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RISS 인기검색어
- 검색키워드
- 저자 : Bongsu Hahn (검색결과 6 건)
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Sensing Parameter Selection Strategy for Ultra-low-power Micro-servosystem Identification
Bongsu Hahn(한봉수) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
In micro-scale electromechanical systems, the power to perform accurate position sensing often greatly exceeds the power needed to generate motion. This paper explores the implications of sampling rate and amplifier noise density selection on the performance of a system identification algorithm using a capacitive sensing circuit. Specific performance objectives are to minimize or limit convergence rate and power consumption to identify the dynamics of a rotary micro-stage. A rearrangement of the conventional recursive least-squares identification algorithm is performed to make operating cost an explicit function of sensor design parameters. It is observed that there is a strong dependence of convergence rate and error on the sampling rate, while energy dependence is driven by error that may be tolerated in the final identified parameters.
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A User Following Control System for Displays
Bongsu Hahn(한봉수) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.11
Traditionally, a display is installed at a fixed position. Hence, to more accurately access visual information, a user must be in front of the display screen, and/or the orientation of the display screen must be manually changed to face the user. To resolve this inconvenience, we propose a user-following control system for displays. This system consists of a camera module, which identifies the user information with the position and number of users, user-tracking control algorithms based on the user information, and a direction-changing mechanism to change the orientation of the display screen and follow the user position. The user-following performance has been verified using several experimental scenarios.
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마이크로 회전액추에이터의 연구 동향 분석 및 새로운 개념 설계
한봉수(Bongsu Hahn) 한국산학기술학회 2021 한국산학기술학회논문지 Vol.22 No.8
본 논문은 마이크로 회전액추에이터의 여러 문헌을 검토하여 현재 기술 현황과 제약 사항 등을 분석하고, 이를 바탕으로 관련 분야의 기술적 진척을 이루기 위한 새로운 형태의 마이크로 회전액추에이터의 개념 설계를 제시하였다. 연구 동향 분석과 논의는 첫째, 구동 형식, 둘째, 안정적인 회전 전달 방법, 셋째, 회전 정밀도 향상을 위한 제어 방법의 세 분야에 대해 수행되었다. 그 결과 회전액추에이터를 위해 가장 효율적이고 진보된 구동방식은 Top-drive 정전 구동방식이고 회전전달 방식은 전도체 액체 베어링 형식인 것으로 나타났다. 이 형식에서, 회전 안정성 및 전달력은 마찰력, 회전자의 수평 유지, 고정자로부터 회전자로의 효과적인 전류연결 등에 영향을 받는다. 이와 같은 문제는 제어적 방법으로 기계적 설계의 부족한 부분을 보상하여 더욱 정밀하고 안정적인 시스템을 확보할 수 있는 것으로 분석되었다. 따라서, 이와 같은 분석을 기반으로 소형, 정밀, 저전력, 안정성, 증대된 운동자유도 등의 성능을 개선할 수 있는, 새로운 형식의 액추에이터를 기계적 관점에서 설계하고 센싱과 제어적 접근을 통해 그 정밀도와 안정성을 확보하는 방법을 개념적으로 제시하였다. In this article, we review the recent developments and limitations of micro-rotary actuators from studies on existing articles to state-of-the-art technologies, and suggest a novel conceptual design of micro-rotary actuators. In order to achieve this, we consider three representative areas of rotary actuators: (1) drive type (2) stable torque transmission method (3) accurate control method for rotation. Based on the studies in these areas, we conclude that the most efficient and advanced method of actuation for the rotary actuators is the electrostatic force actuation, with top-drive and the conductive liquid bearing. However, in this type of actuation, rotational stability and torque transmission are affected by friction forces, rotor wobble, and current connectivity from a stator to a rotor. All these problems can be resolved with the application of an advanced control for the actuator. Therefore, based on this review, we conceptually suggest a novel structure for micro-rotary actuators, that can be controlled in a more accurate and stable manner, fabricated in smaller sizes, and can have an increased number of kinetic degrees of freedom.
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Sensing Parameter Selection Strategy for Ultra-low-power Micro-servosystem Identification
한봉수,Hahn, Bongsu Institute of Control 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
In micro-scale electromechanical systems, the power to perform accurate position sensing often greatly exceeds the power needed to generate motion. This paper explores the implications of sampling rate and amplifier noise density selection on the performance of a system identification algorithm using a capacitive sensing circuit. Specific performance objectives are to minimize or limit convergence rate and power consumption to identify the dynamics of a rotary micro-stage. A rearrangement of the conventional recursive least-squares identification algorithm is performed to make operating cost an explicit function of sensor design parameters. It is observed that there is a strong dependence of convergence rate and error on the sampling rate, while energy dependence is driven by error that may be tolerated in the final identified parameters.
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MEMS 정전형 회전 액추에이터를 위한 무향칼만필터 기반 회전각 추정
우제민(Jemin Woo),한봉수(Bongsu Hahn),안창선(Changsun Ahn) 대한기계학회 2020 대한기계학회 춘추학술대회 Vol.2020 No.12
The capacitance of the MEMS electrostatic rotary actuator and the angle of the rotor have a fringe effect and large non-linearity that cannot be ignored. Therefore, the rotation angle estimation is not as simple as that based on a simple flat capacitor model. In addition, since the electrodes must perform driving and sensing at the same time, a method of coupling is required. In this paper, a capacitance model is derived as a data-based model that effectively expresses nonlinear capacitance with sufficient accuracy. Also, by separating the driving and sensing electrodes, high measurement accuracy is possible. UKF is used to consider the nonlinear measurement model, and the estimated angle shows high accuracy. The proposed method can be applied to a similar system with nonlinear capacitance.
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