• The Journal of Korea Robotics Society
• /
• v.15 no.4
• /
• pp.350-356
• /
• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.2
• /
• pp.111-116
• /
• 2001

A neural network compensator for stick-slip friction phenomena in meashartonics servo systems is practically proposed to supplement the traditionally available position and velocity control loops for precise motion control. The neural network compensa-tor plays the role of canceling the effect of nonlinear slipping friction force. It works robustly and effectively in a real control system. This enables the mechatronics servo systems to provide more precise control in the digital computer. It was confirmed that the con-trol accuracy is improved near zero velocity and points of changing the moving direction through numerical simulation. However, asymptotic property on the steady state error of the normal operation points is guaranteed by the integral term of traditional velocity loop controller.

• Journal of Mechanical Science and Technology
• /
• v.20 no.10
• /
• pp.1702-1715
• /
• 2006

The increasing use of nano-positioners in a wide variety of laboratory and industrial applications has created a need for nano-mechatronics education in all engineering disciplines. The subject of nano-mechatronics is broad and interdisciplinary. This article focuses on the way nano-mechatronics is taught in department of mechanical engineering at Korea Advanced Institute of Science and Technology (KAIST). As one model of nano-positioning systems, design and experimental methodology is presented in this article. For design phase, the stiffness and resonant frequencies are found analytically and verified by using a commercial finite element analysis program. Next, for experimental phase, various tests are performed to access the performances of the designed nano-positioner, for example, sine-tracking, multi-step response and travel-range check etc. Finally, the definition of 'separation frequency' is described and some comments are discussed.

• Proceedings of the KIPE Conference
• /
• 2017.07a
• /
• pp.62-63
• /
• 2017

본 논문에서는 휠체어의 탑승자의 구동력과 BLDCM(Brushless DC Motor) 에서 출력되는 보조력인 전기적인 구동력을 동시에 사용하는 탈부착형 하이브리드 휠체어의 동작제어방식을 제안한다. 기존에는 휠체어에 토크센서를 부착하여, 토크센서 신호의 피이드백을 통하여 보조력을 발생하는 방식이 적용되고 있지만, 제안된 방식에서는 토크센서의 사용없이 사용자의 동작을 간접적으로 검출하는 방식을 제안한다. 사용자가 휠체어의 핸드림을 조작할 때, 발생하는 휠체어의 동작을 3축 가속도 센서를 통해 모션을 예측하고, 이에 대응하는 구동력을 보조하는 PAS(Power Assist System)을 설계하였다. 사용자의 동작 예측을 위해, 3축 가속도 센서의 신호를 조합하여 전진과 후진 및 정지 상태 신호를 예측하는 방식을 시뮬레이션과 실험을 통해 증명하였다.

• Journal of Navigation and Port Research
• /
• v.31 no.10
• /
• pp.853-858
• /
• 2007

In this paper, a seesaw system composed with a moving cart on the rail and seesaw frame is made to demonstrate the effectiveness of the control theory. The control aim is to maintain an equilibrium of seesaw frame in spite of various initial conditions and an allowable disturbance. To solve this control problem, a PI-type state feedback controller using reduced-order observer is implemented and applied to the seesaw system. The reduced-order observer can be used to estimate the state variables in the case of the limit of sensor number or the constraint on setting sensors and the cost. A series of simulation are carried out to verify the effectiveness of the control system.

• Proceedings of the KSRS Conference
• /
• v.1
• /
• pp.398-401
• /
• 2006

Dual channel Radiometer for Earth and Atmospheric Monitoring (DREAM) is the main payload on Science and Technology SATellite-2 (STSAT-2) of Korea. DREAM is two-channel microwave radiometer with linear polarization, and operating at center frequencies of 23.8 GHz and 37 GHz. An equation for DREAM calibration is derived which accounts for losses and re-radiation in the microwave components of the radiometer due to physical temperature. This paper describes the radiometric calibration equation to get antenna temperature ($T_A$) from the measured output data. At lower altitude, the measured deep space temperature is contaminated by middle atmosphere and earth radiation. In this paper, we presented the detail mathematical formulation to find the altitude up to which cold source brightness temperature is not affected by earth and middle atmosphere radiation. The DREAMPFM data is used to calculate the performance parameters (linearity, sensitivity, dynamic range, and etc.) of the system.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.15 no.5
• /
• pp.100-108
• /
• 2016

In various industries, many researches studies have been done in using nano thin film fabrication technology. In the field of printed electronics, various electronic devices can be fabricated using a direct printing process of on multiple functional materials. It has the advantages of low prices, environment-friendly environmentally friendly, flexibleility, large scale, mass production produced, simple process and so on. In this study, a viable thin film fabrication technology has beenwas introduced using the surface acoustic wave mechanism for thin film deposition. Fabrication of thin films using organic, inorganic and composite of organic/inorganic materials have been were analyzed through the experimental research. In this experiment, organic material MEH:PPV, inorganic material ZnO and composite material MEH:PPV/ZnO have been depo sited as thin films.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.2
• /
• pp.585-591
• /
• 2013

A robot automation system for coating uniformly a big radiator used in PPS(Packaged Power Station), which consists of 6-axis robot with spray gun, travelling vehicle, supply device of coating paint and thinner with pressured air, HMI controller and robot path OLP(Off-Line Programming), was developed. Experimental results on an optimum operation condition show that a coating thickness is $43{\mu}m$, which is satisfied to a design reference of $25-100{\mu}m$. A productivity of the developed coating robot automation system based on OLP is about 12.6 times of that of manual operation.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.4
• /
• pp.455-460
• /
• 2012

The Electrostatic Inkjet system has many applications in cost and time effective manufacturing of printed electronics like RFIDs, OLEDs and flexible displays etc. This paper presents pneumatic ink supply system for an electrohydrodynamic deposition (EHD) setup for the precise pressure control to produce a small amount of discharge at the end of the capillary. The meniscus shape depends upon the applied pneumatic pressure to the ink supply system. Furthermore, this paper also compares meniscus shapes at different applied pneumatic pressures. It is concluded that patterning of constant line-width can be achieved better by controlling the meniscus shape using this technique.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.5
• /
• pp.792-799
• /
• 2017

The real time unmanned monitoring system of an equipment's internal parts and condition requires the monitoring device to be able to stop at a set location on the rail. However, due to the slip between the driving surface and the roller, an error occurs between the actual position and the command position. In this paper, a method to compensate the position error due to the roller slip is proposed. A proximity sensor located at both ends of the rail detects the starting point and the maximum position pulse, linearly compensating the error between the angular position of the motor and the mechanically fixed starting and maximum position pulse of the rail in forward and reverse direction. Moreover, unlike the existing servo position controller, the motor adopts the position detection method of Hall sensor in BLDC (Brushless DC) and applies an algorithm for low-speed driving so that a stable position control is possible. The proposed rail guided unmanned monitoring system with driving slip compensator was tested to verify the effectiveness.