• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.552-558
• /
• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.93-96
• /
• 2000

This study discusses a non-contact optical technique, phase shifting electronic speckle pattern interferometry, that is well suited for a deformation measurement. However, the phase shifting method has difficulties for determinating a deformation quantitatively beacuse of the characteristics of arctan function. In order to solve this problem, phase unwrapping methods has been studied during the last few years. In this study, using phase unwrapping based on line by line scanning phase shifted fringe patterns are studied to determinate a deformation quantitatively. Also least square fitting method is applied to reduce noise and improve image resolution.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
• /
• pp.258-263
• /
• 1989

The configuration of Brushless DC moter is similar to the permanent magnet Synchronous moter. Power transistors are oftenly used to supply the switching by feedback signals of rotor positioning sensors. Brushless DC moter have been used in Aerospace and Robotics where the electromagnetic noise or the sparking of the commutator contact can not be tolerated and long - lived maintenance - free operation is required. This paper describes the design of the microprocessor - based controller for the Brushless DC moter. The controller is designed to operate for the constant torque generation and variable speed control using sinusoidal PWM inverters and resolvers as rotor positioning sensors.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 하계학술대회 논문집 D
• /
• pp.2167-2169
• /
• 2004

The main concern for a displacement measurement is the performance of a sensor such as speed, resolution, accuracy and so on. The mainly used sensors are a linear CCD(charge coupled device) and a PSD(position sensitive detection) as a non-contact type. The output value of a linear CCD is so sensitive to a temperature change that it needs a cooling device. Additionally, because of its structural problem, there are some limits in resolution and speed, and it needs a complex image processing algorithm. Also, PSD has some disadvantages like sensitivity to environmental lights and nonlinearities. Like this, a linear CCD and PSD have their own characteristics and if we know them well, we can choose the one of the two sensors properly in some applications according to purposes. In this paper, I performed which one is superior to the other among the two sensors in terms of accuracy, resolution, measurement speed, signal to noise ratio.

• 전자공학회지
• /
• 제24권6호
• /
• pp.38-49
• /
• 1997

0.4mm Resign Rule의 Super Low Power Dissipation, Low Voltage. Operation-5- Full CMOS SRAM Cell을 개발하였다. Retrograde Well과 PSL(Poly Spacer LOCOS) Isolation 공정을 사용하여 1.76mm의 n+/p+ Isolation을 구현하였으며 Ti/TiN Local Interconnection을 사용하여 Polycide수준의 Rs와 작은 Contact저항을 확보하였다. p-well내의 Boron이 Field oxide에 침적되어 n+/n-well Isolation이 취약해짐을 Simulation을 통해 확인할 수 있었으며, 기생 Lateral NPN Bipolar Transistor의 Latch Up 특성이 취약해 지는 n+/n-wellslze는 0.57mm이고, 기생 Vertical PNP Bipolar Transistor는 p+/p-well size 0.52mm까지 안정적인 Current Gain을 유지함을 알 수 있었다. Ti/TiN Local Interconnection의 Rs를 Polycide 수준으로 낮추는 것은 TiN deco시 Power를 증가시키고 Pressure를 감소시킴으로써 실현할 수 있었다. Static Noise Margin분석을 통해 Vcc 0.6V에서도 Cell의 동작 Margin이 있음을 확인할 수 있었으며, Load Device의 큰 전류로 Soft Error를 개선할수 있었다. 본 공정으로 제조한 1M Full CMOS SRAM에서 Low Vcc margin 1.0V, Stand-by current 1mA이하(Vcc=3.7V, 85℃기준) 를 얻을 수 있었다.

• 한국기계가공학회지
• /
• 제10권5호
• /
• pp.110-116
• /
• 2011

Water on a road surface can lower the coefficient of friction of vehicle tires and it involves lots of risks. One way to prevent water from staying is to cut many "rain grooves" into the edges of the pavement parallel. Such grooves, however, can exert unwanted side forces, particularly on passenger tires, which cause "Groove Wander" making the drivers uncomfortable. The "Groove Wander" is somewhat related to vehicle geometry, but is more strongly related to interaction between road grooves and tire tread's longitudinal grooves. This thesis tries to examine principles to estimate "Groove Wandering" effect focusing on the design of longitudinal groove. Additionally, it studied how to reduce pipe resonance longitudinal grooves form in the contact patch.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2001년도 춘계학술대회 논문집
• /
• pp.140-143
• /
• 2001

Digital shearography, a speckle pattern method is based on the superposition of two laterally sheared images. Therefore, object points which are positioned in some distance from each other are superposed in the image plane. This shearography, one of NDT methods without contact, is able to inspect defects in pipelines and pressure vessels that are used in nuclear power plants. This is can inspect whole fields and has a low sensitivity to environmental noise. Because optical setting is very simple, it has a little exhaustion of time, cost and man power. And also it can find a defect position through real time monitoring of a part. This paper, finds out the relationship among shearing quantity image quality and defect size with this method.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.729-733
• /
• 1997

Due to the variety of disturbance, it is not ease to accomplish the in-process detection of weld line with non-contact sensor. To get around this difficulties problem develop an automatic seam tracking weld system, the reliable signal processing algorithm has been recommanded. In this research, laser displacement sensor is applied as a seam finder in the automatic tracking system. The sensor is controlled by a dc servo motor which is mounted at X-Y moving table. X-Y moving table manipulated by an ac servo motor controls the position and velocity of the welding torch. First, X-Y table moves to Y-axis to search the welding joint feature before starting the welding, and welding joint is from the scanning data and weighting factor for each other. Second, weld line is determined using proposed signal processing algorithm during welding process. Form the experimental results, we could see the possibility that laser displacement sensor with procesed algorithm can be used as a seam finder in welding process under the severe noise (spatter,arc light etc.) condition

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2010년도 춘계학술대회 논문집
• /
• pp.597-603
• /
• 2010

Metallic sintered brake pads are often applied to Mid/High Speed Train due to its high strength and thermal characteristics. Because of its imbalance contact between discs and pads can greatly influence the life span, one sided wear, discs attack/crack and threat the safety of the train during operation. In this research, we analyzed pressure/temperature distribution between brake pads and disks. Analyzed data had been verified and modified to conduct further tests of Flexible brake pads with small/full-scale dynamo test. Flexible brake pads were installed to TTX train to conduct further tests to identify the differences between Rigid brake pads and Flexible brake pads. In result, Flexible brake pads showed outstanding disk thermal stability, one sided wear, noise and life of pad than rigid brake pad.

• 소음진동
• /
• 제8권3호
• /
• pp.524-532
• /
• 1998

The purpose of this paper is to investigate the free vibrations of horizontally curved beams resting on Winkler-type foundations. Based on the classical Bernoulli-Euler beam theory, the governing differential equations for circular curved beams are derived and solved numerically. Hinged-hinged, hinged-clamped and clamped-clamped end constraints are considered in numerical examples. The free vibration frequencies calculated using the present analysis have been compared with the finite element's results computed by the software ADINA. Numerical results are presented to show the effects on the natural frequencies of curved beams of the horizontal rise to span length ratio, the foundation parameter, and the width ratio of contact area between the beam and foundation.