• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.289-296
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• 2016

This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.2
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• pp.165-170
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• 2012

This paper contains the test method to obtain aerodynamic hinge moments acting on the control surface of air vehicle wing. During the flight, hinge moments make difference between actual control surface angle and control angle which is measured by sensor of actuator. The hinge moments can be obtained by using this difference. Static ground load test and calibration test were conducted to obtain torsional stiffness of control surface actuation system. This results are used to calculate hinge moments. In addition, the mechanical errors of actuation system such as slip angle of mounting point and backlash could be estimated. Using flight test results, this experimental measurement method of hinge moment acting on control surface is conducted. The results of this method are similar to those of numerical simulation method, and the validity of this method is proved.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.2
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• pp.108-115
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• 2015

Electro-mechanical actuator installed on aircraft consists of a decelerator which magnifies the torque in order to rotate an axis connected with aircraft control surface, a control section which controls the motor assembly through receiving orders from cockpit and a motor assembly which rotates the decelerator. Electro-mechanical actuator controls aircraft altitude, position, landing, takeoff, etc. It is an important part of a aircraft. Aircraft maneuvering causes vibrations to electro-mechanical actuator. Vibrations may result in structural fatigue. For that reason, it is necessary to analyze the system structural safety. In order to analyze the system structural safety. It is needed reasonable finite element model and structural response stress closed to real value. In this paper, analytic model is derived by using the simplified finite element model, and damping ratio which is closely related to response stress is derived by using modal test. So, we developed analytic model in less than 10 % error rate, compared with modal test. Vibration response stress close to real value was estimated from analytic model modified with modal experimental damping ratio. Estimation method for damping ratio with empirical formula was suggested partly. Finally, It was proved that electro-mechanical actuator had reasonable structure margin of safety at environmental random $3{\sigma}$ stress during life cycle.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.10 no.1
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• pp.1-10
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• 1985

Solar energy has its advantages not to be interruped by anything, which is wing to not only limitlessness in its source but shortness in its wave. Availing of tha advantages, we can look forword to vast allication. This study whose aim is to raise the effectuality of it by means of chasing the source correctly, which is to be acheved by the circularty of sensor. The consequence has been gained by two sensors is amplified and transfered to TTL leveland becomes "INPUT DATA" of INTE 8080CPU. The INTEL 8080CPU whose system is machinated to give cotrol pulse to moter driving circuit has the source and the sensors placed correctly on the basis of the data. DC motor taskes the advantage not to be in need of UP/DOWN counter, which is defferent from stepping motor. The system is composed of light detector, A/C converter, INPUT Interface, INTEL 8080 CPU, OUTPUT Interface, notor driving circiut. We can give correct chase to light experimentally as far as an error is the space of 1.2.ce of 1.2.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.11 no.6
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• pp.64-73
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• 1997

RPWM(Random Pulse Width Modulation) techniques have been attracting an interest as an excellent reduction method of acoustic noise on the inverter drive system. Using randomly changed switching fre-quency of the inverter, the power spectrum of the electromagnetic acoustic noise can be spread out into the wide-band area. The wide band noise is much more comfortable and less annoying than the narrow-band one. This paper describes an implementationof the triangular carrier frequency modultde RPWM inverter drive system The poweer soedtrum of the noise emittde from the induction motro was measured in the anechoic chamber. The analysis of the sources for the acoustic noise and the effects of the noise reduction are confirmed by the ceasured dpectra of the noise. Real-time RPWM along with the speed control was achieved by high speed DSP(Digital Signal Processor ) TmS320C31, By changing the center frequency and the bandwidth of the carrier, theis real-time RPWM scheme can be used as an efficient switching frequency band acoustic noise reduction method for the inverter system with variant load conditions.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.951-954
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• 2005

This paper presents a study on the accuracy position Controller design for the Composite Smoke Bomb Rotational driving system using a BLDC servo motor. Function of Smoke Bomb is blind in the enermy's sight so that need to high response. The BLDC servo motor controller was designed with DSP(TMS320VC33), IGBT(Insulated Gate Bipolar. Transistor), IGBT gate driver and CPLD(EPM7128). This paper implements those control with vector control and MIN-MAX PWM. Vector control requires information about rotor positions, a resolver should be used to achieve that. The main controller is implemented with a TMS320VC33 high performance floating-point DSP(Digital Signal Process) and PWM Generator is embodied using EPM7128.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.7
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• pp.2334-2340
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• 2010

Sun position computed by Michalsky shows maximum $1.5^{\circ}$, $0.88^{\circ}$ and 2 minutes differences in azimuth, altitude, and sunrise and sunset times respectively compared with Korean Almanac. The 2-axis solar tracking system, which consist control panel with ATmega128 CPU, BLDC motor-cylinder actuator and 2-axis link mechanism, was developed. Computed azimuth and altitude of sun for a current time, and latitude and longitude of tracker position built are controlled in real time by BLDC motor-cylinder actuators comparing with the position feed-backed by Hall sensor. The use of BLDC motor is free in maintenance. Implementation of a home-return function by Hall sensor is to minimize the cumulative error.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.08a
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• pp.263.1-263.1
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• 2013

