• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• 한국정밀공학회지
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• 제15권3호
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• pp.50-60
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• 1998

This paper is concerned with the design of two residual control charts for real-time monitoring of the continuous flow processes. Two different control charts are designed under the situation that observations are correlated each other. Kalman-Filter based model estimation is employed when the process model is known. A black-box approach, based on Back-Propagation Neural Network, is also applied for the design of control chart when there is no prior information of process model. Performance of the designed control charts and traditional control charts is evaluated. Average run length(ARL) is adopted as a criterion for comparison. Experimental results show that the designed control chart using the Neural Network's modeling has shorter ARL than that of the other control charts when process mean is shifted. This means that the designed control chart detects the out-of-control state of the process faster than the others. The designed control chart using the Kalman-Filter based model estimation also has better performance than traditional control chart when process is out-of-control state.

• 대한치과기공학회지
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• 제36권2호
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• pp.83-89
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• 2014

Purpose: This study is to evaluate the effect of modeling liquid on the shear-bond strength between zirconia core and veneering ceramic. Methods: Disk-shaped (diameter: 12.0mm; height: 3.0mm) zirconia were randomly divided into six groups according to the surface conditioning method and whether modeling liquid is used or not to be applied (N=60, n=10 per group): group 1-control group with distilled water(ZD); group 2-control group with modeling liquid(ZM); group 3-airborne particle abrasion with $110-{\mu}m$ $Al_2O_3$(AD) with distilled water; group 4-airborne particle abrasion with $110-{\mu}m$ $Al_2O_3$ with modeling liquid(AM); group 5-liner with distilled water(LD); group $6{\pounds}{\neq}liner$ with modeling liquid(LM). Contact angles were determined by the sessile drop method at room temperature using a contact angle measurement apparatus. The specimens were prepared using dentin veneering ceramics, veneered, 3mm high and 2.8mm in diameter, over the cores. The shear bond strength test was performed in a Shear bond test machine. Load was applied at a cross-head speed of 0.50mm/min until failure. The fractured zirconia surfaces were evaluated by using stereomicroscope (${\times}30$). Collected data were analyzed using SPSS(Statistical Package for Social Sciences) Win 12.0 statistics program. Results: ZD showed the highest contact angle($50.6{\pm}5.4^{\circ}$) and LD showed the lowest value($6.7{\pm}1.3^{\circ}$). Control groups and zirconia liner groups were significantly higher contact angle than liner groups(p<0.05). LD was the highest shear bond strength($43.9{\pm}3.8MPa$) and ZD was the lowest shear bond strength($24.8{\pm}4.9MPa$). Shear bond strengths of control groups and contact angle of liner groups were not significantly different((p>0.05). Liner groups presented adhesive failures. The others groups showed cohesive and adhesive failures. Conclusion: Modeling liquid groups showed lower contact angles and lower shear bond strength compared to those of distilled water groups.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.71.5-71
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• 2001

This paper presents the vibration control of a flexible intelligent beam with added mass. The materials which is a glass fiber reinforced(GFR) thermoplastic composite is employed to achieve vibration characteristics according to added mass induced end of composite beam. In the experiments of forced vibration control, the -controller are employed to achieve vibration suppression in forced vibration situations. Also, in the controller design, 1st and 2nd´s natural frequencies are considered in the modeling, because robust control theory which has robustness to structured uncertainty is adopted to suppress the vibration. By designing a controller using mu-synthesis, robust performance against measurement noise, various modeling.

• 소음진동
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• 제10권4호
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• pp.584-595
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• 2000

We design a new actuator for high density optical device in order to control the radial tilting motion. The newly designed actuator makes it possible to control the tilting motion actively, while the coventional actuator compress tilting motion with passive spring. First of all, We present 3-dimensional modeling of actuator and accomplish the modal analysis and magnetic analysis of actuator. Due to these results, a new designed actuator has performance of high sensitivity and high second resonance frequency. Secondly, We present the 3-DOF dynamic modeling of the 4-wire spring type actuator. sensitivity analysis is performed to consider the assembling error, such as the difference of mass center and force center. From these results, the sensitivities of rotation due to the assembly error are revealed and design criteria of rotation is presented. And experimental results of a newly designed actuator are presented and compared with theoretical results. Finally, We propose a dynamic tilt compensation and high acceleration actuator for high density optical storage devices.

• Transactions on Electrical and Electronic Materials
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• 제7권6호
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• pp.297-300
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• 2006

The response surface modeling of the pretilt angle control using ion-beam (IB) alignment on nitrogen doped diamond-like carbon (NDLC) thin film layer is investigated. This modeling is used to analyze the variation of the pretilt angle under various process conditions. IB exposure angle and IB exposure time are considered as input factors. The analysis of variance technique is settled to analyze the statistical significance, and effect plots are also investigated to examine the relationships between the process parameters and the response. The model can allow us to reliably predict the pretilt angle with respect to the varying process conditions.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2000년도 추계학술대회 학술발표 논문집
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• pp.153-156
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• 2000

In this paper, a mathematical model of a permanent-magnet synchronous motor (PMSM) is derived, and the steady-state characteristics of this system, when subject to constant input voltages and constant external torque, are formulated. It is shown that the PMSM model can exhibit a variety of chaotic phenomena, under some choices of system parameters and external inputs. Based on TS fuzzy modeling methodology, the TS fuzzy model of the PMSM chaotic system is presented, so the interaction between fuzzy system and chaos can be explored, and then fuzzy-model-based control methodologies can be used to control chaos in chaotic systems. Computer simulations show that the strange attractors in the derived TS fuzzy system and original chaotic system are topologically equivalent.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.927-932
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• 2001

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2008년도 하계학술대회 논문집 Vol.9
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• pp.525-526
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• 2008

For measuring nonlinear Vehicle Modeling based on 7-Depth Sensor, the neural networks are proposed m adaptive and in realtime. The structure of it is similar to recurrent neural networks; a delayed output as the input and a delayed error between the output of plant and neural networks as a bias input. In addition, we compute the desired value of hidden layer by an optimal method instead of transfering desired values by backpropagation and each weights are updated by RLS(Recursive Least Square). Consequently, this neural networks are not sensitive to initial weights and a learning rate, and have a faster convergence rate than conventional neural networks. This new neural networks is Error Estimated Neural Networks. We can estimate nonlinear models in realtime by the proposed networks and control nonlinear models.

• 한국정밀공학회지
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• 제20권6호
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• pp.160-166
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• 2003

Interest in advanced vehicles results in correspondingly increased interest in modeling and simulation of the dynamic behavior of Maglev-type vehicle systems. DADS is a program especially suited for the analysis of multibody mechanical systems. This paper demonstrates the application of DADS to the dynamic modeling and simulation of such advanced vehicles. A brief description is made of the modeling requirements of magnetically levitated systems, along with a summary of some of the related capabilities of DADS. As a case study, an analysis of a vehicle based on the UTM01 system is presented. This paper shows that the presented modeling technique is applicable to the dynamic characteristics evaluation and control law design of Maglev- type vehicles.