• 로봇학회논문지
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• 제5권3호
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• pp.216-223
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• 2010

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

• 전기학회논문지P
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• 제59권2호
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• pp.135-140
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• 2010

This paper presents a sensorless speed control of BLDC Motor using terminal voltage of the one phase. Rotor position information is extracted by indirectly sensing the back EMF from only one of the three terminal voltages for a three-phase BLDC motor. Depending on the terminal voltage sensing rotor position, active filter is used for position information. This leads to a significant reduction in the component device of the sensorless circuit. Therefore this is a advantage for the cost saving and size reduction. With indirect sensing methods based on detection of the terminal voltage that require active filtering, the position information needs the six divider section by PLL circuit, the binary counter and johnson counter by the EPLD. Finally, this algorithm can estimate the rotor position information similar to Hall-sensor sticked the three-phase BLDC motor. As a result, the method described that it is not sensitive to filtering delays, allowing the motor to achieve a good performance over a wide speed range. In addition, a simple starting method and a speed estimation approach are also proposed. Experimental and simulation results are included to verify the proposed scheme.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.461-465
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• 1996

In servo systems such as the computer hard disk, surface mountiong device and robot manipulators, the high precision and high speed are increasingly demanding. In these examples, the repeatable errors exist and the repetitive controller removes these errors effectively by adding signals calculated from the previous cycle errors to the existing feedback controller. The experimental results of the position tracking control and contact force control show that the repetitive control effectively improves the precision of mechanical servo systems.

• 한국정밀공학회지
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• 제25권7호
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• pp.95-102
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• 2008

Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tole-operated device is proposed. Operators who use this device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the remote controller, its workspace is analyzed and the workspace mapping from the device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both remote controller and the backhoe will be shown. This new design of the remote control device tan be easily manufactured and gives the workers very convenient and transparent remote control capability.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.384-391
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• 1998

When a device is mounted on the PCB, it is impossible to have zero defects due to many unpredictable problems. Among these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). It is obvious that given the complexity of the inspection task, the efficiency of a human inspection is questionable. Thus, new technologies for inspection of SMD(Surface Mounting Device) should be explored. An example of such technologies is the Automated Visual Inspection(AVI), wherein the vision system plays a key role to correct this problem. In implementing vision system, high-speed and high-precision are indispensable for practical purposes. In this paper, a new algorithm based on the Radon transform which uses a projection technique to inspect the FIC(Flat Integrated Circuit) device is proposed. The proposed algorithm is compared with other algorithms by measuring the position error(center and angle) and the processing time for the device image, characterized by line scan camera.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.393-400
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• 2002

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the fueling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/force commands, impedance parameters are always varying. When the impedance parameters between an operator and the haptic interface and the dynamic model are known precisely, many model based control theories and methods can be used to control the device accurately. However, due to the parameters'variations and the uncertainty of the dynamic model, it is difficult to control haptic interfaces precisely. This paper presents a robust adaptive impedance control algorithm for haptic interfaces.

• 대한의용생체공학회:의공학회지
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• 제38권1호
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• pp.32-42
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• 2017

The aim of this study was to evaluate driving performance of Healthy and disabled groups (with or without driver's license) to control steering wheel by using steering assistive devices in the driving simulator. The persons with partial loss of use of all four limbs have problems in operation of the motor vehicle because of functional loss to operate steering wheel. Therefore, if steering assistive devices for grasping the steering wheel are used to control the vehicle on the road in persons with disabilities, the disabled persons can improve mobility in their community life by driving a motor vehicle safely. Ten healthy subjects (with or w/o driver's license) and ten subjects with physical disabilities (with or w/o driver's license) were involved in this study to evaluate driving performance to operate steering wheel by using four types of steering assistive devices (Single-pin, V-grip, Palm-grip, Tri-pin) in driving simulator. STISim Drive 3 software was used to test the steering performance in four scenarios: straight road at low and high speed of vehicle (40 km/h and 80 km/h), curved road at low and high speed of vehicle (40 km/h and 80 km/h). This study used two-way ANOVA in order to compare the effects of two factors (type of steering assistive device and subject group) in the three dependent variables of driving performance (the lateral position of vehicle, standard deviation of lateral position representing the variation of the left and right movement of the vehicle and the number of line crossing). The mean values of the three dependent variables (lateral position, standard deviation of lateral position, the number of line crossing) of steering performance were statistically significantly smaller for the healthy or disabled groups with driver's license than the other groups without driver's license on the curved road at high speed of vehicle compared to low speed of vehicle.

• 전자공학회논문지 IE
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• 제46권4호
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• pp.25-30
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• 2009

용광로는 외피 부분에 내부 내화물의 온도를 낮추기 위하여 냉각수를 공급하는 냉각판 또는 스테이브를 사용하고 있다. 주변 조업 조건의 열악으로 냉각수를 공급하는 배관의 부식으로 냉각수가 내화물에 침투하여 내화물의 수명을 떨어뜨리고, 노황을 악화시키는 원인이 되고 있다. 이에 본 연구는 용광로 냉각설비장치에 이상 현상이 발생하였을 때 위치를 정확히 확인함에 따라 신속하게 누수된 부위를 파악하여 대처할 수 있는 기능을 갖춘 냉각관 누수 자동감지장치를 개발하였다. 주된 연구는 전자제어 장치인 마이크로프로세서를 응용한 전자변 제어장치를 이용하여 냉각설비의 파손으로 발생되는 누수현상으로 인한 고열과 분진 일산화탄소 등의 산출로 작업환경의 재해를 자동방지 하고자 하였으며, 작업환경이 친환경적이며 작업의 가치를 재창출할 수 있는 방법들이 연구되고 있다. 용광로 분위기의 일산화탄소 자동 감지장치와 그에 따른 출력신호를 자동 전송하는 무선중계기 장치를 개발함으로 용광로 냉각설비 장치의 분위기 작업환경을 수동방식에서 무인자동화방식으로 개선하였다.

• 전기학회논문지
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• 제60권8호
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• pp.1529-1536
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• 2011

Recently, worldwide government policy is pursuing saving energy and preservation. add to this, the solar cells are getting the spotlight nonpolluting energy source, using a variety of products for solar cell. in this paper, we'll make solar tracking system for suitable of dynamic boat. we knew that general boats are using fixed solar cell, it's first time to use tracking system of solar cells for boats so it is hard to application. To solve this problem in this paper we use to a magnetic compass and GPS for suitable solar tracking system of dynamic movement and to analyze fixed and tracking solar system. frist. solar tracking device is designed two-axis control system. one-axis control system is taken a magnetic compass for making efficiency defence solar tracking sensor, two-axis control system apply GPS latitude and longitude data for SPA(Solar position algorithm) so we know the azimuth and altitude. it analyze data value of accuracy comparison from result. so the proposed algorithm confirm to have validity.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.153-154
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• 2006

Development of sorting machine for photo diode and its control system is addressed. The sorting machine for optical communication device requires high positional precision because the alignment is one of the most important point in the sorting process. This sorting method describes how to detect the target chip's angle and position from the wafer. The machine vision system is used for the feedback control. This sorting machine is implemented by motion controller, machine vision and various solenoid valve and is interfaced with RS-232c, GPIB and PCI communication. This system gets the position accuracy within $1{\mu}m$ with our experiments.