• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.3
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• pp.316-321
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• 2004

In this paper, we have developed a new mounting head system for flip chip. The proposed head system consists of a macro/micro positioning actuator for stable force control. The macro actuator provides the system with a gross motion while the micro device yields fine tuned motion to reduce the harmful impact force that occurs between very small sized electronic parts and the surface of a PCB(printed circuit board). In order to show the effectiveness of the proposed macro/micro chip mounting system, we compared the proposed system with the conventional chip mounting head equipped with a macro actuator only. A series of experiments were executed under the mounting conditions such as various access velocities and PCB stiffness. As a result of this study, a satisfactory voice coil actuator as the micro actuator has been developed, and its performance meet well the specifications desired for the design of the chip mounting head system and show good correspondence between theoretical analysis and experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1243-1251
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• 2007

In this paper a study on the simplified observability analysis of GPS/INS is introduced. Errors for the position, velocity, attitude, gyro and accelerometer biases, and lever arm between GPS antenna and inertial sensors are considered in the observablity analysis. From the error dynamics model in which relatively small terms are neglected, simple observability conditions are obtained such that the observability of GPS/INS is determined by the test on the attutude, gyro bias, and lever arm. Unobservable errors for the position, velocity, and accelerometer bias are determined by those for the attitude, gyro bias, and lever arm. The simplified observability conditions are applied to a constant speed horizontal motion. It is shown that there are seven unobservable modes for the motion including the vertical component of gyro bias. The analytic observability analysis results are confirmed with a covariance simulation.

• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1462-1464
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• 2005

The demand for linear electrical machines, for both controlled motion and electrical power generation, has increased steadily in recent years. For example, for applications in the high-speed packaging and manufacturing sectors, linear electromagnetic machines, which provide thrust force directly to a payload without the need to convert rotary to linear motion, offer significant advantages in terms of simplicity, efficiency, positioning accuracy, and dynamic performance in both acceleration capability and bandwidth. So, this paper describes analysis the dynamic characteristics of Tubular Type Linear BLDC Motor by simulation and experiments.

• Fashion & Textile Research Journal
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• v.24 no.6
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• pp.694-706
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• 2022

This study focusses on the development of a motion-sensing smart leggings prototype with the help of a module that monitors motion using a fiber-type stretch sensor. Additionally, it acquires data on Electrocardiogram (ECG), respiration, and body temperature signals, for the development of smart clothing used in online exercise coaching and customized healthcare systems. The research process was conducted in the following order: 1) Fabrication of a fiber-type elastic strain sensor for motion monitoring, 2) Positioning and attaching the sensor, 3) Pattern development and three-dimensional (3D) design, 4) Prototyping 5) Wearability test, and 6) Expert evaluation. The 3D design method was used to develop an aesthetic design, and for sensing accurate signal acquisition functions, wearability tests, and expert evaluation. As a result, first, the selection or manufacturing of an appropriate sensor for the function is of utmost importance. Second, the selection and attachment method of a location that can maximize the function of the sensor without interfering with any activity should be studied. Third, the signal line selection and connection method should be considered, and fourth, the aesthetic design should be reflected along with functional verification. In addition, the selection of an appropriate material is important, and tests for washability and durability must be made. This study presented a manufacturing method to improve the functionality and design of smart clothing, through the process of developing a prototype of motion-sensing smart leggings.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.219-220
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• 2010

A new concept of ocean transport system, called mobile harbor, was introduced as a feasibility study in Korea in 2009. Target of the mobile harbor is a smart distance transport of containers with or without cargo handling cranes. Although the mobile harbor project has a lot of topics to deal with, this paper is to focus on only ship-to-ship stabilized mooring, which plays a key role in cargo handling. The ship-to-ship stabilized mooring system was developed and installed on beard a barge of LOA 32m and breadth 12m. The dockside tests as sea test were carried out so as to ascertain ascertained whether the systems can work well to control the barge's motion. The results of dockside test showed that the heave motion of the barge's motion can be reduced by more than 45%.

• Journal of Navigation and Port Research
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• v.34 no.4
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• pp.281-286
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• 2010

A new concept of ocean transport system, called mobile harbor, was introduced as a feasibility study in Korea in 2009. Target of the mobile harbor is a short distance transport of containers with or without cargo handling cranes. Although the mobile harbor project has a lot of topics to deal with, this paper is to focus on only ship-to-ship stabilized mooring, which plays a key role in cargo handling. The ship-to-ship stabilized mooring system was developed and installed on board a barge of LOA 32m and breadth 12m. The dockside tests as sea test were carried out so as to ascertain whether the systems can work well to control the barge’s motion. The results of dockside test showed that the heave motion of the barge's motion can be reduced by more than 45%.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1268-1275
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• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.2
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• pp.64-69
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• 2007

Aerostatic planar XY stages are frequently used as the main frames of precision positioning systems. The machining and assembly process of the rails and bed of the stage is one of first processes performed when the system is built. When the system is complete, the 2D position, motion, and stage flatness errors are measured in tests. If the stage errors exceed the application requirements, the stage must be remachined and the assembly process must be repeated. This is difficult and time-consuming work. In this paper, a method for estimating the errors of a planar XY stage is proposed that can be applied when the rails and bed of the stage are evaluated. Profile measurements, estimates of the motion error, and 2D position estimation models were considered. A comparison of experimental results and our estimates indicated that the estimated errors were within $1{\mu}m$ of their true values. Thus, the proposed estimation method for 2D position and flatness errors of an aerostatic planar XY stage is expected to be a useful tool during the assembly process of guideways.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.1
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• pp.33-38
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• 2013

The general purposed control system for driving a motion of many different typed robot end-effector, which consists of a controller based on ARM Cotex M3-11017 MCU and an application software for generating a motion of end-effector, was developed. Experimental results show that a positioning error is nearly negligible and a repeatability error is 0.04%. Accordingly the developed control system can be applied practically to actuate a robot end-effector for inspection and maintenance of steam generator heat pipe in nuclear power plant.