• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.3
• /
• pp.553-558
• /
• 2012

An effort for motion control of multi-axis in robot have been continued recently. In this paper, we propose implementation method for AC servo driver that can be easily motion control of multi-axis in robot. This proposed method implement EtherCAT communication technologies of bi-directional optical communication based on single optical core method that applied WDM for communication between control stage which is upper and AC servo drive stage.

• 한국전산유체공학회:학술대회논문집
• /
• 2010.05a
• /
• pp.575-580
• /
• 2010

In this work, the electrophoretic motion of dsDNA molecule represented by a polymer through an artificial nano-pore in a membrane is simulated using the numerical method combining the lattice Boltzmann and Langevin molecular dynamic method. The polymer motion is represented by Langevin molecular dynamics technique while the fluid flow is taken into account by fluctuating lattice-Boltzmann method. The hydrodynamic interactions between the polymer and solvent in a confined space with a membrane having a hole are considered explicitly through the frictional and the random forces. The electric field intensity over the space is obtained from a finite difference method. Initially, the polymer is placed at one side of the space, and an electric field is applied to drive the polymer to the other side of the space through the nano-pore. In future, we plan to study the effect of the polymer size and the electric field on the electrophoretic velocity.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.539-542
• /
• 1997

We present a micro-positioning stage that has minimized geometrical error and can drive in the 4-axis. This stage divided into two parts: $Z\theta_x$ $\theta_y$, motion stage and$\theta_z$ motion stage. These stages are constructed in flexure hinges, piezoelectric actuators and displacement scnsors. The dynamic model for each stage is obtained and their FE (finite element) models are made. Using the Lagrange's equation, the motion of equation is found. Through the parametric analysis and FE analysis, sensitiv~ty of the design parameters is executed. Finally, fundamental frequencies, maximum stress, and displacement sensitivity for each stage are obtained. We expect that this micro-positioning stage be a useful micro-alignment device for various applications.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.11a
• /
• pp.316.2-316
• /
• 2002

There are a lot of roots of errors in the motion of the optical pickup actuator being one of the most significant components in the CD-ROM drive. Most of the studies recently performed have a tendency to seek fur the causes from an actuator itself. We found the fact that the range of the natural frequencies of a feeding deck and an actuator is close each other through an experiment. This paper present the dynamic characteristics of an actuator affected by the motion of a feeding deck. (omitted)

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.18 no.12
• /
• pp.111-116
• /
• 2019

With the recent acceleration of industrial technologies and active research, wearable robot technologies have been applied to various fields. To study the utility of wearable robots, basic research on kinetic mechanisms of the human body, bio-signal analysis, and system control are essential. In this study, we investigated the basic structure of a wearable system and the operating principles of a driving mechanism. The control system and supporting structure, which comprise the driving mechanism, were designed and manufactured. Motion and load analyses were performed simultaneously for the design of the kinematic drive, and the driving mechanism was constructed by analyzing walking motion. The operating conditions of the cylinder were verified by stride via driving experiments. Further, the accuracy and responsiveness of the system were confirmed by comparison with actual motion, and the system safety was validated by applying loads.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.20-25
• /
• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.11b
• /
• pp.586-591
• /
• 2001

Dynamic analysis using impulse responses is formulated to estimate effect of slider rail shape on dynamic responses. Impulse responses are obtained on numerical nonlinear model including rigid motion of slider and fluid motion of air bearing under the slider. Dynamic characteristics of slider motion are evaluated by utilizing the decay ratio of impulse responses and modal frequencies from frequency response functions. The dynamic characteristics of the developed NFR(Near Field Recording) slider are checked by comparing those of HDD sider(Nutcracker). Also, sensitivities of slider position conditions and rotation speed on the dynamic characteristics are investigated. The researches show that the utilized method is a good indicator of designing the better slider.

• Smart Media Journal
• /
• v.8 no.3
• /
• pp.47-52
• /
• 2019

In this paper, we designed HW / SW interfaces for processing the signals of capacitive sensors like Electric Potential Sensor (EPS) to detect the surrounding electric field disturbance as feature signals in motion recognition systems. We implemented a smart light control system with those interfaces. In the system, the on/off switch and brightness adjustment are controlled by hand gestures using the designed and fabricated interface circuits. PWM (Pulse Width Modulation) signals of the controller with a driver IC are used to drive the LED and to control the brightness and on/off operation. Using the hand-gesture signals obtained through EPS sensors and the interface HW/SW, we can not only construct a gesture instructing system but also accomplish the faster recognition speed by developing dedicated interface hardware including control circuitry. Finally, using the proposed hand-gesture recognition and signal processing methods, the light control module was also designed and implemented. The experimental result shows that the smart light control system can control the LED module properly by accurate motion detection and gesture classification.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.2
• /
• pp.110-116
• /
• 2016

Autonomous vehicles must obey the traffic laws in order to drive actual roads. Traffic signs erected at the side of roads explain the road traffic information or regulations. Therefore, traffic sign recognition is necessary for the autonomous vehicles. In this paper, color characteristics are first considered to detect traffic sign candidates. Subsequently, we establish HOG (Histogram of Oriented Gradients) features from the detected candidate and recognize the traffic sign through a SVM (Support Vector Machine). However, owing to various circumstances, such as changes in weather and lighting, it is difficult to recognize the traffic signs robustly using only SVM. In order to solve this problem, we propose a tracking algorithm with RANSAC-based motion estimation. Using two-point motion estimation, inlier feature points within the traffic sign are selected and then the optimal motion is calculated with the inliers through a bundle adjustment. This approach greatly enhances the traffic sign recognition performance.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.11 s.104
• /
• pp.1276-1286
• /
• 2005

In this paper, the dual stage interaction between the coarse actuator and the fine actuator of an optical disk drive is studied, and the new control method to enhance the track pull-in performance using fine actuator control is proposed. First, the dynamic analysis for the dual stage and the experiments to find the each actuator dynamics are performed. From the experiments, some physical parameters of the actuators were derived, then, some simulations are performed to find the interaction effect of the fine actuator during seek motion. Second, the center servo which suppresses the vibration of fine actuator during seek motion is designed and evaluated. And the fine actuator control to reduce the relative velocity between the target track and beam spot is proposed. From simulations, we show that fine actuator control which has same frequency and same phase of the disturbance is effective to reduce the relative velocity, and this result leads to track pull-in enhancement. Hence, the proposed control method is good approach to improve the track pull-in performance. Finally, the realization of the proposed method and some comments of it are briefly discussed.