• Journal of Advanced Marine Engineering and Technology
• /
• v.26 no.4
• /
• pp.432-438
• /
• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• Proceedings of the KIEE Conference
• /
• 2004.07d
• /
• pp.2403-2405
• /
• 2004

본 논문에서는 회전과 무게이동을 할 수 있는 모터를 가진 로봇의 위치 제어와 로봇의 궤적과 구조식에 관해 연구를 수행한다. 로봇의 끝단의 위치를 제어 할 수 있는 스윙 모터의 각과 리프트 모터의 각도를 구하는 과정과 연속움직임을 통한 로봇의 움직임을 관찰한다. 예제를 통해 제어 방법의 유용성과 실용성을 검증하고자 한다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.10a
• /
• pp.451-452
• /
• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.10a
• /
• pp.549-550
• /
• 2006

• Proceedings of the IEEK Conference
• /
• 2002.06e
• /
• pp.121-124
• /
• 2002

This paper explains the system which finds the data of the joint of Wire Frame(that express the body structure of the golfer) from standard golf swing movie. Also, this paper used interpolation and the method which modify the distance between a joint and a close joint to general new joint data. Last this paper explains the system that make a standard golf swing attitude by continuous display the static attitude(which are formed with Wire Frame) of golf swing operations.

• Journal of the Korean Society for Railway
• /
• v.6 no.4
• /
• pp.215-220
• /
• 2003

In this paper the dynamic characteristics of a Swing Motion Bogie, such as a critical speed and a carbody vibration, are investigated in reply to the request of the Meridian Rail Corporation in the United States. Also described are experimental results of the maximum speed, the derailment coefficient, the lateral force, the vertical force, the vibration acceleration and steady state lateral acceleration measured from main line tests.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.133-134
• /
• 2007

A swing-up control strategy is suggested for a rotary inverted pendulum with restricted rotation range. In order to take the rotation range limitation into account, a new Lyapunov function used for energy-based control is proposed a control strategy is derived from the Lyapunov function. Futhermore, optimization-base parameter estimation is adopted to get an exact mathematical model for the pendulum. Simulation results show that the proposed control strategy swings up the rotary inverted pendulum efficiently.

• Journal of the Korean Society of Industry Convergence
• /
• v.4 no.2
• /
• pp.199-205
• /
• 2001

With the growth of BiCMOS technology in ASIC design, the issue of analyzing fault characteristics and testing techniques for BiCMOS circuits become more important In this paper, we analyze the fault models and characteristics of high speed full-swing BiCMOS circuits and the DFT technique to enhance the testability of full-swing high speed BiCMOS circuits is discussed. The SPICE simulation is used to analyze faults characteristics and to confirm the validity of DFT technique.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.8
• /
• pp.843-849
• /
• 2009

The reliable operation of a swing check valve in the main feed water system of a power plant is most essential for successful shout-down process. A failure to close the valve at proper time often leads to the instability of the main feed water system, or even to an emergency stop of the power plant. In reality it is a very difficult task to monitor the behavior of a swing check valve. Furthermore it is impossible to see the motion of the valve. In this work two measurements were carried out simultaneously to determine the precise valve closure time. The dynamic pressure measurements were made at the inlet and outlet regions of the swing check valve. The transient vibration of the valve housing in the direction of water flow was also measured, which enabled the measurement of the transient vibration of the valve housing near valve closure. By comparing the results produced from these measurements the precise valve closure time could be determined. By carrying out order tracking technique using the dynamic pressure signals and pump rpm signal, the complicated dynamic problems inside the main feed water system can be more easily dealt with. This measurement scheme might be implemented in a power plant on a real-time basis without much difficulty. If this could be implemented, valuable information essential for shut-down operations can readily be passed on to the main control room. The feasibility of this implementation was demonstrated by this experimental work.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.43 no.12 s.354
• /
• pp.81-88
• /
• 2006

This paper describes a new linear operational transconductance amplifier (OTA). To improve the linearity of the OTA, we employ a mobility compensation circuit that combines the transistor paths operating at the triode and subthreshold regions. The common-mode control schemes consist of a common-mode feedback (CMFB) and common-mode feedforward (CMFF). The circuit enhances linearity of the transconductance (Gm) under the wide input voltage swing range. The proposed OTA shows ${\pm}1%$ Gm variation and the total harmonic distortion (THD) of below -73dB under the input voltage swing range of ${\pm}1.1V$. The OTA is implemented using a $0.35{\mu}m$ n-well CMOS process under 3.3V supply.