• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2509-2512
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• 2005

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed inkjet printer. The proposed scheme estimates the impact position and compensates it by control of the fire strobe time based on the dynamic equations describing the moving trajectory of the ink droplet. Compared to the conventional fire strobe control which is based on the simple synchronization the fire strobe with the position signal of the inkjet nozzle, the proposed control scheme provides more accurate impact position control during the carrier is moving with accelerated or decelerated speed as well as constant speed. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.650-657
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• 2006

The LPMS (Loose Part Monitoring Systems) are used widely for detecting the impact position in the nuclear reactor. There are some major methods to detect impact position in LPMS such as the triangular method, the rectangular method, the circular intersection method and so on. The time difference of these methods are calculated using S0-mode and A0-mode waves of each sensor. In this paper, we propose a method to detect impact position using the enveloped waves of acquired signals. The result of this paper show that the position detecting accuracy and reducing the processing time are proposed method is improved than traditional methods.

• 한국지능시스템학회논문지
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• 제19권3호
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• pp.388-397
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• 2009

로봇 매니퓰레이터를 이용한 대부분의 작업은 환경과의 상호작용을 요구하며, 위치제어, 충돌제어 그리고 힘제어로 구성된다. 위치제어는 환경에 도착하는 방법을 의미하고, 환경에 접촉하는 순간은 충돌제어 문제를 야기하며, 힘제어는 환경과의 충돌후에 원하는 힘궤적을 유지하는 것이다. 이러한 세 가지 제어문제는 순차적으로 발생하므로, 각각의 제어 알고리즘은 독립적으로 개발되어야 한다. 특히 여자유도 매니퓰레이터에서 이러한 세 가지 제어문제는 독립된 중요한 연구 주제이다. 예를 들어, 관절 토크 최소화와 충격힘 최소화는 여자유도 매니퓰레이터의 대표적인 연구주제이다. 본 논문에서는 단일 작업을 통하여 세 가지 제어문제를 구성하였다. 위치제어는 각 관절의 토크와 토크변화 그리고 충돌 시의 충돌힘 최소화를 위하여 개발되었다. 따라서 충돌제어의 초기조건은 이전의 위치제어 알고리즘으로부터 최적화 되고, 그러한 제어 전략은 충돌제어의 결과를 개선시킨다. 유사하게, 힘제어 문제의 초기조건은 이전의 위치제어와 충돌제어로부터 간접적으로 최적화된다. 힘제어 알고리즘은 각 관절 토크와 힘외란 최소화시키는 개념을 사용하였다. 모의실험 결과는 제안된 알고리즘의 타당성을 보여준다.

• 한국정보통신학회논문지
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• 제15권8호
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• pp.1727-1734
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• 2011

본 논문에서는 잉크젯 프린터의 고품질 인쇄 및 인쇄 속도 향상을 위하여 헤드 노즐로부터 분사된 잉크 액적의 위치 제어 정밀도를 향상할 수 있는 방법을 제안한다. 샤프트를 따라 이동하고 있는 캐리지에 탑재된 잉크젯 프린터 헤드의 노즐로부터 분사 신호에 동기되어 분사된 액적의 운동 방정식을 수립하고 이로부터 액적이 용지에 도달하는 궤적을 모델링하여 탄착지점을 예측함으로써 분사 액적을 원하는 지점에 정확하게 탄착시키도록 액적 분사 신호의 타이밍을 제어하는 방법을 제안한다. 캐리지의 위치 신호와의 단순 동기에 기반을 둔 기존의 분사 제어 방법에 비해 본 논문에서 제안하는 방법은 이동하는 캐리지의 속도를 고려하여 분사 타이밍을 보상하므로 캐리지의 속도 변동에 대해서도 보다 정확한 위치 제어가 가능하여 고품질 인쇄를 구현할 수 있을 뿐만 아니라 방향 전환을 위한 가감속 구간에서도 프린팅을 가능하게 하므로 동일한 인쇄 영역에 대해서 캐리지의 이동 경로가 짧아져 인쇄 속도를 향상시킬 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.272-275
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• 1997

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.

• 로봇학회논문지
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• 제1권1호
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• pp.81-88
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• 2006

Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.

• 자동차안전학회지
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• 제10권3호
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• pp.32-37
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• 2018

Recently, the driver can be assisted by the advanced active safety devices such as ADAS from road traffic risks. With this system, driver and passenger may freed from can driving tasks or kept eyes on forward direction while on the road. Help from adoptive cruise control, auto parking and newly develped automated driving vehicles technologies, the driver positions will vary significantly from the current standard driver position during the travel time. On this hypothesis, the objective of this study is analyze the behavior and injuries of drivers in the event of frontal impact under these abnormal driver position. Based on the KNCAP frontal impact testing method, this simulation matrix was set-up with dummies of 5 th tile female Hybrid III dummy and 50 th tile male Hybrid III dummy. The small sedan type passenger car was modeled in this simulation. The series of simulation was performed to compare the injuries and behaviour of each dummy, varying the seating status and seat position of each dummy.

• 대한가정학회지
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• 제32권5호
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• pp.109-124
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• 1994

The present study was conducted to elucidate the relationship between parent's verbal control modes and children's social competency. Two questionanires were developed by the authors for this study. The questionnaire for measuring parent's verbal control modes was composed of 84 and 87 items for mother and father, respectively, which assesses three types of verbal control modes; imperative control position-oriented control and person-oriented control. The questionnaire for measuring children's social competency perceived by mothers was composed of 27 items, which assesses four areas of social competency; initiative sociability responsibility and self-disclosure. the subjects of this study were 436 mothers and their children of fifth and sixth grade in elementary schools located in Seoul. The results of this study were as follows: 1) Parents control their children mostly by position-oriented mode and least by imperative mode. 2) There were significant correlations between father's verbal control mode and children's social competency. children's social competency was related positively to the person-oriented and position-oriented modes but negatively to the imperative mode. The best variables explaining boy's social competency were father's imperative and position-oriented modes whereas that for girl's was position oriented mode. 3) Mother's verbal control mode was not significant in explaining children's social competency. 4) The negative impact of father's imperative mode in combination with the mother's person-oriented mode on the children's social competency was greater than other combinations of father's and mother's verbal control modes.

• 한국정밀공학회지
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• 제20권4호
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• pp.49-58
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• 2003

In this study, the equation of motion of impacting elastic structures was derived through the theory, and the shape control of impact force using correlations of the dynamic characteristics and impact force history between two elastic structures was accomplished. Through numerical analysis and experiments, the classical contact mechanisms were verified, and the effects of the relative motion between impactor and elastic structure on the impact force shape were studied, and then the shape change of impact force depending on the impact position and mode shape of cantilever beam were analyzed. The 2-DOF impactor was designed and used. Reconstruction characteristics of impact force in cantilever beam were reviewed .

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.172-178
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• 1993

This paper deals with the modeling and experiment of a robot system for force/impact control performance. The basic model is composed of a direct drive motor, servo amplifier, link, force sensor and environments. Based on the developed model, the stability of the whole system was analyzed via root locus method. For the force control, integral force compensation with velocity feedback method shows the best performance of all the explicit force control strategies. In dealing with impact, PID position control and the explicit force control method were implemented. Instead of add more damping to the robot system by velocity feedback, we developed a new passive damping method and it was also applied to enhance the damping characteristic of the system.