• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1078-1081
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• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion depending on whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it possibly degrade the robot's performance by vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing a simulation and an experiment.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.168-169
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• 2010

연료전지용 대용량 PCS는 다수의 인버터가 병렬로 구성되어 있으며, 계통에 연계하여 운전하거나 혹은 계통에 이상이 발생할 경우 독립운전모드로 운전해야 한다. 독립운전모드로 동작할 경우 각 인버터의 전류가 달라 불평형이 발생할 수 있으므로 부하 분담 제어가 필요하다. 본 논문에서는 부하 임피던스를 추정하여 각 인버터의 출력 지령을 계산하여 출력 전압을 제어하는 알고리즘을 제안하고, 시험을 통해 검증하였다. Master 인버터는 출력 주파수 및 전압을 제어하며, Slave 인버터는 PLL을 이용하여 출력 주파수를 추종하여 전류제어를 수행한다. 제안한 알고리즘을 검증하기 위해 대용량 PCS의 성능 검증장치를 구축하고, 제어 성능을 확인하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.145-146
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.367-368
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.552-553
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.31-32
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1603-1604
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• 2011

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.6
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• pp.640-645
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• 2020

To produce an input device stably using the transparent electromagnetic pattern of an electromagnetic induction method, pattern inspection is required in advance in the production process. Various methods of inspecting the capacitive pattern for hand-touch have been proposed, but it is difficult to find the related technical data for the pattern inspection method of the transparent electromagnetic induction method. In this study, to develop an inspection system for a fused electromagnetic resonance pen sensor with a copper-etched metal mesh pattern, an inspection algorithm and method for measuring the antenna impedance inside the sensor was proposed by measuring only the exposed FPCB connector. The proposed method was configured as a control board consisting of a microprocessor that forms a loop between specific channels according to the command of a computer, a computer-controlled by the Windows program, an LCR meter measuring the impedance between specific channels, and transmitting the measurement results back to the computer. An evaluation of the proposed system and measurements of nine specimens showed that it could detect the defects of the sensor used in the actual product.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1007-1015
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• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• The Journal of the Convergence on Culture Technology
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• v.3 no.3
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• pp.37-42
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• 2017

We are designed to control the lipoid variation of the structure system with the stratum corneum on the skin. The skin structure is consisted of a morphology how to use the lipoid component, and the given skin structure is consisted of the mechanical shapes of the intercellular route and transcellular route, and is confirmed to control the variation state of the structure capacity. The skin impedance is appeared to result the value of measurement such as shapes of ${\lambda}-Lip-RSC$, ${\lambda}-Lip-RSL$, ${\lambda}-Lip-CSG$, ${\lambda}-Lip-CSS$ and ${\lambda}-Lip-RSB$. The condition is showed to the alteration difference value of the intercellular route and transcellular route. And, composition condition is established to separate the division parts for conversion system that is constructed with the alteration modeling. We will be possible to progress the improvement effectiveness of the continuous skin control system on the skin.