• Journal of the Korean Institute of Intelligent Systems
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• 제20권2호
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• pp.181-188
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• 2010

This paper presents the control algorithm of active walking aids estimating external torque of the wheels from user's will. Nowadays, interest of the walking aids is increased according to the increase in population of elder and handicapped person. Although many walking aids are developed, most of walking aids don't have any actuators for its movement. However, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Unfortunately it is difficult to precision control of walking will during its movement, because it is not easy to recognize user's walking will. Many kinds of methods are proposed to recognize of user's walking will. In this paper, we propose control algorithm of walking aids by using torque estimation from wheels. First, we measure wheel velocity and voltage at the walking aids. From these data, external forces are extracted. And then walking will that is included by walking velocity and direction is estimated. Finally, walking aids are controlled by these data. Here, all the processes are verified by simulation.

• Journal of the Institute of Convergence Signal Processing
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• 제13권2호
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• pp.113-118
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• 2012

Most of the existing multiped walking robots are biomimetic, i.e. they are designed to have the shapes of living things such as animals or insects. Even though those robots are familiar to us, they have some drawbacks in the view point of walking efficiency such as stability and walking speed. In this paper, we introduce a quadruped walking robot that can perform fast and stable walking by virtue of its distinctive leg positions. The proposed quadruped robot has a foreleg, a hindleg, a left leg, and a right leg. In the conventional robots, dynamic walking is needed to increase walking speed. Dynamic walking is difficult to be accomplished and is apt to be unstable. The proposed robot can move its legs in a manner that its center of gravity is always laid in the supporting polygon, so it can perform fast and stable walking without dynamic walking.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 한국농업기계학회 2002년도 동계 학술대회 논문집
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• pp.592-599
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• 2002

본 연구에서는 수삼의 가공전 선별을 위해 현장에서 편리하게 사용할 수 있는 초음파 전달 속도 계측 자동화 시스템을 개발하여 그 성능을 평가하고자 하였으며 결과를 요약하면 다음과 같다. 1. 개발된 시스템은 제어용 컴퓨터, 시스템 구동 및 탐촉자 이동 장치, 하중 변환장치, 초음파 발생 및 송수신 장치 등으로 구성되었다. 2. 제어 및 계측용 프로그램은 압축력, 측정 대상물의 크기, 초음파 전달 시간을 순차적으로 계측하여 초음파 전달 속도를 계산하는 알고리즘을 개발하였으며, Visual Basic 6.0으로 작성되었다. 모터의 작동, A/D 변환, RS232C 통신 등과 관련된 부분은 각각의 모듈화된 함수로서 구동하고자 하였다. 3. 개발된 시스템의 속도와 거리별 이동 거리별 오차를 측정한 결과 0∼0.04mm 범위를 나타내었다. 이 값은 시스템의 허용오차인 0.17mm 오차보다는 현저히 작은 값이었고 15mm/s와 30mm/s의 이동 속도에서 모두 비슷한 크기의 오차값을 나타내었다. 4. 개발된 시스템의 속도별 반복정밀도 실험 결과 측정위치에서의 반복에 의한 정지 위치 오차는 전 구간에서 0.02mm 이내로 나타났고, 이동 평판의 이동속도가 15mm/s였을 경우에는 이동 회수 30회, 이동 거리 60mm일 때 최대 편차 0.019mm를 나타냈으며 이동속도가 30mm/s일 경우에는 이동 회수 40회, 이동거리 20mm에서 0.02mm의 최대 편차를 나타내었다. 5. 5개의 알루미늄 조각의 크기를 시스템으로 측정한 결과 측정값의 최대 편차는 0.08mm였다. 이 값은 시스템의 허용오차인 0.17mm의 50% 수준으로 시스템은 대상물의 크기 측정에 적당하다고 사료되었다. 6. 절단된 수삼의 초음파 전달속도는 평균 396.4m/s였다.를 축열재로 사용할 경우 재생기를 반으로 나누어서 가열부 쪽에 철선을, 냉각부 쪽에 철망을 삽입한 것이 반대로 삽입한 것보다 재생기 양단의 온도차는 높게 나타났고, 재생기 양단의 압력 차는 낮게 나타났다. 재생기 축열재로서 철망-철선을 사용할 경우 철선-철망 ø1.2-150이 전열 표면적은 작으나 재생기 양단의 온도차가 가장 큰 것으로 나타났으며 재생기 양단의 압력 차는 가장 낮게 나타나 공시 철망- 철선 혼합 축열재중 가장 우수함을 알 수 있다. 4. 철망사이에 철선을 삽입한 축열재의 경우, 철망사이에 삽입한 철선의 직경이 큰 것이 철선의 직경이 작은 것보다 재생기의 양단의 온도차가 높게 나타났고 재생기 양단의 압력차는 작게 나타났다. 그러므로 철망사이에 철선을 삽입한 것 중 성능이 우수한 것은 150-ø2. 0-150으로 나타났다. 5. 실험한 재생기 축열재들 중에서 성능이 우수한 것들을 비교한 결과, 복합 철선 ø1.2-1 50이 가장 성능이 좋은 것으로 나타났다.적외선.열풍 복합건조방법이 높게 나타나 이것은 곡물 표면에 원적외선 방사에의한 복사열이 전달되어 열장해를 받았기 때문으로 판단되며, 금후 더 연구하여 적정 열풍온도 및 방사체 크기를 구명해야 할 것이다.으로 보여진다 따라서 옻나무 유래 F는 포유동물의 생식기능에 중요하게 작용하는 것으로 사료된다.된다.정량 분석한 결과이다. 시편의 조성은 33.6 at% U, 66.4 at% O의 결과를 얻었다. 산화물 핵연료의 표면 관찰 및 정량 분석 시험시 시편 표면을 전도성 물질로 증착시키지 않고, Silver Paint 에 시편을 접착하는 방법으로도 만족한 시험 결과를 얻을 수 있었다.째, 회복기 중에 일어나는 입자들의 유입은 자기폭풍의 지속시간을 연장시키는 경향을 보이며 큰 자기폭풍일수

