• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1063-1066
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• 1995

This paper presents a precition control of an electrostatic microactuator. For the generation of sufficient electrostatic force, a donse comb-type electrostatic microactuator is designed and manufactureed via MEMS (micro-electro-mechanical systems) process. The nonlinear plant and the linear plant of the microactuator are established through the comparison of experimental results and simulation results. A feedforward controller is designed via MATLAB simulation using the inverse function of the nonlinear plant. the experiment for the precise position tracking control is undertaken to show the control efficiency of the proposed controller.

• Proceedings of the KAIS Fall Conference
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• 2012.05b
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• pp.613-616
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• 2012

자동차 시장에서 늘어나는 전장부품으로 인하여 배터리 사용이 급증함에 따라 차량용 배터리가 암전류로 인하여 방전되는 사고가 급증하고 있다. 암전류로 인한 배터리 방전을 방지하기 위해 홀효과를 이용한 저전류 센서 마그네틱 Core를 개발한다. 본 논문은 Maxwell 전자기장 해석 툴을 이용하여 마그네틱 Core의 Airgap 위치와 간격 그리고 두께를 변수로 시뮬레이션을 하였다. 시뮬레이션 결과 저전류에서 기존의 홀효과를 이용한 전류 센서보다 높은 자속밀도가 발생하는 최적의 마그네틱 코어를 설계하였고 시제품을 제작하여 시뮬레이션 결과와 실제 실험결과를 비교분석 하였다.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.5
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• pp.475-481
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• 2005

• Journal of Biosystems Engineering
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• v.17 no.3
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• pp.223-228
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• 1992

This study was conducted to develop an electro-hydraulic three-point hitch control system using an electro-hydraulic servo valve and microcomputer and to investigate the performance of the three-point hitch control system through indoor and field experiments. 1. The results from indoor experiments coincided with those from computer simulation reported in the previous paper. However, the draft control with the value 4 of Kd showed a slight sustained oscillation after it reached the draft set. 2. From the field experiments, it appeared that the RMS errors increased with the ground speed of tractor. In position control, the three-point hitch control system with electro-hydraulic servo valve showed better performance than that with on-off electro-magnetic valve in the ground speed less than 1.6 m/s. In draft control, however, there was no significant differece in performance between those two systems. 3. In depth control, the both types of electro-hydraulic three-point hitch control system showed better performance than the conventional mechanical-hydraulic three-point hitch control system.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.202-208
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.990-994
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• 2004

This paper presents a method to predict the transient characteristic of the air lubricated slider head in a hard disk drive by using optimization technique. The time dependent modified Reynolds equation based on the molecular slip flow approximation equations was used to describe the fluid flow within the air bearing and the implicit finite difference scheme is applied to calculate the pressure distribution under the slider head. The exhaustive search combined with the Broyden-Fletcher-Goldfarb-Shanno method were employed to obtain optimum design variables which are taper angle, rail width and taper length in order to keep the forces and moments acting on the slider head in dynamic equilibrium. The results show that the optimal head slider of the magnetic head has good stability characteristic that can reach the steady state within 0.5 microsecond.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• Smart Structures and Systems
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• v.20 no.3
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• pp.351-368
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• 2017

To peruse the free vibration of curved functionally graded piezoelectric (FGP) nanosize beam in thermal environment, nonlocal elasticity theory is applied for modeling the nano scale effect. The governing equations are obtained via the energy method. Analytically Navier solution is employed to solve the governing equations for simply supported boundary conditions. Solving these equations enables us to estimate the natural frequency for curved FGP nanobeam under the effect of a uniform temperature change and external electric voltage. The results determined are verified by comparing the results by available ones in literature. The effects of various parameters such as nonlocality, uniform temperature changes, external electric voltage, gradient index, opening angle and aspect ratio of curved FGP nanobeam on the natural frequency are successfully discussed. The results revealed that the natural frequency of curved FGP nanobeam is significantly influenced by these effects.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1411-1437
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• 2015

The electro-magneto- thermo-elastic behavior of a rotating functionally graded long hollow cylinder with functionally graded piezoelectric (FGPM) layers is analytically analyzed. The layers are imperfectly bonded to its inner and outer surfaces. The hybrid cylinder is placed in a constant magnetic field subjected to a thermo-electro-mechanical loading and could be rested on a Winkler-type elastic foundation. The material properties of the FGM cylinder and radially polarized FGPM layers are assumed to be graded in the radial direction according to the power law. The hybrid cylinder is rotating about its axis at a constant angular velocity. The governing equations are solved analytically and then stresses, displacement and electric potential distribution are calculated. Numerical examples are given to illustrate the effects of material in-homogeneity, magnetic field, elastic foundation, applied voltage, imperfect interface and thermo-mechanical boundary condition on the static behavior of a FG smart cylinder.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.266-266
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• 2000

This paper relates to develop the human-mobile interface system using saccadic eye movements as an aid to the disabled. EOG(ElectroOculoGraphy) method is used to measure the potentials of rapid eye movements because the method is not expensive and the device is simple. But because the resolution and accuracy of this signal are not good, the algorithm to remove the drifting, using ideal velocity shape, is applied to process the signals. The mobile robot (POSTUR-II) used in this system was developed in Robot & Bio-mechatronics laboratory in POSTECH and has the tele-operation system for the tele-communication with a main computer. Our Research is to help the physically disabled except his eye movements to operate some works with the mobile. Our Results about the system's possibility will be showed by some experimental tests giving the point information to the mobile by eye-gaze.