• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2005.05a
• /
• pp.446-452
• /
• 2005

Recently, there are many studies for the micro-machining using Piezo actuator. However, because of its step by step motion, it is nearly impossible to increase the machining accuracy for a circular path. To increase the accuracy, it is well known that it is necessary the finer and synchronous movement for x-y axes. Therefore, this paper proposes a voltage control for finer movement of the actuator, and realizes a synchronous control for the x-y axes. The experimental results show that the machining accuracy is remarkably improved.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.543-550
• /
• 2005

Recently, there are many studies for the micro-machining using Piezo actuator. However, because of its step by step motion, it is nearly impossible to increase the machining accuracy for a circular path. To increase the accuracy, it is well known that it is necessary the finer and synchronous movement for x-y axes. Therefore, this paper proposes an adaptive control for finer movement of the actuator, and realizes a synchronous control for the x-y axes. The experimental results show that the machining accuracy is remarkably improved.

• Proceedings of KOSOMES biannual meeting
• /
• 2007.05a
• /
• pp.169-174
• /
• 2007

The purpose in having a control rod an a buoy system is to control the motion of it. The system may be composed entirely af a single circular cylinder finder and a lang mooring anchor cable. A control rod has one function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of the effects of mutual interference, then determine the stability characteristics of the body. In this paper, the study of control-rod-attached buoy's 2-dimensional section was accomplished. model tests and numerical simulations had been carried out with different diameters of control rods. and varying the Reynolds number $Re=5,000{\sim}25,000$ based an the cylinder diameter(D=50mm) to. predict the performance af the body and the 2 frame particle tracking method had been used to obtain the velocity distribution in the flaw field 50mm circular cylinder had been used during the whale experiments and measured results had been compared with each other.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.9
• /
• pp.805-812
• /
• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

• Journal of Navigation and Port Research
• /
• v.31 no.6
• /
• pp.485-490
• /
• 2007

The purpose in having a control rod on a buoy system is to control the motion of it. The system may be composed entirely of a single circular cylinder and a long mooring anchor cable. A control rod has one function to perform in meeting its purpose, and that is to develop a control force in consequence of its orientation and movement relative to the water. The forces and moments generated as a result of the effects of mutual interference. then determine the stability characteristics of the body. In this paper, the study of control-rod-attached buoy's 2-dimensional section was accomplished. model tests and numerical simulations had been carried out with different diameters of control rods. and varying the Reynolds number $Re=5,000{\sim}25,000$ based on the cylinder diameter(D=50mm) to predict the performance of the body and the 2 frame particle tracking method Iud been used to obtain the velocity distribution in the flow field. 50mm circular cylinder Iud been used during the whole experiments and measured results had been compared with each other.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
• /
• 2000.11a
• /
• pp.91-97
• /
• 2000

The conventional model did not take momentum conservation into consideration when the electron absorbs and emits the photons. II-ray provides momentum conservations on any directions of the entering photons, and also the electrons have radial momentum conservations and fully elastic bouncing between two atoms, in the new atom model. Conventional atom model must be criticized on the following four points. (1) Natural motions between positive and negative entities are not circular motions but linear going and returning ones, for examples sexual motion, tidal motion, day and night etc. Because the radius of hydrogen atom's electron orbit is the order of 10$^{-11}$ m and the radia of the nucleons in the nucleus are the order of 10$^{-l4}$m and then the converging n-gamma rays to the nucleus have so great circular momentum, the electron can not have a circular motion. We can say without doubt that any elementary mass particle can have only linear motion because of the n-rays' hindrances, near the nucleus. (2) Potential energy generation was neglected when electron changes its orbit from outer one to inner one. The h v is the kinetic energy of the photo-electron. The total energy difference between orbits comprises kinetic and potential energies. (3) The structure of the space must be taken into consideration because the properties of the electron do not change during the transition from outer orbit to inner one even though it produces photon. (4) Total energy conservation law applies to the energy flow between mind and matter because we daily experiences a interconnection between mind and body. An understanding of the mechanisms responsible for the control of normal proliferation and differentiation of the various cell types which make up the human body will undoubtedly allow a greater insight into the abnormal growth of cells, A large body of biochemical evidence was eventually used to generate a receptor model with an external ligand binding domain linked through a single trans-membrane domain to the cytoplasmic tyrosine kinase and autophosphory-lation domains. The ligand induced conformational change in the external domain generates either a push-pull or rotational signal which is transduced from the outside to the inside of cell.l.ell.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.4
• /
• pp.454-461
• /
• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.537-540
• /
• 1992

This paper presents Samsung CNC (Computer Numerical Controller) system with an intel 80486/487 as the main CPU and a 32 bit floating point DSP(Digital Signal Processor) TMS320C30 as the motion control CPU. The Samsung CNC system diverse user-frienly characteristics such as multi-tasking, powerful menu system, internal PLC system, and 2/3 dimensional graphics in wire and solid mode. The main CPU executes central processing program, user interface program, interpreter, BMI, etc while the motion control CPU carries out some interpolations, acceleration/deceleration, and PID control algorithm with feedforward terms. Complex interpolations except linear and circular ones are performed on the main control CPU. The experimental results for the circular interpolation under linear acceleration/deceleration shows that the proposed CNC system can be widely used in controlling machining centers with good machining accuracy.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.5
• /
• pp.44-51
• /
• 2008

In this paper, the optimal tuning of a cross-coupled controller linked with the feedforward controller is studied to reduce contouring and tracking errors of a bi-axial servomechanisms by using the previously developed integrated tuning method. The CCC system for an arbitrary curve, which is combined with the feedforward controller, is formulated by a state-space based on a series of linear motion trajectories. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including relevant controller parameters of the servo. To verify the effectiveness of the proposed optimal tuning procedure, linear and circular motion experiments are performed on the xy-table. Experimental results confirm that both tracking and contouring errors are significantly reduced by applying the proposed control and tuning system.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.33 no.10
• /
• pp.51-59
• /
• 2005

In this paper, results of a multiple spacecraft formation-keeping control using the orbital relative motion and optimization technique are presented. To analyze and predict the relative motion between the formation-flying satellites, a closed-form orbit propagator obtained using the method of ephemeris compression is used. This closed-form orbit propagator is combined with optimization technique to plan a series of impulsive maneuvers, which maintain the formation configuration within the specified limit. As an example, this method is applied to the problem of maintaining the projected circular formation geometry and results from nonlinear simulation are presented.