• Journal of Advanced Marine Engineering and Technology
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• 제26권4호
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• 대한두경부종양학회지
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• 제10권2호
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• pp.137-144
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• 1994

To provide the wide and satisfactory surgical field is essential requirement for en-bloc resection of nasopharyngeal angiofibroma invading central skull base. The new design of the surgical approach to the skull base lesions was developed and described the details of this technique and its usefullness. We compared the usefullness of naso-maxillary approach to that of infratemporal fossa approach in cases of angiofibroma invading skull base. Our experience indicates that the naso-maxillary swing approach is better than lateral approach for the large nasopharyngeal angiofibroma. A new approach. naso-maxillary swing approach. is described.

• 정보저장시스템학회논문집
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• 제2권3호
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• pp.208-213
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• 2006

The present state of the design of swing arm actuators for optical disc drives is to obtain the high efficient dynamic characteristics within a very compact volume. As a necessary consequence, the need of the small form factor (SFF) storage device has been arisen as major interests in the information storage technology. In this paper, we suggest the miniaturized swing arm type actuator that has high efficient dynamic characteristics for SFF optical disk drive (ODD). For the operating mechanism, it uses a tracking electromagnetic (EM) circuit for a focusing motion together. Moreover, due to the size constraint, the thermal stability of optical head is important. Therefore, the actuator is designed to emit the heat, which is generated by optical pick-up, along the actuator body easily. Initial model is designed based on the topology optimization method considering the thermal conductivity. Then, the structural parts of the actuator are modified to maintain the high sensitivity and to have wide control bandwidth by the design of experiments method (DOE) and new concept of decreasing mass and inertia. Finally, a swing arm type actuator for SFF ODD is suggested and its dynamic characteristics are verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.80.5-80
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• 2002

1. Introduction II. Circuit Description III. Current-Mode Active RC Filter IV. Simulation Results V. Conclusion

• 대한전자공학회논문지SD
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• 제45권8호
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• pp.44-47
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• 2008

본 논문에서는 UWB PLL charge pump 의 충/방전 전류오차를 최소화하기 위한 회로를 제안하였다. Common-gate 와 Common-source 증폭기를 추가한 피드백 전압 조정기를 구성하여 높은 응답성을 가지는 charge pump를 설계하였다. 제안한 회로는 넓은 동작 영역을 갖으며, 낮은 전원 전압으로도 뛰어난 성능을 보인다. 본 회로는 1.2V 공급 전압과 IBM 0.13um CMOS 공정으로 집적되었다. 설계의 효율성을 평가하기 위해 참고 논문의 다른 회로와 성능을 대조하였다.

• 한국정보전자통신기술학회논문지
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• 제13권5호
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• pp.359-369
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• 2020

본 논문에서는 CMOS X-Ray 검출기의 메인 클럭을 발생시키는 위상 고정 루프(phase locked loop, PLL)을 위한 전류 불일치를 줄이면서도 넓은 동작 범위를 가지는 전하 펌프(charge pump, CP) 회로를 제안하였다. CP 회로의 동작 범위와 전류 불일치는 CP 회로를 구성하는 전류원 회로의 동작 범위와 출력 저항에 의해서 결정된다. 제안된 CP 회로는 넓은 동작 범위를 확보하기 위한 wide operating 전류 복사 바이어스 회로와 전류 불일치를 줄이기 위한 출력 저항이 큰 캐스코드 구조의 전류원으로 구현하였다. 제안된 wide operating range 캐스코드 CP 회로는 350nm CMOS 공정을 이용하여 칩으로 제작되었으며 소스 측정 장치(source measurement unit)을 활용하여 전류 일치 특성을 측정하였다. 이때 전원 전압은 3.3V이고 CP 회로의 전류 ICP=100㎂이었다. 제안된 CP 회로의 동작 범위 △VO_Swing=2.7V이고 이때 최대 전류 불일치는 5.15%이고 최대 전류 편차는 2.64%로 측정되었다. 제안된 CP 회로는 낮은 전류 불일치 특성을 가지면서 광대역 주파수 범위에 대응할 수 있으므로 다양한 클럭 속도가 필요한 시스템에 적용할 수 있다.

