• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1405-1411
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• 2012

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.04a
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• pp.86-92
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• 1993

자동차의 현가장치에 대한 능동제어연구는 국내외적으로 활발히 진행되어 왔다. 수동식현가장치는 단순히 스프링과 감쇠기로 차체의 진동을 수동 제어 하므로 성능 향상에 한계가 존재하게 된다. 수동식 현가장치가 강성계수와 감쇠계수를 조절함으로써 차체로 들어오는 진동을 억제하는 반면, 능동식제 어는 보통 유압을 이용하여 효율적으로 차체에 들어오는 진동을 억제시키게 된다. 일반적으로 자동차가 능동현가장치 설계시 요구되는 사항은 탑승자의 승차감, 조종성, 현가장치의 공간확보 문제, 경제성(제어력), 실제적으로 자동 차에 적용할 수 있는 능동제어기법인가 하는 문제이다. 자동차 능동식 현가 장치는 보통 1/4 car (2자유도계), Full-car 모델 (7자유도계) 등으로 모델링 을 하여 능동제어기를 설계한다. 1/4 car 모델의 특징은 해석이 비교적 단순 하고 현가장치의 동적거동을 이해하는데 유용하고 실험을 하거나 실제 자동 차에 적용하기 쉬운 반면에 Full-car 모델에 비해 제어력의 효율이 떨어진다 는 단점이 있다. 그 이유는 1/4 car 모델은 차체의 동역학적 특성을 고려하 여 설계하지 않았기 때문에 4개의 독립현가차축에서는 오직 그 현가축방향 으로 발생하는 수직방향의 진동만을 제어하기 때문이다. 따라서 동역학적 역 성에 기인하는 운동을 제어하는 비효율적인 제어력이 공급된다는 단점을 갖 는다. 이에 비해 full-car 모델은 주행모드(수직, 롤링, 피칭운동)간의 연성을 고려하여 제어기를 설계할 수 있기 때문에 1/4 car 모델에 비해 제어력의 효 율이 높다는 장점이 있는 반면에 모델이 수학적으로 복잡하므로 제어력을 구하는데 계산량이 많고, 실제 자동차에 적용하기에 복잡하다는 단점을 갖고 있다. 따라서 본 논문에서는 쉽게 실험할 수 있고, 실용화할 수 있는 1/4 car 모델에 대하여 능동제어기를 설계하여 실제자동차에 능동제어기를 적용할 때 참고가 될 수 있도록 하였다. 자동차는 저주파영역의 밴드통과필터 역할 을 하므로 저주파에서의 성능, 특히 탑승자가 민감하게 느끼는 0.5Hz - 10Hz 부근의 주파수성능은 승차감, 조종성에 상당히 중요하다. 이에 본 논문 에서는 0.5Hz - 10Hz 부근의 승차감, 조종성의 향상에 초점을 두고 차체의 속도를 출력변수로 한 LQG/LTR 제어기를 설계하였다. LQG/LTR 설계기법 은 안정도-강인성이 좋은 체계적인 설계기법으로서 전 상태를 측정할 필요 가 없으므로 실제 적용시 효과적이다. 또한 자동차의 제원의 변화에 대한 고 유치의 민감도해석과 새로운 개념으로 안정도-강인성(Robustness)해석을 하 여 수동시스템과 능동시스템의 강인성을 비교하였다.

• Aerospace Engineering and Technology
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• v.4 no.2
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• pp.117-125
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• 2005

Generally, the inertial navigation and guidance unit uses AF(Analog-to-Frequency) converters which convert analog signals into frequency signals to enhance a measurement accuracy of gyroscope and accelerometer outputs. The confidence level of AF converter is guaranteed by a prudential decision of calibration procedure and a performance of periodic calibration test. In this paper, we focus on the synchronous charge balance type AF converter which has a separate positive or negative current input and its calibration method is described. The calibration tests are classified into the scale factor error calibration and the bias calibration. These tests are automatically performed by the calibration program.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.3
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• pp.619-625
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• 2000

