• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.592-598
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• 1992

For a high bandwidth, accurate end of arm motion control with good disturbance rejection, the, Momentum Management Approach to Motion control (MMAM) is proposed. The MMAM is a kind of position control technique that uses inertial forces, applied at or near the end of arm to achieve, high bandwidth and accuracy in movement and in the face of force disturbances. To prove the concept of MMAM, the, end point, control of a flexible manipulator is considered. For this purpose, a flexible beam is mounted on the x-y table, and the MMAM actuator is attached on the top of the flexible beam. A mathematical model is developed for the flexible, beam being controlled by the, MMAM actuator and slide base DC motor. A system identification method is applied to estimate some system parameters in the, model which can not be determined because of the complexity of the mechanism. For the end point, control of the. flexible beam, the, optimal linear output feedback control is introduced.

• 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.

• International Journal of Aerospace System Engineering
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• v.7 no.1
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• pp.1-6
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• 2020

A deployment mechanism is designed to stow into a small volume efficiently. The panels are fabricated by carbon fiber reinforced plastics (CFRPs). The parameters for the deployment are determined by considering the number of panels, the folding/twisting angles, and the driving force for a deployment device. In addition, a surface accuracy of the manufactured reflector is measured through a photogrammetry methodology. The deployment behavior of CFRP reflector is observed by using the zero-gravity device which compensates the gravity effect during the deployment. The zero-gravity device is constructed wire, motor, controller and loadcell. During the deployment of the reflector panel, the wire and motor compensate for its weight by the feedback process of the controller. Tests result show that a zero-gravity device compensates for the weight of the panel during the deployment of the CFRP reflector.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.668-671
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• 2000

An aerostatic stage has frictionless behavior, so it has a advantage of investigation into driven mechanism such as ballscrew. In this paper, fur investigating positioning characteristic of ballscrew and feedback device in aerostatic stage, we compare the positioning characteristic between full-closed(laser scale) and semi-closed(encoder) system. Experimental results show that the aerostatic stage has a 10nm micro step response and repeatability is improved up to 1.00${\mu}{\textrm}{m}$ using laser scale. We confirm the laser scale compensate error motion of ballscrew, so acquire 1.12${\mu}{\textrm}{m}$ positioning accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.919-926
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• 2010

This paper proposes a wearable hand rehabilitation device, DULEX, for persons with functional paralysis of upper-limbs after stoke. DULEX has three degrees of freedom for rehabilitation exercises for wrist and fingers except the thumb. The main function of DULEX is to extend the range of motions of finger and wrist being contracture. DULEX is designed by using a parallel mechanism, and its parameters such as length and location of links are determined by kinematic analysis. The motion trajectory of the designed DULEX is aligned to human hand to prevent a slip. To reduce total weight of DULEX, artificial air muscles are used for actuating each joint motion. In feedback control, each joint angle is indirectly estimated from the relations of the input air pressure and the output muscle length. Experimental results show that DULEX is feasible in hand rehabilitation for stroke survivals.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.5
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• pp.21-29
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• 1992

This paper proposes a new MAC propocol for high-speed MAN. The proposed protocol is based on the P$_1$-persistent tranmission scheme and each node calculates the transmission probability periodically by using delay information(DI). A window mechanism for the calculation of message delay in each node is proposed to improve the adaptability of the proposed protocol to traffic changes. The capactiy of the proposed protocol is analyzed. The simulation results show that the proposed protocol gives fair message delay under heavy load conditions and, when the transmission speed or distance is increased, the message delay variation of the proposed protocol is less than that of IEEE 802.6 DQDB.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.579-582
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• 1995

Recently, the vision system has the wide and growing' application field on account of the vast information from that visual mechanism. Especially, in the control field, the vision system has been applied to the industrial robot. In this paper, the object tracking and grasping task is accomplished by the robot vision system with a camera in the robot hand. The camera setting method is proposed to implement that task in a simple way. In spite of the calibration error, the stable grasping task is achieved using the tracking control algorithm based on the vision feature.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.55 no.2
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• pp.98-106
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• 2006

This paper proposes to position and speed control of interior Permanent magnet synchronous motor(IPMSM) drive without mechanical sensor. Also, this paper develops a adaptive fuzzy controller based fuzzy logic control for high performance of PMSM drives. In the proposed system, fuzzy control is used to implement the direct controller as well as the adaptation mechanism. A Gopinath observer is used for the mechanical state estimation of the motor. The observer was developed based on nonlinear model of IPMSM, that employs a d-q rotating reference frame attached to the rotor. A Gopinath observer is implemented to compute the speed and position feedback signal. The validity of the proposed scheme is confirmed by various response characteristics.

• Journal of Korean Society for Quality Management
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• v.25 no.4
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• pp.185-205
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• 1997

Reliability management requires many activities such as conceptual design, detail design, reliability evaluation and analysis, life testing, and environmental screening, etc.. To perform these activities effectively, a lot of information are required : information for failure mechanism, failure modes, part characteristics, and environmental conditions, etc.. These information should be managed to be used effectively and accurately in reliability activities and feedback to product design and manufacturing. This study identified and characterized these information and classified them according to the reliability activities commonly adopted in many manufacturing industries. IDEF1 was used to define and characterize the flow and the relationship of these reliability information and model is proposed which represents the structure of reliability information systems. The proposed model can be used as a basis for developing reliability management softwares.

• Korean Journal of Microbiology
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• v.29 no.3
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• pp.160-166
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• 1991

The regulatory mechanism of tubercidin biosynthesis in Streptomyces tubercidicus was studied. In a wild type strain, addition of adenine and histidine into the medium decreased the tubercidin production by 60-65% and 40%, respectively. The effects of adenine and histidine were alleviated by the addition of inosine monophosphate and 5-aminoimidazole-4-carboxamide ribotide. The production of tubercidin in S. tubercidicus K115 strain ($ade^{-}$ ) was nearly shut off by histidine. In contrast with K115 strain, adenine inhibited the tubercidin biosynthesis in S. tubercidicus K412 strain ($his^{-}$. In S. tubercidicus F667 strain ($ade^{-}$ , $his^{-}$ ), tubercidin production was increased by adenine and histidine. From the effects of adenine and histidine on tubercidin biosynthesis in S. tubercidicus wild type and mutant strains, it became known that feedback control by adenine and histidine of biosynthetic pathwat for purine ribonucleotide and histidine are involved in the regulation of tubercidin biosynthesis.