• 대한임베디드공학회논문지
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• 제15권6호
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• pp.269-279
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• 2020

This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.

• Earthquakes and Structures
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• 제21권6호
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• pp.577-585
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• 2021

In this research, a neural network (NN) method was developed, which combines H-infinity and fuzzy control for the purpose of stabilization and stability analysis of nonlinear systems. The H-infinity criterion is derived from the Lyapunov fuzzy method, and it is defined as a fuzzy combination of quadratic Lyapunov functions. Based on the stability criterion, the nonlinear system is guaranteed to be stable, so it is transformed to be a linear matrix inequality (LMI) problem. Since the demo active vibration control system to the tuning of the algorithm sequence developed a controller in a manner, it could effectively improve the control performance, by reducing the wind's excitation configuration in response to increase in the cost efficiency, and the control actuator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.8-13
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• 1998

A tracking controller is presented for RLFJ(rigid link flexible joint) robot manipulators with only position measurements. The controller is developed based on the integrator backstepping design method and on the two observers: the first is simple linear form observer for the filtered link velocity errors and the other for the actuator velocities. The proposed controller achieves exponential tracking of link positions and velocities while keeping all internal signals bounded. It also guarantees exponential convergence of the estimated signals to their actual ones. Finally, simulation results are included to demonstrate the tracking performance.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2021년도 추계학술발표대회
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• pp.1020-1023
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• 2021

본 논문에서는 기존의 책상에서 발생하는 문제점을 개선하고 효율적인 공부를 할 수 있도록 도와주는 "학습 능률을 높이는 스마트 책상" 시스템을 제안한다. 제안하는 시스템의 주요 기능은 다음과 같다. 첫째, 아두이노와 Linear actuator를 사용하여 책상의 높낮이와 책받침의 각도를 조절한다. 둘째, 심박 센서를 통해 사용자의 집중도를 확인하고 이와 연동된 어플리케이션으로 각종 센서와 모듈을 제어하여 최적의 공부환경을 조성한다. 셋째, 책상 위 모든 동작이 어플리케이션을 통해 자동으로 수행되어 Human task를 감소시킨다. IoT 기술과 집중력 관리 알고리즘을 활용한 제안 시스템을 통해 학습자의 책상 앞 올바른 자세 교정과 학습 시 높은 집중력을 유지시키는데 도움을 줄 수 있을 것으로 기대된다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2023년도 추계학술발표대회
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• pp.786-787
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• 2023

대규모 행사에서 압사 예방을 위해 스마트 IoT 조끼 시스템을 개발했다. 일반 사용자들이 해당 조끼를 착용해 긴급 상황 발생 즉시 행사 관리자에게 정보를 전송하고 동시에 Linear Actuator를 활용해 개발한 에어백 기능으로 인명피해 사고를 보다 예방할 수 있다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2005년도 하계학술대회 논문집 Vol.6
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• pp.62-63
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• 2005

Recently, a tiny piezoelectric linear motor using a vibration made of the transducer has been invented. The motor consists of a shaft, mobile element, and piezoelectric transducer using a piezoelectric radial mode bimorph disk. The fringe of the bimorph disk is fixed firmly which means this area has no degree of freedom. Therefore, the radial mode of the tranducer transfers to the flexurd mode. The mobile elements move along the shaft by the impact force generated by the flexurd mode of the piezoelectric transducer. The piezoelectric ceramic disks have thickness of 0.1 mm and diameter of 3.5 mm. The elastic disk is introduced between two disks of the ceramic, which has thickness of 0.1 mm and diameter of 3.8 mm. The fringe of the elastic disk is fixed by a brass cylinder which height is 1.2 mm. The Pyrex shaft is used which has diameter of 1 mm and height of 10 mm. The motors are operated at their resonant frequencies. The dynamic properties of the motor have been intensively measured and analyzed according to the applied voltage wave forms at the resonant frequencies. As the sawtooth and rectangular voltage waves are applied, the velocity, the thrust force, and the velocity dependence of the mobile position are measured. The dynamic characteristics are also analyzed within a period of each wave using laser vibrometer. The velocity of the mobile is moderately constant along the shaft. The better dynamic characteristics are obtained in the case of applying the rectangular wave.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.537-541
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• 2003

