• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.845-846
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• 2006

In this paper, we describe a capacitive position sensing and motion control scheme of a MEMS scanner used for laser display application. The laser displays can be made by scanning laser beams much the same way a CRT scans electron beams. So the accuracy of the scanner motion determines the quality of the displayed image. The MEMS scanner under consideration is composed of electrostatic comb electrodes with initial gap and requires large driving voltage. Due to the under-damping and nonlinear driving characteristics, the scanner motion is subject to be an unwanted oscillation. For the linear scanner motion, we devise a differential charge amplifier and phase compensator. The experimental results show that the implemented feedback control system provides sufficient electrical damping and improves the dynamic performance of the scanner.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.47-56
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• 2005

A new improved robust variable structure tracking controller is presented to provide an accurately prescribed tracking performance for brushless direct drive(BLDD) servo motors(SM) under uncertainties and load variations. A special integral sliding surface suggested for removing the reaching phase problems can define its ideal sliding mode and virtual ideal sliding trajectory from an initial position of SM. The tracking error caused by the nonzero value of the sliding surface is derived. A corresponding continuous control input with the disturbance observer is suggested to track a predetermined virtual ideal sliding trajectory within a prescribed value under all the uncertainties and load variations. The usefulness of the proposed algorithm is demonstrated through the comparative simulations for a BLDD SM under load variations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1525-1530
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• 2014

In this research, we describe teaching based sweeping control for grinder robot has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Teaching method is used for grinder robots operations because of their position accuracy, path accuracy, and machining reaction force. A grinder robot for two-dimensional iron plate was developed on the basis of an force sensor based teaching method. An automatic-path-generation method and experimental results using specific points was adopted to reduce the number of teaching points and time. And also, in order to determine the proper machining conditions, various machining conditions such as grinder-wheel rotation speed and robot moving speed, were evaluated.

• Smart Structures and Systems
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• v.2 no.1
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• pp.1-24
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• 2006

The optimal design of multiple tuned mass dampers (multiple TMD's) to suppress multi-mode structural response of beams and floor structures was investigated. A new method using a numerical optimizer, which can effectively handle a large number of design variables, was employed to search for both optimal placement and tuning of TMD's for these structures under wide-band loading. The first design problem considered was vibration control of a simple beam using 10 TMD's. The results confirmed that for structures with widelyspaced natural frequencies, multiple TMD's can be adequately designed by treating each structural vibration mode as an equivalent SDOF system. Next, the control of a beam structure with two closely-spaced natural frequencies was investigated. The results showed that the most effective multiple TMD's have their natural frequencies distributed over a range covering the two controlled structural frequencies and have low damping ratios. Moreover, a single TMD can also be made effective in controlling two modes with closely spaced frequencies by a newly identified control mechanism, but the effectiveness can be greatly impaired when the loading position changes. Finally, a realistic problem of a large floor structure with 5 closely spaced frequencies was presented. The acceleration responses at 5 positions on the floor excited by 3 wide-band forces were simultaneously suppressed using 10 TMD's. The obtained multiple TMD's were shown to be very effective and robust.

• KIEAE Journal
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• v.7 no.5
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• pp.81-86
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• 2007

The research analyzes the arrangement of boiler and hot water header, the method of radiator pipe setting, hot water supply control, hourly heating situation of each room for underfloor radiant heating systems in Korea and suggests an alternative to improve to efficient heating method. One of the best options for install position of hot water distributor is under kitchen sink which is center point of all rooms, according to previous research of the energy saving strategies. When the radiator pipes are arranged to each individual room instead of bedrooms through livingroom and kitchen, it has energy saving effects. For rooms without occupancy according to a time period, hot water supply method should be intermittent heating rather than continuous heating. For this intermittent heating method, individual control of hot water supply is more practical, and it can lead to massive energy savings. The intermittent heating system has time-lag, so it is more effective in energy saving with mild and comfort condition if the spaces are preheated by automatic control equipment prior to required time.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1235-1238
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• 2004

Thresholding has been used to reduce the number of gray values in images. Typically, a single threshold value has been used, resulting in two gray level images. Image reduction of one single threshold value, however, may lose too much of the high-frequency edge information. Thus, dynamic thresholding that uses a different threshold for each pixel is preferred instead of using a single threshold value. Dynamic thresholding can preserve high frequency details as well as reduce the size of images. Since it takes long time to perform existing software dynamic thresholding in an embedded system, this paper proposes and implements a circuit by using a FPGA in order to perform a real-time dynamic thresholding,. The proposed circuit consists of two counters, and threshold look-up table, and control unit. The values of two counters determine each pixel position, the threshold look-up table converts each pixel value into other value, and the control unit generates necessary control signals. On arriving from a camera to the proposed circuit, each pixel is compared with its threshold value and is converted into other gray value. An image processing system by using the proposed circuit will be implemented and some experiments will be performed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.447-459
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• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.4
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• pp.291-298
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• 2013

In this paper a new hybrid-type control system is proposed which reduces the pump speed of an electro-hydraulic actuator consisting of a pressure-compensated variable displacement piston pump and a valve-controlled hydraulic cylinder, whenever the flow rate demand is low. In order to avoid interfering with the pressure regulator which also has an effect on swash plate angle, the pump speed is changed in proportion to the mean value of the speed component of position commands. Additionally a pressure switch is employed to prevent the system pressure from getting lower than a reference value. Based on computer simulation & experimental results, it is shown that the hybrid control can save the idling power up to 44% at a stand-by mode by reducing the pump speed from 1,800 rpm to 600 rpm without affecting the dynamic response of the electro-hydraulic actuator.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.265-271
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• 1992

It is the purpose of this paper to present a dialogical designing method for control system using a rough grasp of the unknown process property. We deal with a single-input single-output feedback control system with a fuzzy controller. The process property is roughly estimated by the step response, and the fuzzy controller is interactively modified according to the operator's requests. The modifying rules mainly derived from computer simulation are useful for almost every process, such as an unstable process and a non-minimum phase process. The fuzzy controller is tuned by taking notice of four characteristics of the step response: (1) rising time, (2) overshoot, (3) amplitude and (4) period of vibration. The tuning position of the controller is fourfold: (1) antecedent gain factor GE or GCE, (2) consequent gain factor GDU, (3) arrangement of the antecedent fuzzy labels and (4) arrangement of the control rules. The rules give an instance to the respective items of the controller in an effective order. The modified fuzzy PI controller realizes a good response of a stable process. However, because the GDU tuning becomes difficult for the unstable process, it is necessary to evaluate the stability of the process from the initial step response. The fuzzy PI controller is applied to the process whose initial step response converges with GDU tuning. The fuzzy PI controller with modified sampling time is applied to the process whose step response converges under the repeated application of the GDU tuning. The fuzzy PD controller is applied to the process whose step response never converges by the GDU tuning.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.