• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.519-528
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• 1998

A numerical method is presented for the dynamic analysis of cam and follower. Contact and separation between the cam and the follower are analyzed by imposing dynamic contact condition. The correct solution is obtained without spurious oscillation by imposing the velocity and acceleration constraints as well as the displacement constraint on the possible contact point. The constraints are satisfied by iteratively reducing the constraint errors toward zero, and a simple time integration of ordinary differential equation is employed for the solution of the equation of motion. The solution procedure associated with the iterative scheme is presented, and numerical simulations are conducted to demonstrate the accuracy of the solution.

• Journal of computational fluids engineering
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• v.9 no.2
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• pp.52-61
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• 2004

In the present study, a solution algorithm for the computation of unsteady flows on unstructured meshes is presented. Dual time stepping is incorporated to achieve the second-order temporal accuracy while reducing errors associated with linearization and factorization. This allows any time step size, which is suitable for considering physical phenomena of interest. The Gauss-Seidel scheme is used to solve the linear system of equations. A special treatment based on spring analogy is made to handle meshes with high aspect-ratio cells. The present method was validated by comparing the results with experimental data and those obtained from rigid motion.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.613-618
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• 2004

CCS was developed and applied to rotating machines because of accurately measuring the spindle error motion without significant efforts. However, researches on the CCS have been focused on ideal cases where circumferential gaps were ignored. This paper presents the effects of circumferential gaps and proposes an optimal CCS considering the circumferential gaps. First, electrostatic analysis of the CCS that includes the circumferential gaps is performed using the FEM, and an additional capacitance due to the circumferential gap can be approximated as an equivalent extended sensor length. Second, a mathematical model of the CCS considering the circumferential gaps is derived, and the optimal CCS is determined through minimization of the weighted error amplification factor. Finally, two CCSs, both considering and ignoring the circumferential gaps, are built, and the effectiveness of the optimal design is verified through simulation and experiment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.2
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• pp.1-8
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• 2003

Conventionally used linear or circular interpolator is undesirable for the precision machining of 3D free-form surface as the following reason: the transmission errors due to the huge number of data, discontinuity of segmentation, unsmooth motion speed. To this regard, modern CNC machine tools are designed with the function of machining arbitrary parametric curves. However, these systems don't consider the adaptive federate, which dominates the quality of the machining process. This paper proposes a NURBS interpolator for the constant material removal rate. That is accomplished by the variable federate using curvature of curve. The curvature-compensated feederate system has important Potential applications in ensuring part accuracy and protecting cutting tool. The simulated result show it can be applicable to the real machining.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.387-393
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• 2004

General purpose of cylindrical capacitive displacement sensor(CCS) is measuring run-out motion and deflection of rotor. If CCS has narrow sensing range, its sensitivity coefficients must be calibrated precisely. And x, y component of CCS output can be coupled. In this research, CCS calibration procedure is automated with automatic calibration program and PC-controlled stage. And, coupled-terms of CCS signals were removed and the errors between measured position and mapped CCS signal were reduced obviously by sensitivity matrix that linearly.

• Journal of Korea Society of Digital Industry and Information Management
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• v.5 no.3
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• pp.141-145
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• 2009

In this paper, we propose an efficient lossless compression algorithm using spatial and temporal information. The proposed method obtains higher lossless compression of images than other lossless compression techniques. It is divided into two parts, a motion adaptation based predictor part and a residual error coding part. The proposed nonlinear predictor can reduce prediction error by learning from its past prediction errors. The predictor decides the proper selection of the spatial and temporal prediction values according to each past prediction error. The reduced error is coded by existing context coding method. Experimental results show that the proposed algorithm has better performance than those of existing context modeling methods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.309-312
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• 2005

DTM (Diamond Turning Machine) is using for ultra precision manufacturing such as, plastic lens die or aspherical optics. This study is on a design of precision 2-axis stage for DTM. We designed and manufactured a back lash free stage using different weights and measured the positioning accuracy using Interferometer. Also, the 2-D moving accuracy is measured using the high magnification CCD technique. Then, the stage is tested with the machining of spherical and aspherical lens in a DTM with air bearing spindle. It was shown that the back lash free stage is effective for improving the positioning accuracy. Also, positioning control errors in motion control board were able to be found using the proposed stages system.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.129-134
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• 2000

This paper presents the development of ultra-precision machining process of large aspheric aluminum mirrors with a maximum diameter of 620 mm. An ultra-precision machine, "Nanoturn60", developed by Daewoo Heavy Industries Ltd. is used for machining and motion errors of the machine are compensated by using the FTS developed by IAE(Institue for Advanced Engineering) during the machining process. To check the form accuracy of machined aspheric surfaces, on-machine form measurement system is developed. This measurement system consists of air bearing touch probe, straight edge, and laser sensor. With in-process error compensation by FTS(Fast Tool Servo), aspheric mirrors with the from accuracy of submicron order are obtained. obtained.