• 전자공학회논문지C
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• 제36C권7호
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• pp.10-16
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• 1999

본 논문은 FCSR(Freedback Control Swing voltage Reduction) 방식을 이용하여 bus 구동전압을 수백 mV이내로 줄일 수 있는 구동기에 대한 내용을 다루고 있다. 이는 MDL 구조와 같이 대용량, 대단위 bus에서의 전력소모를 줄이기 위한 연구로 FCSR은 dual-line bus와 bus precharging을 기본구조로 채택하고 있다. Bus 환경이 변화함에 따라 일정한 구동전압을 유지하기 위하여 구동기의 크기를 자동적으로 조절할 수 있도록 구동기와 bus를 모델링 하였고 또한 odd mode로 동작하는 이웃하는 선간의 커플링 영향을 평행 전류원으로 모델링하여 선간간섭(crosstalk) 영향을 분석하였다. 현대 0.8um 공정으로 제작된 chip은 bus를 600mV로 구동하도록 설계되었으며 테스트결과 3.3V에서 70Mhz로 동작 가능하다. Hspice 시뮬레이션으로 FCSR은 3.3V에서 250Mhz의 동작이 가능하다.

• 한국운동역학회지
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• 제17권1호
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• pp.41-52
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• 2007

The present study analyzed the two hand backhand stroke motion of six female high school tennis players who won the championship at the National Athletic Meeting in 2006, and drew conclusions as follows. The open angle of the racket at the moment of impact was 90 degree without significant difference among the players, making a wide contact between the ball and the racket. The racket angle was 43 degree at take back and 91 at impact, showing a style of holding the racket rather upright in general. In back swing from the top to the impact, the shoulders and the hips turned by 97 degree and 40 degree, respectively. At the moment of impact, the height of the impact was 54%H, and the position of the impact was 10%H ahead of and 37%H left from the central axis of the body. The right hand made a continental grip and the left hand made a Western or semi Western grip. Through the entire swing motion, the grip angle of the left hand was smaller than that of the right hand, and those who maintained a large grip angle of the right hand at the moment of take back put the racket head slightly farther from the body. In the swing of the racket head from the lowest point to the impact, the vertical length of movement was 11%H and the horizontal length of movement was 60%H, quite long.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.735-739
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• 2003

This paper presents a direct seek control algorithm for swing-arm type dual stage servo system that consists of a coarse actuator and a fine actuator. The proposed scheme is to design a control system that attenuates the effect of dynamic coupling between the two actuators so that the seek operation can be performed in a single-shot with stability. In an optical drive system with dual stage servo mechanism, the effect of dynamic coupling between the two actuators needs to be handled during the coarse seek operation due to its inherent structure. In an extreme case, the two actuators can collide each other, which leads to critical degradation of the seek performance. To handle this problem, our proposed control scheme is to generate the drive signals such that the two actuators behave as if they are a single fixed body. To this end, a feedforward controller and two feedback controllers are designed that enable the current drive system perform wide range of track seek. Simulation results are provided to show the validity and feasibility of our proposed algorithm.

• 제어로봇시스템학회논문지
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• 제5권4호
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• pp.496-503
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• 1999

In this paper, the improvement of cap tilting system in heavy truck and the development of program for automatic design are discussed. Cab tilting system takes some important roles in heavy truck, absorbing discomfort vibration from load, increasing repair efficiency and making sure of safety. Common manual cab tilting system cannot be easily tilt up in sloped road, giving difficulty to driver as cal tilting up/down. So recently hydraulic cab tilting system is in wide use. But some problem such as tilting up/down speed is not constant and sudden swing of cab has brought discredit from user. Therefore, this paper presents advanced cab tilting system which prevents sudden swing of cab and development of program for selecting design parameters automatically.