• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.37-47
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• 1995

In recent years, it has been variously developed for testing the accuracy of circular motion of NC machine tools, for example Telescoping Ball Bar Method by Bryan, Circular test Method by Knapp and $r^{-{\theta} }$ Method by Tsutsumi etc., but these methods are all 2-dimentional measuring methods on plane. These simple methods of circular motion accuracy test of NC machine tools have been studied by many reserchers as above, but it is not yet settled in the code of measuring methods of motion errors of NC machine tools, because of errors of measuring units and sensors, and also especially the difficulties of centering of measuring units and the spindle of machining center. In this paper, in use of 2 rotary encoders and 1 magnetic type linear scale with resolution of 0.5 .mu. m, it has become possible for measuring of 3 dimentional space motion accuracy.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1450-1454
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• 2007

A Contact-type Linear Encoder-like Capacitive Displacement Sensor (CLECDiS) has been developed to measure displacements at high accuracy within a long measurement range. In this paper, we have worked on improving the performance and reliability of the sensor. The performance increase can be done by introducing the smaller electrode patterns of $4{\mu}m$ width. In order to improve the reliability of the sensor we have changed the electrode layers from chrome-gold to chrome-gold-chrome and re-design its supporting structure. The newly-designed sensor is fabricated and tested to show that its sensitivity is $35pF/{\mu}m$, which implies that its resolution may be 0.36nm if SNR (Signal-to-Noise-Ratio) is 80.1dB. It is about ten times of that $(3.14pF/{\mu}m)$ of its previous version with 10${\mu}m$ electrodes. The total measurement range remains the same as the previous one; 15mm. The calibration experiments show its improved performance and reliability.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.4
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• pp.58-65
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• 2005

A method measuring angular speed and estimating angular acceleration of an automotive wind shield wiper pivot with limited resources has been proposed. Limited resources refer to the fact that processes cannot be operated in real-time with a regular notebook running a Microsoft Windows. Also, they refer to the fact that data acquisition cards have only two general purpose counters as many generic cards do. An optical incremental encoder has been employed for measuring angular motion. To measure the angular speed of the pivot, periods for the encoder's output pulses have been measured as the speed is related to the reciprocal of the period. Since only information acquired from one counter channel is the magnitude of the angular speed, sign correction is necessary. Also the information for the exact time when a pivot passes left and right dead points is also missing and the situation is inherent to the hardware setup. To find out the zero-crossing time of the angular speed, a linear interpolation technique has been employed. Lastly, to overcome the imperfection of the mechanical encoders, the angular speed has been curve fitted to a spline. Angular acceleration can be obtained by a differentiation of the angular speed.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.2
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• pp.123-128
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• 2022

This paper proposes a mobile robot platform for education that can experiment with various autonomous driving algorithms such as obstacle avoidance and path planning. The platform consists of a robot module and a remote controller module, both of which are based on the Arduino Nano 33 IoT embedded board. The robot module is designed as a differential drive type using two encoder motors, and the speed of the motor is controlled using PID control. In the case of the remote controller module, a command to control the robot platform is received with a 2-axis joystick input, and an elliptical grid mapping technique is used to convert the joystick input into a linear and angular velocity command of the robot. WiFi and Zigbee are used for communication between the robot module and the remote controller module. The proposed robot platform was tested by measuring and comparing the linear velocity and angular velocity of the actual robot according to the linear velocity and angular velocity commands of the robot generated by the input of the joystick.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.43 no.1 s.307
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• pp.27-38
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• 2006

The main purpose of rate control is to achieve the highest video quality when bandwidth or storage capacity is limited. For this purpose, we need a rate control algorithm which is adaptively controlled by the motion information of sequences, scene change, buffer capacity and time-varing bandwitdh channels. A rate-control method in the encoder requires the accurate estimation of target bit for each frame and the low end-to-end delay for transmitting video data by intelligent selection of encoding parameters. In this paper, we suggest three kinds of linear relation in the encoder to satisfy the characteristics of rate control. The first relation is that between the percentage of zero quantized transformed coefficients(p) and coded bits. Second relation is that between the PSNR of encoded frame and its Quantization parameter(QP). Finally, we can find out a linear approximation between QP and p. According to the experimental analysis, the proposed method results in an efficient rate control in terms of the bit estimation, the buffer capacity, and PSNR compared with the existing rate control in the H.264 JM 9.3.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.593-599
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• 2013