탄소나노튜브(CNT)를 이용한 초소형 X선 튜브는 근접 암치료, 비파괴 X선 영상 장치, 휴대용 X선 분광계 등에서 X선 발생소스로 많이 연구되고 있다. 2극형 CNT 에미터의 경우 구조가 단순하여 초소형 X선 튜브에 쉽게 장착할 수 있지만 아노드의 전압과 전류가 연동되기 때문에 튜브의 조작성이 제한적이다. 3극형은 상대적으로 복잡한 구조이고, CNT에서 방출된 전자가 게이트 전극으로 흐르는 누설 전류 그리고 절연체와 충돌하여 차징을 발생시킬 수 있기 때문에 직경이 좁은 초소형 X선 튜브에 구현하기가 쉽지 않다. 하지만 초소형 X선 튜브를 다양한 X선 장치에 응용하기 위해서는 아노드 전압과 전류의 독립된 조작이 가능한 3극형 CNT 에미터가 반드시 구현되어야 한다. 본 발표에서는 전자빔의 아노드 집속을 강화하고 절연체에서의 차징을 줄이는 포커싱 기능의 게이트(FFG) 구조를 제안하였고. 이를 적용하여 초소형 X선 튜브들을 제작하고, 분석하였다. FFG 구조가 성공적으로 적용된 초소형 X선 튜브는 게이트 누설 전류 없이 뛰어난 전류 및 X선 방출 특성을 보였다. 이와는 달리, 몇몇 초소형 X선 튜브들에서는 게이트 누설 전류가 나타났고, 아노드 전압에 의한 게이트 전압 상승이 발생하여 불안정한 구동 특성을 보였다. 초소형 X선 튜브를 밀봉하지 않고 진공 챔버에서 실험한 결과, 유도된 게이트 전압은 상당한 시간이 흐르거나 진공챔버에 공기를 주입하고 다시 진공상태로 만들면 유도전압이 제거되는 것을 볼 수 있었다. 결론적으로 CNT에서 방출된 전자빔이 정상궤도를 벗어나 게이트 누설전류와 차징에 의한 게이트 유도전압을 발생시키면 초소형 X선 튜브가 불안정한 구동을 하고, 결국 튜브의 심각한 결함으로 나타나게 된다. 즉, 게이트 누설 전류와 유도된 게이트 전압은 3극형 CNT 에미터가 장착된 초소형 X선 튜브의 디자인과 제작에 있어서 성공 기준이 될 수 있다.

• Journal of IKEEE
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• v.23 no.3
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• pp.1092-1095
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• 2019

In this paper, we propose the development of an embedded board for construction of smart factory. The proposed embedded board for construction of smart factory consists of main module, ADC module, I/O module. Main module is a main calculating device which includes communication pard that allows interface with external device with using industrial protocol and is ported operating system makes board operating into. ADC module takes part in transferring digital signal has converted from electrical signal to the main module from the external sensor which is installed on the field. I/O module is an input and output module which transfers to the main module about a status, alarm, command signal of field device and it has a function that blocks external noises from field device with isolation circuit into it. In order to evaluate the performance of the proposed embedded board for construction of smart factory, it has been tested by an authorized testing institute. As a result, quantity of interacting protocol was 5, speed of hardware clock synchronization was under 10us and operating time of battery without source power was over 8 hours. It produced the same result as the world's highest level.

• Journal of Chest Surgery
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• v.38 no.10 s.255
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• pp.661-668
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• 2005

Background: We have hypothesized that, if a low resistant gravity-flow membrane oxygenator is used, then the twin blood sacs of TPLS can be located at downstream of the membrane oxyenator, which may double the pulse rate at a given pump rate and increase the pump output. The purpose of this study was to determine the optimal configuration for the ECLS circuits by using the concept of pulse energy and pump output. Material and Method: Animals were randomly assigned to 2 groups in a total cardiopulmonary bypass model. In the serial group, a conventional membrane oxygenator was located between the twin blood sacs. In the parallel group, the twin blood sacs were placed downstream of the gravity-flow membrane oxygenator. Energy equivalent pressure (EEP) and pump output were collected at pump-setting rates of 30, 40, and 50 BPM. Result: At the given pump-setting rate, the pulse rate was doubled in the parallel group. Percent changes of mean arterial pressure to EEP were $13.0\pm1.7,\; 12.0\pm1.9\;and\;7.6\pm0.9\%$ in the parallel group, and $22.5\pm2.4,\; 23.2\pm1.9,\;and\;21.8\pm1.4\%$ in the serial group at 30, 40, and 50 BPM of pump-setting rates. Pump output was higher in the parallel circuit at 40 and 50 BPM of pump-setting rates $(3.1\pm0.2,\;3.7\pm0.2L/min\;vs.\;2.2\pm0.1\;and\;2.5\pm0.1L/min,\;respectively,\;p=0.01)$. Conclusion: Either parallel or serial circuit configuration of the ECLS generates effective pulsatility. As for the pump out, the parallel circuit configuration provides higher flow than the serial circuit configuration.