• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.3
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• pp.36-51
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• 1995

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper. The manin idea is to used dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify the unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resovled acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed with overdamping. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained priori as the expression of the relationship betweenenvironment stiffness and system. Based on the simulation result, comparison between cases with or without fuzzy identifications are given, which illustrate the improvement achieced.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.5
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• pp.559-566
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• 2016

Cables for Towed Array Sonar System(TASS) were developed. In order to verify the performance of cables, environmental and operational conditions as well as functional requirements were investigated during design stage. Double armored high and low voltage integrated cable for towed body and two kinds of cables, armored and light weight power and optic hybrid cables for towed array sensor system were developed by modeling and simulation. Customized manufacturing process and test method, such as foam extrusion and dynamic fatigue test were applied to this development. In conclusion, underwater towed hybrid cable with high tensile strength and compact structure were developed.

• Journal of the Semiconductor & Display Technology
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• v.21 no.1
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• pp.142-147
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• 2022

After introducing Hybrid Bonding technology into image sensors using stacked sensors and image processors, large quantity production became possible. As a result, it is currently used in most of the CMOS image market in smartphones and other image-based devices worldwide, and almost all stacked CIS manufacturing sites have focused on miniaturization using hybrid bonding. In this study, an upper wafer handling module for Wafer to Wafer Hybrid Bonding developed to increase the alignment and precision between wafers when wafer bonding. The module was divided two parts to reduce error of both the alignment and degree of precision during wafer bonding. Wafer handling module developed both new Tip/Tilt system controlling θx,θy of upper wafer and striker to push upper wafer. Based on this, it was confirmed through the stability evaluation that the upper wafer handling module can be controlled without any problem during W2W hybrid bonding.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.43 no.3
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• pp.161-167
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• 1998

Root and shoot development of two rice (Oryza sativa L.) cultivars with different genetic backgrounds was studied with reference to their relative growth. Tongil type (indica-japonica hybrid) cultivar 'Kuemkangbyeo' and japonica cultivar 'Koshihikari' were grown in $5000^{-1}$ a Wagnar pots under flooded condition. Three plants with roots of both cultivars were taken in every phyllochron through the heading stage to record morphological characteristics of shoot and root system. Compared to Koshihikari, Kuemkangbyeo produced more tillers and had greater shoot weight and leaf area per hill. Length and weight of the root system in both cultivars increased exponentially with time. At the same time, root system development was significantly faster in Kuemkangbyeo than in Koshihikari after the panicle initiation stage. As a result, Kuemkangbyeo has a vigorous root system which consists of larger number of nodal roots compared to Koshihikari. Also, the root length and weight per unit leaf area of Kuemkangbyeo were larger than those of Koshihikari in the later half of growing period, which suggests possible higher physiological activity of the root system of Kuemkangbyeo which is known as a high-yielding cultivar. The relationship between root traits (crown root number, total root length, and root dry weight) and shoot traits (leaf area and leaf+culm dry weight) in both cultivars closely showed allometry until the flag leaf stage.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.2004-2010
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• 2018

We propose a small active antenna to receive Global Navigation Satellite System (GNSS) signals, i.e., Global Positioning System (GPS) L1 (1,575MHz) and Russian Global Navigation Satellite System (GLONASS) L1 (1,600 MHz) signals. A two-stage low-noise amplifier (LNA) with more than 27 dB gain is implemented in the bottom layer of a three-layer antenna package. In addition, a hybrid coupler is used to combine signals from pair of proximately coupled orthogonal feeds with $90^{\circ}$ phase difference to achieve the circular polarization (CP) characteristic. Three layers of high permittivity (${\varepsilon}_r=10$) substrates are stacked and effectively integrated to have a small dimension of $64mm{\times}64mm{\times}7.42mm$ (including both circuit and antenna). The reflection coefficient of the fabricated antenna at the target frequency is below -10 dB, the measured antenna gain is above 26 dBic and the measured noise figure is less than 1.4 dB.

• Structural Monitoring and Maintenance
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• v.10 no.3
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• pp.261-281
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• 2023

Magnetic flux sensors are commonly used in monitoring the cable force, but the application of the sensors in large diameter non-closed Galfan cables, as those adopted in Yueqing Gymnasium which is located in Yueqing City, Zhejiang Province, China and is the largest span hybrid space structure in the world, is seldom done in engineering. Based on the construction of Yueqing Gymnasium, this paper studies the cable tension monitoring using the magnetic flux method across two stages, namely, the pre-calibration stage before the cable leaves the rigging factory and the field tension formation stage of the cable system. In the pre-calibration stage in the cable factory, a series of 1:1 full-scale comparative tests were carried out to study the feasibility and relability of this kind of monitoring method, and the influence on the monitoring results of charging and discharging voltage, sensor location, cable diameter and fitting method were also studied. Some meaningful conclusions were obtained. On this basis, the real-time cable tension monitoring system of the structure based on the magnetic flux method is established. During the construction process, the monitoring results of the cables are in good agreement with the data of the on-site pressure gauge.The work of this paper will provide a useful reference for cable force monitoring in the construction process of long-span spatial structures.

• Journal of the Korean Institute of Gas
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• v.26 no.5
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• pp.1-9
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• 2022

Selection of a suitable artificial lift is important in terms of efficient operation and economics for oil production. In general, process of well design includes the selection of artificial lift, but the oil recovery could be enhanced by use of hybrid system combined with two types of artificial lift method according to reservoir condition for oil production. Electric submersible pump (ESP), as a presentative artificial lift method, is a manner for supplying the pressure in the lower part of oil well by using of a multi-stage centrifugal pump with an electric energy. However, there is a disadvantage that has a limit to the application period because of mechanical defection on ESP. Accordingly, it is possible to reduce the shutdown time of production well by applying the ESP/Gas lift hybrid system, which is to switch to a gas lift when an ESP is defective. This study describes the effect of ESP/gas lift hybrid system compared with ESP method for a onshore horizontal well locating in the of Permian basin, USA. As a result of study, ESP/gas lift hybrid system could make more effective productivity than ESP method. Also, we quantitatively predicted how much economic benefit would be obtained when the hybrid system was applied in the production well.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.12
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• pp.2675-2680
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• 2010

Computation steps for 3D graphic processing consist of two stages - fixed operation stage and programming required stage. Using this characteristic of 3D pipeline, a hybrid structure between graphics hardware designed by fixed structure and programmable hardware based on instructions, can handle graphic processing more efficiently. In this paper, fragment Shader is designed under this hybrid structure. It also supports OpenGL ES 2.0. Interior interface is optimized to reduce the delay of entire pipeline, which may be occurred by data I/O between the fixed hardware and the Shader. Interior register group of the Shader is designed by an interleaved structure to improve the register space and processing speed.

• Journal of the Korean Society of Propulsion Engineers
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• v.15 no.1
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• pp.55-62
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• 2011

In this study, we tried to improve the thrust control performance through the thrust control combustion experiment of the hybrid rocket. We constructed the system which controls the oxidizer flow by combining a needle valve with a stepping motor and controlling the stepping motor drive according to the thrust control command order. Gas oxygen was used as the oxidizer for two different propellants, PE(Polyethylene), PC(Polycarbonate), respectively. To improve the slow response time and the oscillation phenomenon in the beginning stage of the thrust control combustion experiment, we measured and analyzed the change of the flow speed of the propellant pipe. The revised thrust control combustion experiment showed that the thrust was stably controlled with the margin or error from the thrust command within ${\pm}1$ N.