• 한국멀티미디어학회논문지
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• 제16권2호
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• pp.213-225
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• 2013

본 논문에서는 단일 카메라와 2개의 모터를 이용하는 볼-플레이트 로봇제어장치를 설계하는 방법과 제어 오차를 줄이는 방법을 제안한다. 볼-플레이트 시스템을 설계하기 위해서는 볼의 상태 파악과 플레이트의 균형 유지가 필요하다. 볼의 상태는 캠시프트 알고리즘을 이용하여 추적하고 칼만필터로 공의 위치 오차를 보정한다. 플레이트 균형은 두 개의 모터를 움직여 제어하는데 측정 오차가 적은 DC모터를 사용하였다. 플레이트의 표면적 상태나 공의 위치 추적오류 등을 인하여 작은 오차가 여전히 남아있다. 이러한 오차는 점점 쌓이게 되며 결국은 볼의 균형유지를 방해하게 된다. 이를 해결하기 위해 적분기를 추가한 제어기를 제안한다.

• 동력기계공학회지
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• 제18권1호
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• pp.38-44
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• 2014

The objectives of this study are to measure the ball recovery rate of cleaning apparatus for plate heat exchanger. Ceramic ball is used for plate heat exchanger cleaning. The main components of cleaning apparatus are comprised of ball collector, ball trap, ejector, pump and plate heat exchanger. The ball recovery rate are obtained with change in recovery time and velocity of water. The results show that the ball recovery rate is slightly increased with increase in the recovery time and the velocity of water over 0.4 m/s in the straight flow. In the case of reverse flow, the ball recovery rate more increased than straight flow. The maximum ball recovery rate of the straight flow and reverse flow reach 83.97% and 86.61%, respectively, when the velocity and cleaning time are 0.5 m/s and 15min.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.223-225
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• 2006

A ball moving on a beam is a typical nonlnear dynamic system, which is often adopted to proof test diverse control schemes. Ball and plate system is the extension of the traditional ball and beam problem that moves a metal ball on a rigid plate. In this paper, a trajectory planning and tracking problem is proposed for ball and plate system, which is to control the ball from a point to another without hitting the obstacles. Our scheme is composed of three controllers, TS type optimal path tracking controller, mandani type obstacle avoidance controller and trajectory planning controller that determines the desired trajectory. But this type of construction can give rise to chattering executions. Because the difference of contributions from concurrent controllers can cause behaviors unsmoothly. We propose fuzzy pid supervision control1er to handle this problem.

• 한국멀티미디어학회:학술대회논문집
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• 한국멀티미디어학회 2012년도 춘계학술발표대회논문집
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• pp.143-146
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• 2012

Ball-Plate를 기반으로 하는 균형제어 로봇은 크게 공의 상태를 파악하는 부분과 균형을 유지하는 제어부분 2가지로 구성되어진다. 본 논문은 공의 상태를 파악하기 위해서 단일 카메라를 이용하여 CAMShift 알고리즘으로 볼을 추적한다. 그리고 칼만 필터를 사용하여 발생하는 오차를 줄이는 방법을 제안하고 그 실험 결과에 대해서 설명한다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.873-878
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• 2000

Semiconductor packaging technology is changed rapidly according to the trends of the micro miniaturization of multimedia and information equipment. For I/O limitation and fine pitch limitation, DIP and SOP/QFP are replaced by BGA/CSP. This is one of the surface mount technology(SMT). Solder ball is bumped n the die pad and connected onto mounting board. In ball bump formation, vacuum suction type ball alignment process is widely used, However this type has some problems such as ionization, static electricity and difficulty of fifo(first-input first-out) of solder balls. Seesaw type is reducing these problems and has a structural simplicity and economic efficiency. Ball cartridge velocity and ball aligned plate angle are Important variables to improve the ball alignment Process. In this paper, seesaw-type CSP solder ball loader is developed and the optimal velocity and plate angle are proposed.

• 한국컴퓨터정보학회논문지
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• 제22권10호
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• pp.1-7
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• 2017

In this paper, the separation force measuring system is developed. The separation force aries due to adhesive strength between semiconductor epoxy molding compound(EMC) and the metal plate in semiconductor formed plate. In general, when removing the metal plate in semiconductor formed plate from semiconductor epoxy molding compound, excessive strength can result in a increase in semiconductor defect rates, or conversely, if too little force is exerted on the metal plate in semiconductor formed plate, the semiconductor production rates can decrease. In this study, the design criteria for the selection of the AC servo motor, the role of the ball screw, the relationship between the load cell and the ball screw, and the rate of deceleration are given. In addition, minimizing the reject rate of semiconductors and maximizing the semiconductor production rate are achieved through the standardization of the collected separation force data measured by the proposed system.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1995년도 제21회 학술대회
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• pp.25-30
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• 1995

본 연구에서는 건식 구름접촉시 발생하는 tribological한 현상들을 plate on ball tester를 이용하여 실험적으로 고찰하였다. 실험의 주된 관심은 각 열처리 방법으로 제작한 시편에 대하여 건식 구름접촉시 cycle수에 따른 plate의 표면 거칠기, 트랙의 형상, 졍도 및 구름저항의 변화이며 이런 자료를 토대로 열처리공정의 차이에서 오는 정도수명 및 피로수명에 대한 상대평가를 통해 마찰, 마멸의 저감에 적합한 열처리방법을 제시하고자 한다.

• Advances in robotics research
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• 제2권2호
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• International Journal of Aeronautical and Space Sciences
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• 제4권2호
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• pp.79-87
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• 2003

Acoustic response control of a comer-pinned plate using piezoelectric wafers was studied, both theoretically and experimentally. Three different sizes of aluminum alloy plates were used and available ball joints were employed to hold the plate at the four comers. The plate with the largest aspect ratio showed the largest and most clear responses to the acoustic excitation in the range of frequencies (0~200Hz), and sound pressure levels (80~100dB) as predicted. The reduction of the acoustic response of the plate by piezoelectric actuator was very significant, more than expected, but abatement of the sound transmission through the plate was only slightly altered by the piezoelectric actuator. This work is an original work extending earlier work with doors excited by acoustic fields. The important difference is the used of ball joints to simulate the joints.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.421-428
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• 2004

Acoustic response control of a corner-pinned plate using piezoelectric wafers was studied, both theoretically and experimentally. Three different sizes of aluminum alloy plates were used and available ball joints were employed to hold the plate at the four corners. The plate with the largest aspect ratio showed the largest and most clear responses to the acoustic excitation in the range of frequencies (0～200Hz), and sound pressure levels (80～100dB) as predicted. The reduction of the acoustic response of the plate by piezoelectric actuator was very significant, more than expected, but abatement of the sound transmission through the plate was only slightly altered by the piezoelectric actuator. This work is an original work extending earlier work with doors excited by acoustic fields. The important difference is the used of ball joints to simulate the joints.