• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.474-478
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• 1992

The non-rational transfer function of a Bernoulli-Euler beam, as an important component of a flexible structure, is analyzed. The true pattern of zeros of that transfer function is investigated as a function of sensor and actuator seperation. Translational displacement sensors are used for two cases in which a force input and a moment input are seperately applied. When the displacement sensor is located at a certain point, the first pair of zeros on the real axis of the s-plane arrive at the origin and cancel the rigid-body mode. The location of the translational displacement sensors on the beamat which the rigid-body mode of the beam is unobservable is analyzed as the center of percussion and is uniquely located for each case. If sensor is moved beyond such a point, a pair of zeros appear on the imaginary axis and move away from the origin along the imaginary axis of the s-plane.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.302-305
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• 1999

Twin-servo mechanism is used to increase the payload capacity and speed of high precision motion control system. In this paper, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. This proposed control algorithm consists of separate feedback motion control algorithm of each driving system and skew motion compensation algorithm between two systems. Robust model reference tracking controller is proposed as a separate motion controller and its disturbance attenuation property is shown. For the synchronizing motion, skew motion compensation algorithm is designed, and the stability of whole Closed loop system is proved based on passivity theory.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.649-655
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• 2007

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

• Korean Journal of Optics and Photonics
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• v.5 no.1
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• pp.45-50
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• 1994

We have developed an algorithm of designing the binary phase gratings for even-numbered spot arrays which selectively cancel or suppress the unwanted even orders. Principles and properties which control the speed of the optimization algorithm are presented, and the results of the designed gratings are illustrated up to $1{\times}2에서 1\times}20$ array.

• Journal of Sensor Science and Technology
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• v.23 no.1
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• pp.24-28
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• 2014

A lock-in amplifier was proposed for capacitive sensor applications. This amplifier was based on a general-purpose microcontroller and had only a charge amplifier as analog circuits. All the other functions of lock-in amplifier except for the charge amplifier were implemented with firmware and the internal resources of the microcontroller. A rectangular signal, generated by the microcontroller, was used in a sensor-driving signal instead of a conventional sinusoidal signal. This makes it possible that the phase comparison circuit in the lockin amplifier is made with analog-to-digital converter, a timer and an interrupt controller. Using the oversampling method and the rectangular driving signal, we can make it easy to implement the peak detection function with software and sample the peak-to-peak signal at charge amplifier output. A charge amplifier was proposed to cancel out the base capacitance existing in capacitive sensors structurally. The experimental results show that the lock-in amplifier operating in the supply voltage of 3.0 V cancels out the base capacitance and has good linearity.

• Journal of KSNVE
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• v.9 no.3
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• pp.621-628
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• 1999

The fundamental dynamic properties of the planar electric charged particle are investigated experimentally. The experiment is conducted using electric charged spheres(4 table tennis balls with conductive surfaces) suspended by insulating strings to cancel the gravitational force. The measurements of the equilibrium angles and the natural frequencies of oscillation agree well with the analytical predictions with some error, respectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.614-619
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• 2012

A LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) controller with an integrator is designed to control the electro-hydraulic positioning system. Without considering the nonlinearity in the dead-zone, computer simulations are performed and show good performances and tracking abilities with the feedback controller based on the linear system model. However, the performance of the closed loop hydraulic positioning system shows big steady-state error in real system because of the dead-zone. In this paper, the feedback controller with a nonlinear compensator is introduced to overcome the dead-zone phenomenon in hydraulic systems. The inverse dead-zone as a nonlinear compensator is used to cancel out the dead-zone phenomenon. Experimental tests are performed to verify the performance of the controller.

• Progress in Superconductivity
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• v.5 no.2
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• pp.144-148
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• 2004

Uniform current distribution among conductor layers in HTS cables using IPTs (inter-phase transformers) was investigated. Conventional methods for current distribution, in which resistors are inserted to conductor layers, causes additional loss. In contrast, IPTs, which use magnetic coupling, make it possible that the current in parallel circuits is distributed uniformly with any load, and minimize the loss. In this study, IPTs were designed and fabricated for examination of uniform current distribution in the conductor layers of HTS cables. The ITP was designed through calculation of its impedance that can cancel the inductance of the conduction layers. The experimental setup consisted of four IPTs and four inductors that simulate the conductor layer inductance. Each layer was designed to feed 10 A. We examined the behavior of current distribution with IPTs for various layer inductances.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.381-388
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• 2014

In this paper, the attitude of a quadrotor system is controlled by a time-delayed control method which uses the previous information to cancel out uncertainties in the system. Although the linear controller works for the attitude control, the robust performance against disturbance is relatively poor. Therefore, a time-delayed controller as a robust controller is used. Experimental studies are conducted to validate the performance by the time-delayed control method. The performances of both a linear controller and a time-delayed controller are compared.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2455-2458
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• 2003

In this paper, the Classification of Energy Labeling has been Proposed. Energy Parameters of input signal which is extracted from each phoneme is labelled. And groups of labelling according to detected energies of input signals are detected. Next, DTW processes in a selected group of labeling. This leads to DTW processing faster than a previous algorithm. In this Method, because an accurate detection of parameters is necessary on the assumption in steps of a detection of speeching duration and a detection of energy parameters, variable windows which are decided by pitch period is used. Extract algorithms don't search for exact frame energy, because 256 frame window-sizes is fixed. For this reason, a new energy extraction method has been proposed. A pitch period is detected firstly; next window scale is decided between 200 frames and 300 frames. The proposed method make it possible to cancel an influence of windows.