In this study, a test-bench for developing and verifying a 1- or 2-axis nanopositioner was manufactured. Using this test-bench, adesigned and manufactured flexure stage based on an analysis can configure nanopositioning systems. A breadboard and fixture were fabricated to be equipped with various types of mechanisms and sizes of stages. The test-bench has linear encoders for calibrating sensors and verifying the orthogonality and parasitic motion of 2-axis nested-type nanopositioners. The controller was developed using LabVIEW and a TI microcontroller. A case study that exemplified the test bench for developing a nanopositioner by senior undergraduate students is shown.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.1019-1022
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• 2002

Pipe-cutting machines have been used in many fields. Recently, an automatic pipe-cutting machine that uses magnet has born developed. In this paper, a magnetic-type automatic pipe-cutting machine that attaches itself and performs unmanned cutting process is proposed. It is designed that there is a room at the bottom of its body to contain a magnet. And it uses magnetic force between the magnet and the pipe surface to prevent slip and to attach the machine to the pipe against gravity. Also the magnetic force is adjustable by changing the gap between the magnet and the pipe. This machine is, however, necessary to control cutting velocity for the elevation of work efficiency and the adjustable faculties. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies. That is, the cutting machine gets fast when moving from the top to the bottom of the pipe and slow when moving from the bottom to the top. Actually the system is kind of a non-linear system where the gravity is function of climbing angle of the cutting machine along the pipe. Especially jerking motion is critical. Therefore, authors design the non-linear controller that estimates the current position of the machine along the pipe and compensates the effect of gravity in this paper. It receives the feed back signal from the encoder.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.871-873
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• 1995

The purpose of this paper is to design and construct the compact type joint driver and controller of the biped robot. This biped robot will be designed to be suitable for the practical usages and applications in the work environment, which is not plat floor, like a stairs by taking the stand-alone style that equipped all the parts except power sources. Generally, highly nonlinear motion dynamics of the biped robot is realized to linear approximations by installing a high-ratio speed reducer at each joint and dividing motions into a several piecewise linear motions, which is realized by the digital controller design techniques. This biped robot has symmetrical structure to get the stable walking ability and also the hierachical structure to control each joint as well. That is, all of the joint controllers are connected to the main controller in the composition of overall controllers. The driver and controller of each joint uses PI controller that compensate the velocity and position errors by the data of the encoder. And the signal characteristics of each joint controller forms a trapezoid speed profile which is predefined by the values of direction, maximum velocity and position.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.2
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• pp.124-129
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• 2005

This paper presents an advanced method for an initial pole position estimation of a Permanent Magnet Linear Synchronous Motor(PMLSM) that has an accurate incremental encoder for servo applications but does not have Hall sensors as a magnetic pole sensor. By appropriately using the secant method as a numerical method the proposed algorithm finds either of two zero force positions and then the correct d-axis by applying a q-axis test current. It only requires the tuned current controller and the relative position information md so it can be simply applicable to a rotary PMSM. The experimental results show the validity of the proposed method, which has an excellent performance with respect to an accurate pole position estimation under the minimal moving distance(average of about 85㎛) during the estimation process.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.99-104
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• 2004

Micro/meso cutting is getting more important in the fields of precision machining technology. A micro-turning lathe is one of parts to consist the Micro Factory. It accepts stepwise motion actuators that are used for feeding system instead of the conventional mechanism. It is consisted of two Piezoelectric ceramics; one is for feeding the slider, and the other is for clamping the slider in the guide way of the body. The linearity and positional accuracy of the actuators are good enough for high precision motion. The spindle unit is operated with DC motor on the top of the slider. The motion is communicated with miniaturized linear encoder attached on each side of axis. A mono crystal diamond tool is used for cutting tool. This micro-lathe has been made a machining experiment to see the characteristics of micro-machining.