• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.161-166
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• 2002

Recently, researches on precision machining of nato-order, especially in the field of optical components and semi-conductors have been under development very actively. A accuracy of machining and positioning in a critical issue in ultra-precision machining. This paper proposes a new positioning system which can give excellent dynamic characteristics and reduce errors in horizontal, vertical, pitching, and yawing motions. In this paper, we suggest a connecting mechanism (the couplings) to reduce motion errors such as chatter and runout while preserving the positioning accuracy. We verified the good performance in the new connecting systems with various coupling types, which we classified into the fixed type, the spring type, the aeroctatic-nozzle type, and the aeroctatic-porous type according to the way of reducing the chatter and error.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2014년도 하계학술대회
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• pp.209-210
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• 2014

최근 인터넷 상에서 제공되는 영상 서비스에 대한 요구가 증가하고 있다. 하지만 네트워크 환경에서 전송되는 데이터는 오류로 인하여 쉽게 손실될 수 있다. 특히 HEVC(High Efficiency Video Coding)와 같이 높은 압축률로 압축된 정보에 대한 전송 오류는 영상 복원에 심각한 영향을 끼친다. 따라서 네트워크 환경에서 일정한 화질을 유지하기 위한 오류 은닉(Error Concealment : EC) 방법이 필요하다. 본 논문은 HEVC EC 를 위한 PU(Prediction Unit) 기반 움직임 벡터 외삽법(Motion Vector Extrapolation : MVE) 모델을 제안한다. PU 는 예측의 기본 단위로써 PU 내에 동일한 물체가 포함될 확률이 높다. 따라서, 이 모델은 손실된 프레임의 이전 프레임이 갖는 PU 정보를 이용하여 PU 단위로 외삽(extrapolation)을 실시한다. 또한, 손실된 블록과 외삽 블록간의 관계를 고려하여 겹쳐진(overlapped) 외삽 블록 중 가장 작은 PU 크기를 EC 기본 단위로 결정한다. 이 방법은 PU 정보를 반영함으로써 블록 경계 오류(block artifact)를 감소시킨다.

• 대한기계학회논문집A
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• 제21권3호
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• pp.361-368
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• 1997

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is propeosed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Although the number of input variables of the fuzzy controller is increased from two to three, the number of fuzzy control rules is just increased by two. Three dimensional look-up table is used to reduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.140-145
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• 2002

In high-capacity disk drives with ever-growing track density, the allowable level of position error signal (PES) is becoming smaller and smaller. A substantial portion of the PES is caused by disk vibration. This can be reduced by using a head gimbal assemblies (HGAs) that do not confine the slider movement to the vertical direction to disks, but allow movement to the radial direction of disks with respect to disk vibration. Several types of HGAs are proposed for such radial motion of the slider. Experimental results show that the PES levels are reduced by the proposed HGA-design concepts.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.172-174
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• 2006

In this paper, we propose the trajectory generation method for bipedal walking on the stairs. This method is based on multi-masses inverted pendulum mode (MMIPM). MMIPM can effectively reduce the ZMP error but it is only applied to walking on the flat ground. In order to reduce ZMP error when a robot walks on the stairs, we generate the walking motion by MMIPM and modify that motion using parametric functions. We determine the values of the parameters by the simulations. Simulation results show that the robot can walk more stable on the stairs.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.130.4-130
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• 2001

In this paper, a measurement system of moving distance is developed. The error compensation method is also proposed using the characteristics of walking motion. As personal navigation systems and multimedia systems are emerging into the commericial market, men´s moving distance is considered as one of the important information. GPS offers the information easily but GPS can be used only when the satellites are visible. INS can calculate the moving distance anywhere but error is increased with time due to the sensor bias. In this paper, to detect the human walking distance a measurement system of moving distance only using low-cost accelerometer is developed. The sensor bias is estimated and compensated using the walking motion characteristics. The performanced of the proposed system is verified by experiment.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 추계학술대회
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• pp.36-40
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• 2003

In order to discuss the availability of aerostatic guideways driven by the coreless linear motor to ultra precision machine tools, a prototype of guideway is designed and tested in this research. A coreless linear DC motor with the continuous force of 156N and a laser scale with the resolution of $0.01\mu\textrm{m}$ are used as the feeding system. The experiments are performed on the static stiffness, motion accuracy, positioning accuracy, microstep response and variation of velocity. The guideway also has $0.21\mu\textrm{m}$ of positioning error and $0.09\mu\textrm{m}$ of repeatability, and it shows the stable response against the $0.01\mu\textrm{m}$ resolution step command. The velocity variation of feeding system is less than 0.6%. From these results, it is confirmed that the aerostatic guideway driven by the coreless linear motion is very useful for the ultra precision machine tools.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1663-1667
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• 2003

This thesis is on tile development of LD(Laser Diode) chip tester and the control system based on graphical programming language(LabVIEW) to control the equipment. The LD chip tester is used to test the optic power and the optic spectrum of the LD Chip. The emitter size of LD chip and the diameter of the receiver(optic fiber) are very small. Therefore, in order to test each chip precisely, this tester needs high accuracy. However each motion part of the tester could not accomplish hish accuracy due to the limit of the mechanical performance. Hence. an image processing with machine vision was carried out in order to compensate for the error. and also a load test was carried out so as to reduce tile impact of load on chip while the probing motion device is working. The obtained results were within ${\pm}$5$\mu\textrm{m}$ error.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.371-376
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• 1999

Stick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented without equation reformulation or the introduction of numerical stiffness problems. Stick-slip motion is investigated experimentally, and the fundamental characteristics of the stick-slip motion are clarified. Based on these experimental results, the characteristics of static in the period of stick and kinetic friction in the period of slip are studied concretely so as to clarify the stick-slip process.