• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2003년도 추계학술발표대회 개요집
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• pp.24-26
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• 2003

In this study EB(Electron Beam) welder was modified to apply EB welder to micro-joining with solder ball and Pt wire. The power and beam current of EB welder is 6kW, 100mA and the minimum current was 1mA. The minimum current of EB welder was modified to decrease the amount of beam current to 0.0lmA and the monitoring system to observe materials was made up. The control system and CAD/CAM software for e-beam direct writing was developed and the deflection beam was controlled without moving workpieces. the possibility of applying EB welder to micro-joining with solder ball and Pt wire was studied through this experiments.

• 전기학회논문지
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• 제66권5호
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• pp.819-832
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• 2017

We propose a new switching control scheme for a ball and beam system by utilizing two linearization methods. First, the Jacobian linearization is applied and state observer is developed afterward. Then, motivated [6], the approximate input-output linearization is carried out, and after that, the Jacobian linearization is applied along with the design of state observer. Since the second approach requires two linearizations, it is called a two-step linearization method. The state observer is needed for the estimation of the velocities of ball and motor movement. Since the Jacobian linearization based controller tends to provide faster response at the initial time, and after that, the two-step linearization based controller tends to provide better response in terms of output overshoot and convergence to the origin, it is natural to give a switching control scheme to provide the best overall control response. The validity of our control scheme is shown in both simulation and experimental results.

• 한국항해학회지
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• 제23권3호
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• 전기전자학회논문지
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• 제22권1호
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• pp.110-120
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• 2018

본 논문에서는, 볼-빔 시스템에 입-출력 궤환 선형화 기법을 적용하여 추종 궤적 r(t)를 추종하도록 제어기를 설계하였다. 설계한 제어기로 시뮬레이션 및 실험에 적용한 결과, 실험에서 오차가 크게 발생하였다. 이러한 이유는 외란 및 입력정합조건을 만족하지 못해 발생한 것으로 판단되어 볼-빔 시스템의 기존 모델링에서 적절한 외란을 추가하여, 시뮬레이션을 통해 실험 결과와 비슷한 유효한 모델링임을 입증하였다. 그러나, 여전히 저하된 성능으로 인해 bang-bang 제어기를 추가로 적용하였다. 결과적으로, 시스템의 불확실성에 대해 강인하고 향상된 성능을 시뮬레이션 및 실험결과를 통해 검증하였다.

• 한국의학물리학회:학술대회논문집
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• 한국의학물리학회 2002년도 Proceedings
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• pp.192-194
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• 2002

We present the results on the calibration of iso-center positions using the quality assurance system established at PMRC for determination of center position in X-ray and proton irradiation fields. Details on the system are presented in another presentation in this session. The equipment in the system is mounted on a patient treatment bed in each proton exposure room, G1 or G2. A center of a stainless ball on the equipment is set at a cross of laser markers located around the iso-center and fixed on the room and on the snout in the gantry. A proton beam or an X-ray beam is exposed onto the ball through a brass collimator of 100 mm ${\times}$ 100 mm and projected onto the imaging plate set at I cm behind the ball. On the axis perpendicular to the thrust axis of the gantry on the imaging plate, a distance between a center of the collimator image and a center of the ball image varies as a cosine function of gantry angles unless the ball is set on the iso-center. An amplitude of the cosine curve shows the distance between the ball and the iso-center, an offset the offset of the collimator, and a phase shift at a zero crossing point the ball direction viewed from the iso-center. We present the relation among the iso-center position, the laser maker position, and the center of proton and X-ray irradiation fields. Its stability and its reproducibility are discussed.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.969-974
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• 2010

In this paper, we propose a fault-tolerant controller for compensating measurement noise of feedback sensor. Because control systems operate via feedback sensor's signal, the measurement noise in sensor's signal results in performance degradation or even system failure. Therefore, control systems often demand on compensating measurement noise. Our controller is equipped with a compensator in order to reject or reduce the effect of measurement noise in feedback information. Our proposed method is verified via simulation and experiment for a Ball and Beam system.

• 한국산학기술학회논문지
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• 제16권3호
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• pp.1639-1644
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• 2015

볼밸브용 볼의 로봇 육성용접시스템에서 포지셔너의 설계 및 구조강도 해석에 관한 연구를 하였다. 포지셔너의 일부분인 터닝 유닛을 모델링하였고, 보로 가정하여 해석을 진행하였다. 볼의 무게가 $9,000kg_f$ 일 때 터닝 유닛에 가해지는 응력이 366.85MPa로 나왔다. 이 값은 재료의 항복강도보다 높은 값이다. 앞의 결과를 토대로 터닝 유닛을 수정하여 모델링을 하였다. 수정된 모델링으로 해석한 결과, 응력의 값은 296.11MPa로 확인되었다. 이 값은 재료의 항복강도보다 낮은 수치이며, 볼의 무게를 버티는 것을 알 수 있었다.

• 전기학회논문지
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• 제58권8호
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• pp.1624-1632
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• 2009

In this study, we introduce the design methodology of an optimized Interval Type-2 fuzzy controller. The fixed MF design of type-1 based FLC leads to the difficulty of rule-based control design for representing the linguistically uncertain expression. In the Type-2 FLC as the expanded type of Type-1 FLC, we can effectively improve the control characteristic by using the footprint of uncertainty(FOU) of membership function. Type-2 FLC has a robust characteristic in the unknown system with unspecific noise when compared with Type-1 FLC. Through computer simulation as well as practical experiment, we compare their performance by applying both the optimized Type-1 and Type-2 fuzzy cascade controllers to ball and beam system. To evaluate each controller performance, we consider controller characteristic parameters such as maximum overshoot, delay time, rise time, settling time and steady-state error.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.712-714
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• 1999

Ball-balancing control systems are ideal to demonstrate the design and hardware implementation Procedures of optimal controllers based on modern control theory. This paper presents the design of an $H_2$ optimal controller based on the generalized plant model of the ball-balancing system. The problem of balancing a metal ball on the midpoint of a beam is ultimately related to a regulating problem. So, the designed controller is correspond to this problem. The controller was experimented by DSP(digital signal processing) equipments and simulated by MATLAB. The performance of controller was verified through the experiments.

• 대한기계학회논문집
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• 제16권9호
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• pp.1615-1626
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• 1992

본 연구에서는 배플이 없는 사각단면을 가진 양단자유의 탄성보에 강구가 횡 방향으로 충돌할 때 발생되는 음압을 M.Sakata와 M.Horii의 방법을 적용하여 구하였으 며, 보의 가속도는 모우드 해석기법을 적용하여 구하였다. 그리고 충돌시 발생되는 충격격과 접촉시간은 허즈(Hertz)접촉이론을 이용하였다.그리고 실험을 통하여 이 론으로 구한보의 가속도, 접촉시간, 방사음압의 결과와 비교하였다. 기존의 연구내 용을 기반으로한 본 논문의 기여부분은 hertz 접촉이론을 본 연구의 시스템에 적용하 여 접촉시간을 실험적으로 검증하였으며 모우드 해석기법을 이용하여 구한 보의 진동 을 실험과 비교하였고, 시스템을 탄성보로하여 M.Sakata의 방법을 적용하여 발생되는 음압을 실험으로 검증한 것이다.