• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.532-535
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• 2022

Path following algorithms have been intensively studied for various mobile platforms such as planetary exploration, unmanned delivery, and autonomous driving. However, ensuring high accuracy in practical applications is challenging due to enormous uncertainty inherent in real environment. In this paper, we aim to reveal the guideline for the design and implementation by investigating the path following performance of mobile robot controlled by the pure pursuit algorithm. To this end, we evaluate the accuracy of the pure pursuit algorithm when tuning the look ahead distance and deploying erroneous actuator.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.48 no.12
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• pp.91-96
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• 2011

In this paper, a low-power direct-conversion transmitter based on current-mode operation, which satisfies the IEEE 802.15.4 standard, is proposed and implemented in a $0.13{\mu}m$ CMOS technology. The proposed transmitter consists of DACs, LPFs, variable gain I/Q up-conversion mixer, a divide-by-two circuit with LO buffer, and a drive amplifier. By combining DAC, LPF, and variable gain I/Q up-conversion mixer with a simple current mirror configuration, the transmitter's power consumption is reduced and its linearity is improved. The drive amplifier is a cascode amplifier with gain controls and the 2.4GHz I/Q differential LO signals are generated by a divide-by-two current-mode-logic (CML) circuit with an external 4.8GHz input signal. The implemented transmitter has 30dB of gain control range, 0dBm of maximum transmit output power, 33dBc of local oscillator leakage, and 40dBc of the transmit third harmonic component. The transmitter dissipates 10.2mW from a 1.2V supply and the die area of the transmitter is $1.76mm{\times}1.26mm$.

• Journal of Biomedical Engineering Research
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• v.23 no.3
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• pp.217-225
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• 2002

The implantable middle ear(IME) system, which has good sound quality. superior sound intelligibility and wide frequency characteristics. can resolve the sound distortion and ringing effect by sound feedback at high gain operation those are the major problems of conventional hearing aid. In this paper, we have manufactured the IME system using differential electromagnetic transducer(DET) and verified the performance of the system by carrying out vibration and animal implanting experiment. The DET was manufactured using micro-machining technology and vibration experiment of the transducer was performed to inspect whether the transducer could vibrate in accordance with the applied sound signal or not. And the result of the loaded experiment using temporal bone sampled from cadaver showed that the transducer can drive the middle ear bone and transmit the signal to inner ear After the internal unit of IME system was implanted in a dog. the auditory brainstem response (ABR) test was carried out. The result of the test indicated the Proper behavior of the IME system in the living body From the results of the experiments, it is verified that the manufactured system ewll work well when it is applied to human and a basis of clinical experiment of IME system to real human hearing impaired was be arranged.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.421-432
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• 2013

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.361-368
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• 2015

This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.6
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• pp.1182-1189
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• 1994

In this paper, we evaluate the performance of a fuzzy controller with a self-learning structure. The fuzzy controller is based on a fuzzy logic that approximates and effectively represents the uncertain phenomena of the real world. The fuzzy controller has control of a plant with a fuzzy inference logic. However, it is not easy to decide the membership function of a fuzzy controller and its controlrule. This problem can be solved by designing a self-learning controller that improves its own contropllaw to its goal with a performance table. The fuzzy controller is implemented with a 386PC, an interface board, a D/A converter, a PWM(Pulse Width Modulation) motor drive-circuit, and a sensing circuit, for error and differential of error. Since a Ball and Beam System is used in the experiment, the validity of the fuzzy controller with the self-learning structure can be evaluated through the actual experiment and the computer simulation of the real plant. The self-learning fuzzy controller reduces settling time by just under 10%.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.74-74
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• 2010

모바일 정보통신기기를 중심으로 전자패키지의 초소형화, 고집적화를 위해 플립칩 공법의 적용이 증가되고 있는 추세이다. 플립칩 패키징 접합소재로는 솔더, ICA(Isotropic Conductive Adhesive), ACA(Anisotropic Conductive Adhesive), NCA(Non Conductive Adhesive) 등과 같은 다양한 접합소재가 사용되고 있다. 최근에는 언더필을 사용하는 플립칩 공법보다 미세피치 대응성을 위해 NCP를 이용한 플립칩 공법에 대한 요구가 증가되고 있는데, NCP의 상용화를 위해서는 공정성과 함께 신뢰성 확보가 필요하다. 본 연구에서는 LDI(LCD drive IC) 모듈을 위한 COF(Chip-on-Film) 플립칩 패키징용 NCP 포뮬레이션을 개발하고 이를 적용한 COF 패키지의 신뢰성을 조사하였다. 테스트베드는 면적 $1.2{\times}0.9mm$, 두께 $470{\mu}m$, 접속피치 $25{\mu}m$의 Au범프가 형성된 플리칩 실리콘다이와 접속패드가 Sn으로 finish된 폴리이미드 재질의 flexible 기판을 사용하였다. NCP는 에폭시 레진과 산무수물계 경화제, 이미다졸계 촉매제를 사용하여 다양하게 포뮬레이션을 하였다. DSC(Differential Scanning Calorimeter), TGA(Thermogravimetric Analysis), DEA(Dielectric Analysis) 등의 열분석장비를 이용하여 NCP의 물성과 경화거동을 확인하였으며, 본딩 후에는 보이드를 평가하고 Peel 강도를 측정하였다. 최적의 공정으로 제작된 COF 패키지에 대한 HTS (High Temperature Stress), TC (Thermal Cycling), PCT (Pressure Cooker Test)등의 신뢰성 시험을 수행한 결과 양산 적용 가능 수준의 신뢰성을 갖는 것을 확인할 수 있었다.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.27 no.9
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• pp.825-833
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• 2016