A many control techniques have been proposed in order to improve the control performance of the discrete-time domain control system. In the position control system, the output of a controller is generally used as the input of a plant but the undesired noise is included in the output of a controller. Therefore there is a need to used a precompensator for rejecting the undesired noise. In this paper, The expanded I-PD control system with a precompensator is constructed. The precompensator and I-PD controller are designed by a neural network and these coefficients are changed automatically to be a desired response of system when the response characteristic of system is changed under a condition.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.169-170
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• 2016

본 논문에서는 전기자동차 무선충전기 송수신 코일의 결합계수가 변동되는 조건에서, 수신 측에 DC-DC 컨버터를 사용하지 않고, 넓은 출력전압 범위를 갖는 전기자동차 배터리팩을 충전하기 위한 자기유도 무선전력전송 (Inductive Power Transfer, IPT) 충전기 시스템과 제어 알고리즘을 제안한다. 전기자동차용 무선 충전기 시스템은 승강압 역률보상 컨버터와 Bridgeless 정류기를 포함하는 자기유도 IPT 컨버터로 구성되며, 시뮬레이션을 통하여 시스템과 제어기의 타당성을 검증한다.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.3
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• pp.152-158
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• 2004

An experimental study was performed to determine the fin-side heat transfer and pressure drop of a condenser for automobile. Five sample with different fin height and louver angle were tested, 9mm, 8mm, 7.5mm, 5.4mm and 4.5mm. Results are presented as plot of Colburn j-factor(or heat transfer coefficients) and friction factor(or pressure drop) against the Reynolds number(or inlet air velocity) based on louver pitch, in the range of 110 to 480. The results show that both heat transfer and pressure drop on the fin are mainly affected by the louver angle in a lower range of air velocity, but, by the fin height in a higher range of air velocity. The performance of 5.4mm fin is the highest, compared to other fin sample.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.65-68
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• 2001

현재 음성인식기는 다채널의 음성입력방식을 사용하고 있는 추세이다. 이런 방법으로 음성인식기를 사용할 때에 자동적으로 음성을 검출하는 음성입력방식은 발성자와 마이크간의 거리에 따라 발성음성, 반사음성과 잡음이 입력된 경우에 원 음성의 고차포만트 성분에 왜곡이 발생하게 된다 이러한 문제점을 개선하기 위하여 본 논문에서는 고주파영역의 특성을 강조시킬 수 있는 프리엠퍼시스를 이용하여 더욱 더 정확한 음성입력 방법을 제안한다. 제안한 방법은 원음과 유사한 합성입력음을 얻었고, 또한 기존의 시간영역 법 보다 더 높은 SNR을 얻을 수 있다는 것을 알 수가 있다.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.1
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• pp.19-25
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• 2007

Among the precision reduction gent drivers lot robot system, the cycloid reducer is well known for it's high performances. Designing this reducer, there are many factors which must be considered. First, a geometrical analysis of tooth shape must be drawn from the basic concept. Second, loads, stresses and modification factors on tooth should be calculated exactly. Finally, a computer software to optimize the design of cycloid tooth needs developing on the basis of the geometric and force equations. In this research, the expert system to design the cycloid reducer was developed using Visual C++ so, the most important factors can be obtained automatically as the user put the simple input data.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.269-274
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• 2004

In this paper, proposed is the dual-mode algorithm of blind decision feedback equalizer (DFE) for digital terrestrial television signals. According to channel impairments, the proposed dual-mode algorithm for blind DFE operates in decision-directed mode or in blind mode of operation. The error signals being used in tap update of the equalizer are generated in the best mode of operations, so that the confidence of equalizer tap coefficient update is more accurate. As a result, it is possible to track the channel characteristics variations by automatic switching over between two modes of operations. For 8-level vestigial sideband modulated digital television signals, the mean square errors and symbol error rates of the proposed algorithm are compared with those of conventional methods. And the usability of the proposed scheme is assessed by computer simulations under various static and dynamic multipath channel environments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05b
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• pp.506-510
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• 2004

A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.