotary electrode. This apparatus is applied to automatically monitor any kind of storage tank, as well as to automatically read the conventional utility meters such as Watthour meters, Gas meters, Water meters, etc..

• Proceedings of the KIEE Conference
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• 2000.11b
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• pp.309-311
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• 2000

An advanced angular position detector (APD) for the SMART CEDM (control element drive mechanism) was designed. The APD is required to be small size with high resolution for angular displacement of rotary step motor. Unfortunately the proximity sensors can not be adopted to SMART CEDM because the motor shaft is located in the pressure boundary cylinder filled with the primary coolant under high temperature and pressure. This paper describes the electromagnetic finite element analysis for the design of advanced angular position detector for the SMART CEDM. The electromagnetic properties obtained will be used as Input for the optimization analysis of the APD.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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• pp.223-232
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• 2014

An inductive sensor system is proposed to detect the gear location and angular position of a geared shaft for automatic feeding of the shaft into the proper cutting position of the other end. The system consists of two set of coils, bridge circuit, signal condition circuit, and microprocessor. The coil sensors of the system measure changes of inductance along with the surface position of a geared shaft. The inductance changes are transformed to voltages by the bridge circuit, which are then conditioned and processed for the recognition of the gear. In order to incorporate with the experimental results with the sensor system, a finite element method (FEM) simulation for the magnetic field between the sensor and the shaft was carried out. The predicted results and the experiments revealed that the sensor system was appropriate for sensing the position of gear and the angular position of gear tooth of a geared shaft.

• The Journal of Korean Physical Therapy
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• v.17 no.3
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• pp.429-440
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• 2005

The purpose of this study was to compare the effects of knee joint position sense following local and general load protocols in 25 healthy male subjects. Proprioception of the knee joint was evaluated by measuring absolute angular errors at matching angles before, after and between 2 different types of load protocols. Proprioception tests(on the dominant knee) were performed in which proprioception of the passivepassive reproduced and active-active reproduced knee position was measured. Local load was provided with maximum isokinetic knee extension-flexion on the isokinetic dynamometer(Cybex), and general load was 10 minutes running on a treadmill. Peak torque(knee extension and flexion) and heart rate(beats per minute) was evaluated as an indicator of local and general fatigue during load protocols. The results were as follows: 1. For pasive-pasive reproduced knee position test, significant difference in absolute angular errors after general load protocol was detected compared with that before general load protocol(P<.05), significant difference in absolute angular errors after local load protocol was detected compared with that before local load protocol(P<.05). However, no significant difference in absolute angular errors of general load protocol was detected compared with that of local load protocol (P>.05), no significant difference in absolute angular errors of local load protocol was detected compared with that of general load protocol(P>.05). 2. For active-active reproduced knee position test, significant difference in absolute angular errors after general load protocol was detected compared with that before general load protocol(P<.05), significant difference in absolute angular errors after local load protocol was detected compared with that before local load protocol (P<.05). Also, significant difference in absolute angular errors of general load protocol was detected compared with that of local load protocol(P<.05), significant difference in absolute angular errors of local load protocol was detected compared with that of general load protocol(P<.05). 3. A significant decrease of peak torque of knee extensors and flexors was seen after local load, although heart rate was significantly increased(P<.05). No significant change of peak torque of knee extensors and flexors was seen after general load(P>.05), although heart rate was also significantly increased(P<.05). The previous study revealed that knee proprioception is significantly altered when the muscle mechanoreceptors are dysfunctional due to muscle fatigue, although the joint mechanoreceptors have no significantly effect on knee proprioception when the presence of knee muscle fatigue. However, the results of this study are different from those of the previous study in that muscle weakness of the knee could not be seen after general load. This study shows that general load may diminish motor control by the central nervous system. Proprioceptional decline without muscle weakness of knee after general load suggests a change in the proprioceptional pathway without influence from muscle mechanoreceptors.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.541-546
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• 2005

Tracking control of an automatic pipe cutting robot (APCROMB) is studied. Using magnetic force APCROMB, which is designed and developed in Kyung Hee University, binds itself to the pipe and executes unmanned cutting process. The gravity effect on the movement of APCROMB varies as it rotates around the cylindrical pipe laid in the gravitational field. To maintain a constant velocity and consistent cutting performance against the varying gravitational effect, the authors adopt a multi-rate repetitive learning controller (MRLC), which learns the required effort to cancel the repetitive tracking errors caused by nonlinear effect. In addition to the varying gravity effect other types of nonlinear disturbances including backlash in the driving system and the slip between the wheels of APCROMB and the pipe also cause degradation in the cutting process. In order to identify those nonlinear disturbances the position estimation based on the encoder attached at the motor is not good enough. To identify the absolute angular position of APCROMB the authors propose the angular position estimation based on the signals from a MEMS-type two-axis accelerometer mounted on APCROMB. The tracking performances of APCROMB with a MRLC using the encoder-based position estimation is experimentally measured and results are shown. Also the difference between the encoder-based angular displacement measurement and the accelerometerbased angular displacement measurement is included.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.10a
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• pp.203-211
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• 1998

ER clutch is a device using electro-rheological fluid which is one of so called intelligent materials. Power transmission behavior of an ER clutch can be controlled by electrical field applied tb the fluid. In this work, a new type of servomechanism is developed with two ER clutchs, driven by two electrical motors rotating in reverse directions. The concentric cylinder type ER clutch is operated by PID control. The system shows good angular position control characteristics with respect to sinusoidal and square inputs.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.533-535
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• 2006

Cleaning robot that is selling in present city has various cleaning algorithm. However, error of most products happens on progress direction by small obstacle that do not properly and miss cleaning thereby happens. There is robot that correct own position, but is hard to use in general home because economical strain is very big because is high price product very. In this paper measures angular velocity of robot using deviation sensor, and do to correct error using turning angular velocity and vertical angular velocity. Because detailed cleaning such as high pice style is available without addition of expensive hardware in middle and low price style cleaning product thereby, can possess price competitive power.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1437-1445
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• 2014

In this paper a novel method for angular position determination using sensors with sin/cos output and without an excitation signal, is presented. The linearization of the sensor transfer characteristic and digitalization of the measurement results are performed simultaneously with a goal to increase the measurement resolution. This improvement is particularly important for low angular velocities, and can be used to increase the resolution of incremental Hall, magnetic and optical sensors. This method includes two phases of sin/cos signal linearization. In the first linearization phase the pseudo-linear signal is generated. The second linearization phase, executed by the two-stage piecewise linear ADC, is an additional linearization of the pseudo-linear signal. Based on the LabVIEW software simulations of the proposed method, the contribution of each processing phase to a final measurement error is examined. After the proposed method is applied within $2{\pi}$ [rad] range, the maximal nonlinearity is reduced from 0.3307 [rad] ($18.9447^{\circ}$) to $3{\cdot}10^{-4}$ [rad] ($0.0172^{\circ}$).