In order to control the missiles by aerodynamics, control surfaces sometime called fins are used. Deflection angles of these fins are the right control variables of the aerodynamics, but aerodynamicists prefer to use analytic variables called aileron, elevator and rudder instead of these physical variables, because these three analytic variables dominantly influence on the roll, pitch and yaw channels of the missile maneuver, respectively, and each can be assumed a linear combination of four fin deflection angles. On that basis, roll, pitch and yaw autopilots for controlling the attitudes or lateral acceleration of the missile are designed, and as a consequence outputs of each autopilot are aileron, elevator and rudder commands, respectively. In the existing fin control scheme for the typical tail-fin controlled cruciform missiles, firstly these outputs are distributed to four fin defection commands, and after that four fins are actuated by fin controllers so that their deflections follow the commands. This paper shows that performance of such control schemes can be degraded significantly when fin actuators have certain physical constraints such as slew rate, voltage or current limit, uncertainty of actuator dynamics, and so on, and propose a new control scheme which alleviates such problems. This scheme can be widely applied to various fin actuation systems. But in this paper, for convenience, tail-fin controlled cruciform missile is taken as an example, and it is shown that a proposed control scheme gives better performance than the existing one.

• International Journal of Control, Automation, and Systems
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• 제3권3호
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• pp.477-485
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• 2005

This paper is concerned with the development of a micro tensile testing machine for optically functional materials such as single or poly crystalline silicon and nickel film. This micro tensile tester has been developed for testing various types of materials and dimensions. PZT type actuation is utilized for precise displacement control. The specifications of the PZT actuated micro tensile testers developed are as follows: the volumetric size of the tester is desktop type of 710mm' 200mm' 270mm; the maximum load capacity and the load resolution in this system are IKgf and 0.0152mgf respectively and; the full stroke and the stoke resolution of the PZT actuator are $1000{\mu}m$ and 10nm respectively. Special automatic specimen installing and setting equipment is applied in order to prevent unexpected deformation and misalignment of specimens during handling of specimens for testing. Nonlinearity of the PZT actuator is compensated to linear control input by an inverse compensation method that is proposed in this paper. The strain data is obtained by ISDG method that uses the laser interference phenomenon. To test the reliance of this micro tensile testing machine, a $200{\mu}m$ thickness nickel thin film and SCS (Single Crystalline Silicon) material that is made with the MEMS fabrication process are used.

• 한국항공우주학회지
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• 제31권2호
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• pp.25-34
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• 2003

본 논문에서는 압전 작동기가 삽입되거나 부착된 구조를 해석하기 위하여, 기존의 기계적 문제만을 고려한 9 절점 가정변형률 쉘 요소의 정식화를 전기-기계연성 문제에도 적용 가능하도록 확장하였다. 본 쉘요소는 잠김현상을 완화할 수 있고, 두께변형을 고려하기 위해 각 절점에서 6개의 자유도를 갖는 특징이 있다. 전기-기계 자유도들은 구성방정식을 이용하여 연계시켰다. 변위장은 요소의 전체 두께방향으로 선형으로 가정하였고, 전기적 포텐셜은 각각의 압전재료층에 대해 선형으로 가정하였다. 확장된 정식화에 기초한 유한요소 프로그램을 개발하였고, 수치예제들을 통해 프로그램을 검증하였다. 개발된 쉘 요소에 의한 결과는 다른 참고문헌들의 결과들과 잘 일치하였다.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제48권2호
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• pp.153-160
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• 1999

Dual-stage servo system for super-high density HDD has the chances of being composed of the coarse actuator(VCM) for track-seeking control and the fine actuator(microactuator) for-following control in near future. This paper presents the concept design of dual-stage servo system and the track-following control using an electrostatic microactuator for super-high density HDD. The electrostatic microactuator is designed and fabricated by MEMS(micro-electro-mechanical system) process. Both the nonlinear plant(voltage/displacement-to-electrostatic force) and the linear plant(electrostatic force-to-displacement) of the microactuator are established. Inverse function of the nonlinear plant is employed for a feedforward nonlinear compensator design. And feedforward control effect of this compensator is shown by time-domain experiments. A track-following feedback controller is designed using the feedback nonlinear compensator which is derived from the feedforward nonlinear compensator. The track-following control experiment is done to show the control efficiency of the proposed control system. And, excellent track-following control performance(2.21kHz servo-bandwidth, 7.51dB gain margin, $50.98^{\circ}$phase margin) is achieved by the proposed control system.