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안경관(Kyoung Kwan Ahn),표성만(Sung Man Pyo) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.1
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3 -link electro¬hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05[mm] can be achieved.
조성실(Sung-Sil Cho),유재성(Jae-Seong Yu),김진만(Jin-Man Kim),홍익표(Ic-Pyo Hong) 한국정보기술학회 2017 한국정보기술학회논문지 Vol.15 No.2
In this paper, we studied the electromagnetic transmission characteristics of eco-friendly foamed concrete which is lightweight, heat and sound insulation, which can reduce the economical cost and environmental pollution. The foamed concretes were fabricated with ladle furnace slag, gypsum and blast furnace slag which are industrial by-products. Electrical properties like dielectric constant and loss tangent were measured to simulate the electromagnetic transmission characteristics of the fabricated foamed concrete walls. The free-space measurement method was used to measure and analyze the electromagnetic transmission characteristics of 1~8GHz band depending on the content of foams and blast furnace slag. From the measurement results, it was confirmed that the electromagnetic wave was transmitted at -10dB(90%) at 4GHz or less. The results of this study can be applied to the research for improving the spectral efficiency through the efficient wireless network design and reducing the human body effect by electromagnetic waves in the indoor space where foamed concrete is applied.