• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• International Journal of Internet, Broadcasting and Communication
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• v.13 no.2
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• pp.76-81
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• 2021

This study proposes a method to reduce the phase error of the received signal to detect the object bearing. The phase shift of the received signal occurs due to the multipath of the signal by natural structure or artificial structures. When detecting the direction of the object using radio waves, the phase of the received signal cannot be accurately detected because of the phase bearing error in the object detection direction. The object detection direction estimation depends on the phase difference, antenna installation distance, signal source wavelength, frequency band and bearing angle. This study reduces the error of the phase bearing by using the phase delay of the relative phase difference for the signals incident on the two antennas. Through simulation, we analyzed the object direction detection performance of the proposed method and the existing method. Three targets are detected from the [-15°, 0°, 15°] direction. The existing method detects the target at [-13°, 3°, 17°], and the proposed method detects the at [-15°, 0°, 15°]. As a result of the simulation, the target detection direction of the proposed method is improved by 2 degrees compared to the existing method.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.1
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• pp.205-212
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• 1998

In this study, the effects of water vapor in inlet air on combustion efficiency, general performance, knock characteristics and emission gas concentration were investig- ated through the experiments of combustion and vibration analyses, emission gas analysis by changing water vapor quantity in inlet air with temperature and humidity auto control unit. With partial vapor pressure increase, the brake torque at wide open throttle status decreased and the average ignition delay angle increased, IMEP (indicated mean effective pressured using the integral and 3rd derivatives of filtered cylinder pressure as knock intensity, which matched well with the method of frequency power spectrum of block vibration signal. Water vapor in intake air had influence on the spark knock sensitivity. With the increase of water vapor content in intake air NOx emission was decreased and HC emission was increased.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.3C
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• pp.241-247
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• 2002

In this paper, we proposed a continuously variable true time-delay for transmit linear phased-array antenna sing chirped fiber gratings(CFGs) and a tunable laser source. Average group delay-slope of the CFG was treasured to be 177 ps/nm at L-, S-, and X-band. Simulation results show that the maximum gain of the transmit linear phased-array antenna with the beam steering angle of 180$^{\circ}$ is 11.6 dB at 10 GHz.

• Journal of the korean Society of Automotive Engineers
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• v.8 no.2
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• pp.31-42
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• 1986

The prediction of performance, exhaust emissions and EGR effect is made by the SI engine cycle simulation. In this simulation several models are employed - two zome, thermodynamic combustion, mass fraction burned, heat transfer, chemical equilibrium, chemical kinetics for NOx, laminar flame speed for ignition delay. The chemical species in burned gas considered are 13 species-CO$_{2}$, CO, $O_{2}$, H$_{2}$O, H$_{2}$,OH, H, O, N$_{2}$, NO$_{2}$, N, Ar - and the cylinder pressure, burned and unburned zone temperature and composition of gas are calculated at each crank angle through the compression, ignition delay, combustion and expansion process. To check the validity of the model, experimental study is done for measuring emissions, combustion pressure and engine output. The predicted values for pressure and emissions show qualitative agreement with the measured data and the EGR effect also shows similar tendency.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.25 no.1
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• pp.18-28
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• 2001

The present study investigates flow dynamics between two dimensional compliant plates under sinusoidal flow conditions in order to understand influence of wall motion, impedance phase angle (time delay between pressure and flow waveforms), and non-Newtonian fluid on wall shear stress using computational fluid dynamics. The results showed that wall motion induced additional terms in the streamwise velocity profile and the pressure gradient. These additional terms due to wall motion reduced the amplitude of wall shear stress and also changed the mean wall shear stress. The trend of the changes was very different depending on the impedance phase angle. As the impedance phase angle was changed to more negative values, the mean wall shear stress decreased while the amplitude of wall shear stress increased. As the phase angle was reduced from 0°to -90°under $\pm$4% wall motion, the mean wall shear stress decreased by 12% and the amplitude of wall shear stress increased by 9%. Therefore, for hypertensive patients who have large negative phase angles, the ratio of amplitude and mean of the wall shear stress is raised resulting in a more vulnerable state to atherosclerosis according to the low and oscillatory shear stress theory. We also found that non-Newtonian characteristics of the blood protect atherosclerosis by decreasing the oscillatory shear index.

• Journal of Power Electronics
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• v.18 no.3
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• pp.714-722
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• 2018

This paper presents a wide-range speed control scheme of brushless DC (BLDC) motors based on a hall sensor with separated low- and normal-speed controllers. However, the use of the hall sensor signal is insufficient to detect motor speed in the low-speed region because of low sensor resolution and time delay. In the proposed method, a micro-stepping current control method according to the torque angle variation is presented. In this mode, the motor current frequency and rotating angle are determined by the reference speed without the actual speed fed by the hall sensor. The detected torque angle is used to adjust the current value in a limited band to control the current value in accordance with the load. The torque angle is detected exactly at the changing point of the hall sensor signal. The rotor can follow the rotating flux with the variable torque angle. In a normal speed range, the conventional vector control scheme is used to control the motor current with a PI speed controller using the hall sensor. The torque characteristics are analyzed on the basis of the back EMF and current shape. To adopt the vector control scheme, the continuous rotor position is estimated by the measured speed and hall sensor position. At the mode changing point between low and normal speed range, the proper initial current command and reference rotor position are calculated. The calculated current command can reduce the torque ripple during transient mode. The proposed method is simple but effective in extending the speed control range of a conventional BLDC motor with hall sensor without the need for a high-resolution encoder. The effectiveness of the proposed method is verified by various experiments on a practical BLDC motor.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2868-2872
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• 2007

In this study, a passive control using a boat-tail device is conducted for a three-dimensional car model in ground proximity. We consider various boat-tails and investigate the mechanism of drag reduction by them. By varying the length and slant angle of boat-tail, we obtain drag reductions up to 40%. From the oil-surface flow visualization and hot-wire measurement, the drag reduction by the boat-tail is characterized by the shear-layer instability and reattachment on the boat-tail, forming a small separation bubble at the upstream part of boat-tail surface, resulting in the delay of main separation and drag reduction. At high slant angles, the flow fully separates and drag is nearly same as that of no control.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.2
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• pp.220-226
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• 2000

High precision step motor using Terfenol-D linear actuators is proposed and its performance is tested. Four Terfenol-D linear actuators are set up perpendicular to the rotor and saw-tooth current signals are applied on the actuators. It was found that the rotation angle is increased as the excitation current, the inertia of the rotor, and the contact force between the rotor and the push device are increased. The rotation angle per step of $0.001^{\circ}$ and blocking torque of 0.2Nm are achieved. The effect of the time delay between the excitation signals is also investigated.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.206-215
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• 2014

Acoustic signal is crucial for the autonomous navigation of underwater vehicles. For this purpose, this paper presents a method of acoustic source localization. The proposed method is based on the probabilistic estimation of time delay of acoustic signals received by two hydrophones. Using Bayesian update process, the proposed method can provide reliable estimation of direction angle of the acoustic source. The acquired direction information is used to estimate the location of the acoustic source. By accumulating direction information from various vehicle locations, the acoustic source localization is achieved using extended Kalman filter. The proposed method can provide a reliable estimation of the direction and location of the acoustic source, even under for a noisy acoustic signal. Experimental results demonstrate the performance of the proposed acoustic source localization method in a real sea environment.