• Journal of Mechanical Science and Technology
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• 제20권11호
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• pp.1834-1847
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• 2006

A robust minimum-time control (RMTC) strategy is addressed and it is extended to the dual-stage servo design. Rather than conventional switching type sub-optimal controls, it is a reference following control approach where the predetermined minimum-time trajectory (MTT) is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived. Then, the perturbation compensator to achieve robust tracking performance in spite of model uncertainty and external disturbance is suggested. The RMTC is also applied to the dual-stage positioner which consists of coarse actuator and fine one. To best utilize the actuation redundancy of the dual-stage mechanism, a null-motion controller to actively regulate the relative motion between the two stages is formulated. The performance of RMTC is validated through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.

• 문화기술의 융합
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• 제8권6호
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• pp.899-904
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• 2022

본 세계적으로 출생률이 줄고 기대 수명이 늘어나 고령화 사회가 되어감에 따라 고령 인구의 건강 관리를 위한 시스템이 필요하다. 그 중 실내 건강 관리를 위한 스마트 홈 캐어 서비스를 위해서는 재실 여부 및 활동 유형에 관한 다양한 연구가 수행되고 있다. 본 논문에서는 스마트 홈 캐어 서비스를 위해 실내 온습도, CO2, 미세먼지 값과UWB 레이더 측위를 통해 재실 여부 뿐만 아니라 활동 유형을 분류하는 랜덤 포레스트 모델을 제안한다. 실험은 실내 온습도, CO2, 미세먼지를 측정하는 센서 3개와 UWB Radar 2개를 사용하여 2초 간격으로 실내 환경 및 재실자의 측위 데이터를 측정한다. 측정된 데이터는 이상치와 결측치를 보정 처리한 후 80%의 트레이닝 셋 데이터와 20%의 테스트 셋 데이터로 이분하며 랜덤 포레스트 모델을 적용하여 중요도 상위 변수 목록, 정확도, 민감도, 특이도, T1 스코어를 평가한다.

• Journal of Positioning, Navigation, and Timing
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• 제9권3호
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• pp.261-272
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• 2020

A Kalman filter algorithm is used for the generation of an ensemble timescale with three hydrogen masers maintained in KRISS. Allan deviation curves of three pairs of clocks were obtained by a three-cornered hat method and were used as reference curves for determination of parameters of the Kalman filter-based timescale. The ensemble timescale equation of a 3-clock system was established, and the clocks' phases estimated by the Kalman filter were used as the prediction time of each clock in the equation. The weight of each clock was determined inversely proportional to the Allan variance calculated with the clocks' phases. The Allan deviation of the weighted mean was 1.2×10^-16 at the averaging time of 57,600 s. However when we made fine adjustments of the clocks' weight, the minimum Allan deviation of 2×10^-17 was obtained. To find out the reason of the great improvement in the frequency stability, additional researches are in progress theoretically and experimentally.

• 대한공간정보학회지
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• 제17권1호
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• pp.149-155
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• 2009

한반도 상공에서의 전리층에 의한 GPS 측위오차를 정량적으로 파악하기 위해 국토해양부의 44개 상시관측소 데이터를 이용해 2차원 전리층 지도를 작성하였다. 한반도를 위경도 방향으로 $0.1^{\circ}{\times}0.1^{\circ}$의 조밀한 격자로 나눈 뒤 각 격자점에서의 VTEC을 산출하였으며, 관측치로는 이중주파수 의사거리 관측치와 반송파위상 관측치의 선형조합에 의한 위상평활 의사거리를 사용하였다. 국토해양부와 천문연구원의 45개 상시관측소 데이터를 이용해 2003년 1월 25부터 5일 동안의 TEC 값을 2시간 단위로 산출하고 Center for Orbit Determination in Europe의 Global Ionosphere Map과 비교한 결과 8.0 TECU의 차이를 보였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1883-1886
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• 2005

In this paper, a decoupled dual servo (DDS) stage for ultra-precision scanning system with large working range is introduced. In general, dual servo systems consist of a fine stage for short range and a coarse stage for long range. The proposed DDS also consists of a $XY\theta$ fine stage for handling and carrying workpieces and one axis coarse stage. Its coarse stage consists of air bearing guide system and a coreless linear motor with force ripple. The fine has four voice coil motors(VCM) as its actuator. According to a VCM's nature, there are no mechanical connections between coils and magnetic circuits. Moreover, VCM doesn't have force ripples due to imperfections of commutation components of linear motor systems - currents and flux densities. However, due to the VCM's mechanical constraints the working range of the fine is about $25mm^2$. To break that hurdle, the coarse stage with linear motors is used to move the fine about 500mm. Because of the above reasons, the proposed DDS can achieve higher precision scanning than other stages with only one servo. With MATLAB's Sequential Quadratic Programming (SQP), the VCMs are optimally designed for the highest force under conditions and constraints such as thermal dissipations due to its coil, its size, and so on. And for their movements without any frictions, guide systems of the DDS are composed of air bearings. To get precisely their positions, a linear scale with 5nm resolution are used for the coarse stage's motion and three plane mirror laser interferometers with 5nm for the fine's $XY\theta$ motions. With them, on scanning the two stages have same trajectories. The control algorithm is named Parallel method. The embodied ultra-precision scanning system has sub 100nm following error and in-positioning stability.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.548-551
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• 2004

Magnetostrictive actuators have seen increasing use in fine positioning system because it has many advantages such as friction free, resolution of ${\mu}{\textrm}{m}$ or nm scale, and powerful output force. Usually, the magnetic circuit of magnetostrictive actuator has components which are flux return path, coil, and magnetostrictive material. It is classified in two types according to existence of the permanent magnet. The magnetic circuit having optimal performances transfer magnetic field which is obtained by providing input current at coil without energy loss. This paper described mathematical model of magnetic circuit for getting design variables. The modeling equation is obtained from the relations between flux and reluctance of the magnetic equivalent circuit. Also, finite element analysis has been used to study the performance of magnetic circuit according to change of design variables such as existence and shape of the permanent magnet, flux return path etc. The modification of dimensions enables us to optimize magnetic circuit.

• 한국정밀공학회지
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• 제18권4호
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• pp.203-208
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• 2001

In this paper, a novel dual-type positioning mechanism using a voice coil motor(VCM) and a piezoelectric actuator is proposed for optical disk drive or near-field recording type drive. The VCM is used for a coarse motion actuator and the piezoelectric actuator, "S" configuration deflection motion when voltage applied, is used for a fine motion actuator with self-sensing technique, which allows it to sense and actuate simultaneously in a closed loop frame work. When the VCM rotates and stops, a position feedback control algorithm is adopted to further control residu vibration. The performance of the control scheme is confirmed through simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.38.3-38
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• 2001

In the planetary surface exploration , micro-rovers or nano-rovers are very attractive choices for a surface exploration system providing mobility functions and other features required in the surface probe missions at small mass and relatively small cost. This paper surveys and summarizes the requirements for Mars exploration rovers in micro or nano scale and outlines the control concepts for navigation including the obstacle/hazard avoidance and the path planning. In this context, autonomous reaction capabilities are the key elements to control design in conjunction with the remote control schemes to deal with the significant signal propagation delays. Other navigation and control aspects such as the instrument fine positioning and the flip-over of the rovers are also briefly introduced. The current technical limitations of the micro- and nano-rovers are summarized.