• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.238-246
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• 2004

In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1565-1570
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• 2003

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

• Smart Structures and Systems
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• v.4 no.6
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• pp.741-757
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• 2008

The research field of structural control has evolved from the development of passive devices since 1970s, through the intensive investigation on active systems in 1980s, to the recent studies of semi-active control systems in 1990s. Currently semi-active control is considered most promising in civil engineering applications. However, actual implementation of semi-active devices is still limited due mainly to their system maintenance and associated long-term reliability as a result of power requirement. In this paper, the concept of functionally upgraded passive devices is introduced to streamline some of the state-of-the-art researches and guide the development of new passive devices that can mimic the function of their corresponding semi-active control devices for various applications. The general characteristics of this special group of passive devices are discussed and representative examples are summarized. Their superior performances are illustrated with cyclic and shake table tests of two example devices: mass-variable tuned liquid damper and friction-pendulum bearing with a variable sliding surface curvature.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.35 no.3
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• pp.269-274
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• 2022

We prepared carbon nanotube (CNT) paper by a vacuum filtration method for the use of a chip-typed resistor as a precision passive device with a constant resistance. Hybrid resistor composed of the CNT resistor with a negative temperature coefficient of resistance (T.C.R) and a metal alloy resistor with a positive T.C.R could lead to a constant resistance, because the resistance increase owing to the temperature increase at the metal alloy and decrease at the CNT could counterbalance each other. The constant resistance for the precision passive devices should be maintained even when a heat was generated by a current flow resulting in resistance change. Performance reliabilities of the CNT resistor for the precision passive device applications such as electrical load limit, environmental load limit, and life limit specified in IEC 60115-1 must be ensured. In this study, therefore, the rated power determination and T.C.R tests of the CNT paper were conducted. -900~-700 ppm/℃ of TCR, 0.1~0.2 A of the carrying current capacity, and 0.0625~0.125 W of the rated power limit were obtained from the CNT paper. Consequently, we confirmed that the application of CNT materials for the precision hybrid passive devices with a metal alloy could result in a better performance reliability with a zero tolerance.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.1
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• pp.138-143
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• 2010

This paper presents the analysis, the fabrication and the test results of a micro passive gas pressure regulator to keep the outlet pressure costant even for a widely-varying inlet pressure. This device is to regulate the outlet pressure according to the applied reference pressure based on the pressure balancing mechanism of the structure including a membrane and a valve. This regulator consists of four layers; a bulk-micromachined silicon substrate, a sandblasted glass substrate, a PDMS valve seat layer and a glass valve layer. The device size is $10\times13\times1.7 mm3$. The device was fabricated by micromachining. The characteristic of the device was analyzed and tested. The characteristic of the fabricated pressure regulator is similar to that obtained from the analysis. The pressure regulator of this paper is feasible for portable systems and miniature drug delivery systems.

• Proceedings of the Materials Research Society of Korea Conference
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• 2005.05a
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• pp.110-110
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• 2005

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.19 no.11
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• pp.1287-1293
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• 2008

Antenna switch module(ASM) for quad-band was developed. This module was integrated by RFIPD(RF integrated passive device) and transistor switch instead of LTCC-type device using low pass filters, diodes and passive elements in RF front end module for cellular phone. This module leads to low cost and miniaturization(The area is $5{\times}5\;mm$ and the thickness is 0.8 mm). The insertion loss and the return loss of each band were averagely measured as 1.0 dB(insertion loss), 15.1 dB(GSM/EGSM return loss) and 19 dB(DCS/PCS return loss), respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.711-717
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• 2007

Location information will become increasingly important for future Pervasive Computing applications. Location tracking system of a moving device can be classified into two types of architectures: an active mobile architecture and a passive mobile architecture. In the former, a mobile device actively transmits signals for estimating distances to listeners. In the latter, a mobile device listens signals from beacons passively. Although the passive architecture such as Cricket location system is inexpensive, easy to set up, and safe, it is less precise than the active one. In this paper, we present a passive location system using Cricket Mote sensors which use RF and ultrasonic signals to estimate distances. In order to improve accuracy of the passive system, the transmission speed of ultrasound was compensated according to air temperature at the moment. Upper and lower bounds of a distance estimation were set up through measuring minimum and maximum distances that ultrasonic signal can reach to. Distance estimations beyond the upper and the lower bounds were filtered off as errors in our scheme. With collecting distance estimation data at various locations and comparing each distance estimation with real distance respectively, we proposed an equation to compensate the deviation at each point. Equations for proposed algorithm were derived to calculate relative coordinates of a moving device. At indoor and outdoor tests, average location error and average location tracking period were 3.5 cm and 0.5 second, respectively, which outperformed Cricket location system of MIT.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.6
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• pp.573-576
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• 2009

We present a passive flow-rate regulator, capable to compensate inlet pressure variation and to maintain a constant flow-rate for precise liquid control. Deflection of the parallel membrane valves in the passive flowrate regulator adjusts fluidic resistance according to inlet fluid pressure without any external energy. Compared to previous passive flow-rate regulators, the present device achieves precision flow regulation functions at the lower threshold compensation pressure of 20kPa with the simpler structure. In the experimental study, the fabricated device achieves the constant flow-rate of $6.09{\pm}0.32{\mu}l/s$ over the inlet pressure range of $20{\sim}50$ kPa. The present flow-rate regulator having simple structure and lower compensation pressure level demonstrates potentials for use in integrated micropump systems.