• Journal of the Korea Academia-Industrial cooperation Society
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• 제19권11호
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• pp.529-535
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• 2018

The range extender vehicle runs on a mechanism that allows the small power generation engine to start in the most efficient specific operating range to charge the battery and extend the mileage. In this study, we developed a step motor type intake air supply system that replaces existing throttle body system to develop a simple low cost control logic system. The system was applied to the existing base engine, and in order to improve the performance by increasing the amount of intake air, the effect of changing the length of the intake and exhaust manifold was experimentally examined. As a result, the Type B intake air control actuator operated by one step motor showed higher performance than the Type A in all the operation region, but the performance was lower than that of the base engine due to the increase of flow resistance. To improve this, it was confirmed that the engine performance was improved at both speeds of 2200rpm and 4300rpm when the 140mm adapter was installed in the intake manifold and when the newly designed 70mm exhaust manifold was applied. Through this process, high - precision operation control was realized by connecting the generator load to the optimized engine for the range extender electric vehicle. Experimental results showed that the speed change rate was within ${\pm}2.5%$ at 2200rpm in 1st stage and 4300rpm in 2nd stage and the speed follow-up result of 610 rpm/s was obtained when the speed was increased from 2200rpm to 4300rpm.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제35권6호
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• pp.599-607
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• 2011

In this paper, a reaction-force compensation system for an XY linear motion stage, without an additional external isolation structure or extra motors, is developed. This system consists of a movable magnet track, a spring, a dummy weight, and a dedicated sensor module that measures the relative positions of the movable magnet track with respect to the motor coil. The reaction force compensation system is modeled, and simulations are carried out to optimize design parameters such as the moving distance of the magnet track, the transmission force, the dummy weight, and the allowed size of the mechanism. An XY linear motion stage is built, incorporating the reaction force compensation system, and the performance of the system is verified experimentally. For acceleration and deceleration values of 10 m/$s^2$, 85% of the reaction force is absorbed by the reaction force compensation system.

• Journal of Practical Engineering Education
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• 제15권1호
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• pp.127-132
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• 2023

Authors report the performance indicator of Roll to Roll MC (hereinafter referred to as RTR) through experiment that it is possible to process 2.0G acceleration, which cannot be coped with in the existing FPCB RTR, by reducing the weight of the Dancer roll system and controlling the torque using the servo motor. Proposed dancer roll system provides uniform tension to FPCB by solving problems such as high rotation speed, heat generation, and low torque, which were impossible to achieve with the conventional magnet clutch type RTR. Through the development of a lightweight processing method for rolls using magnesium material and the development of a torque control algorithm for servo motor, torque stability also increased. Due to the enabling technology developed in this study, the reaction speed of the dancer roll was improved and the target speed was achieved as well.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제9권3호
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• pp.628-631
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• 2008

A company needs to maintain its machines always workable in order to keep the manufacturing time minimal. If any troubles occur, they should be fixed as soon as possible. But, the complexity of modern machines make the trouble shooting difficult. So, it is important that the monitoring system for automated production system to fix every trobule easily. In this paper new, inverter control system for TG feedback a formula Control was developed. The motor control system with TG feedback controller as an effect of load disturbance, it is very difficult to guarantee the robustness of control system. The function of the implementation are 7G feedback type, and temperature scheme. The Inverter Control System approach is based on master-slave control concept. To show validity of the developed new inverter control system, severial experiments are illustrated.

• Journal of the Korea Convergence Society
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• 제7권1호
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• pp.9-15
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• 2016

In this paper, we describe the design of a high speed data acquisition system(DAS) with STM32 processor based on Cortex-M4. The system is used for the sensor devices to collect raw data on production lines at factory and send them to the servo computer in real time. The system is designed for multi functions with universal asynchronous receiver and transmitter(UART), analog to digital converter(ADC), digital to analog converter(DAC), and general purpose input output(GPIO). those are well tested for various data acquisition and high speed motor control in real time.

• Proceedings of the KIPE Conference
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.143-146
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• 1999

A method to control the speed of DC motor with one-chip microprocessor PIC using PWM is discussed in this paper. This thesis deals with the DC motor speed control for electric bicycles which may be used as an alternative means of transformation in the future. We tried to design a stable system for controlling the speed of DC motor and materialized an electric bicycle loading this system. Now we are on the way to find out the problems this system has and work out the solutions.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제60권3호
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• pp.632-638
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• 2011

In this paper, a nonlinear controller is proposed to track the desired velocity and to cancel sinusoidal disturbances. The proposed method consists of a velocity tracking controller and internal model principles (IMPs). For the design of the velocity tracking controller, mechanical and electrical dynamic controllers are independently designed. For the mechanical dynamics, the velocity tracking controller generates the desired quadrature current to track the desired velocity. The current tracking controller is designed to guarantee the desired quadrature current and to regulate the direct current. Therefore, the proposed velocity tracking controller has a field-oriented control. Since the controllers of the mechanical and electrical dynamics are independently designed, the stability of the closed-loop system is demonstrated using passivity. Since both the cogging torque and DC current errors act as sinusoidal disturbances in PMSM, we use four add-on type IMPs that preserve the merits and performance of the pre-designed controller without sacrificing the closed-loop stability. The performance of the proposed method is validated via simulations.