This paper introduces a direct-conversion CMOS RF transmitter for the IEEE 802.15.4 standard with a low-power high-gain up-conversion mixer designed in $0.18{\mu}m$ process. The designed RF DCT(Direct Conversion Transmitter) is composed of differential DAC(Digital to Analog Converter), passive low-pass filter, quadrature active mixer and drive amplifier. The most important characteristic in designing RF DCT is to satisfy the 2.4 GHz Zigbee standard in low power. The quadrature active mixer inside the proposed RF DCT provides enough high gain as well as sufficient linearity using a gain boosting technique. The measurement results for the proposed transmitter show very low power consumption of 7.8 mA, output power more than 0 dBm and ACPR (Adjacent Channel Power Ratio) of -30 dBc.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2017.05a
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• pp.140-140
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• 2017

4륜 장착 자동차의 토크 전달은 2륜 구동, 4륜 구동 모드를 간단히 전환하는 방식(part time 4WD)과 항시 사륜 구동 모드에서 전후륜의 토크 전달비를 제어하는 방식(AWD, all wheel drive)이 있다. 경제의 발달에 따라서 취미 인구의 확대로 국내에만 180만 명의 R/C car 사용자가 있다. 이 중 2WD-4WD의 전환을 differential lock mechanism으로 구현한 수입산 모델의 가격이 1,000,000원을 호가하지만 가변 제어 방식이 아닌, 정차 후 2-4륜 구동 전환 방식을 적용하고 있으며 상대적으로 내구성이 떨어진다. DC motor의 출력이 늘어나고 배터리의 성능이 좋아진 현재 소형 RC car의 최고 속도는 80 km/h 정도로 빨라졌다. 그러나 마찰 계수가 낮은 노면(실내의 대부분 평활 처리된 복도)에서는 2륜 구동 모드의 활용도가 매우 낮다. 미끄러운 노면에서 후륜 구동 모드로는 oversteer가 발생하여 차량이 스핀하기 쉽고 전륜 구동 모드로는 understeer가 발생하여 제대로 된 코너링이 어렵다. 상시 4륜 구동 모드는 에너지 소모가 크고 전후륜이 tight coupling되어 있는 문제 때문에 일반적인 노면에서 부드러운 코너링이 잘 이루어지지 않는 문제가 있다. 본 연구에서 제안하는 방식은 그림 1와 같이 center shaft의 중간에 영구 자석으로 만들어진 토크 전달용 판이 있고 그 사이에 자계를 차폐할 수 있는 강자성체 셔터를 서보 기구에 연결하여 서보 회전각에 따라서 구동 쪽의 토크가 피구동축으로 전달되는 양을 연속 가변제어할 수 있다. 토크 전달용 판의 차폐 면적에 따른 토크 전달양을 전/후륜 바퀴의 Static torque를 통해 측정하였으며(그림 2), 공중 상태에서 즉 공기저항만을 고려한 상태에서의 RPM 회전수 차이 측정(그림3)을 통해 구동 쪽의 회전수가 피구동축으로 전달되는 양을 측정하여 연속가변 토크 제어 전달 기구의 성능을 확인하였다. 이 기구는 현재 1차적으로는 remote controller의 ch 3(ON/OFF제어 방식)에 연결하여 특정한 양의 토크를 전륜 쪽으로 보낼 수 있도록 구현이 가능하며, ch 2(PID제어 방식)에 연결하여 연속 가변 조절이 가능하도록 구현이 가능하다. 부가적으로 Arduino board를 내장하여 전후륜의 휠센서에서 입력되는 신호를 감지하여 자동적으로 전후륜에 배분되는 토크를 제어할 수 있도록 설계 중에 있다.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.1
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• pp.62-71
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• 2009

In this paper, an improved drive method of piezoelectric PZT stack actuator for micro-positioning system is proposed and the performances are evaluated. This type of amplifier is based on switching technology efficiently handling the arbitrary regenerative energy from the piezoelectric actuator. The conventional voltage-feedback control method has the THD of -32dB (${\approx}2.5%$) with 100mHz sinusoidal reference, which means that the positioning performance in linearity degrades due to the hysteretic relationship between actuator voltage and the displacement. This paper proposed an improved charge-controlling method, which utilizes differential information of charge reference instead of integrating the actuator's current. The current waveform has THD under -40dBV (=1%) and the displacement waveform nearly -52dB (${\approx}0.25%$), which means that the positioning performance is very excellent. Finally, another method of the displacement feedback control has better performance than the voltage method, however there exists a limitation in performance of the system.