• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• 융합정보논문지
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• 제11권7호
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• pp.104-110
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• 2021

본 핀 채널 전계 효과 트랜지스터에서 낮은 소스/드레인 직렬 저항을 위한 새로운 선택적 산화 방식을 제안하였다. 이 방법을 이용하면, gate-all-around 구조와 점진적으로 증가되는 형태의 소스/드레인 확장영역을 갖는 핀 채널 MOSFET를 얻을 수 있다. 제안된 트랜지스터는 비교 소자에 비해 70% 이상의 소스/드레인 직렬 저항의 감소를 얻을 수 있다. 또한, 제안된 소자는 단채널 효과를 억제하면서도 높은 구동 전류와 전달컨덕턴스 특징을 보인다. 제작된 소자의 포화전류, 최대 선형 전달컨덕턴스, 최대 포화 전달컨덕턴스, subthreshold swing, 및 DIBL은 각각 305 ㎂/㎛, 0.33 V, 13.5 𝜇S, 76.4 𝜇S, 78 mV/dec, 62 mV/V의 값을 갖는다.

• 대한기계학회논문집A
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• 제41권10호
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• pp.991-996
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• 2017

인간의 보행에서 안정적인 디딤을 가능하게 하는 동작특성은 보행 일주기의 60%를 차지하는 긴 디딤국면이다. 본 연구에서는 이러한 보행패턴을 자전거의 크랭크 구동장치에 반영하여 직립자세에서 안정적으로 구동할 수 있는 자전거를 설계하고자 한다. 크랭크의 회전속도를 디딤국면에서는 느리게 되돌림국면에서는 빠르게 움직이도록 급속귀환 기구를 크랭크 구동시스템에 적용하였다. 이 급속귀환 크랭크기구의 설계변수를 정의하고 설계변수의 변화가 크랭크의 거동에 미치는 영향을 시뮬레이션 하였다. 또한 실험장치를 제작한 후 탑승자의 구동동작을 분석한 결과 보행패턴을 접목한 크랭크는 사용자 무게중심 안정화에 기여하는 것으로 나타났다. 향후 보행패턴을 접목한 크랭크는 서서 타는 자전거의 구동시스템에 접목 가능할 것으로 보인다.

• 로봇학회논문지
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• 제19권2호
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• pp.159-168
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• 2024

Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.385-393
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• 2004

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(voice coil motor) for coarse motion, for an SFF ODD(small form factor optical disk drive), in order to achieve fast access speed and precise track-following control. Over the past few decades there have been a lot of researches related to the VCM and dual-stage actuator. In this paper, we focus our attention on the design and control of the PZT actuator. Due to the dual cantilever structure. the PZT actuator can generate precise translational tracking motion at its tip to which an optical pickup is attached. and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing it with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 추계학술대회
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• pp.454-456
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• 2017

다양한 양자모델(Quantum model)을 적용한 터널 전계 효과 트랜지스터(tunnel field effect transistor; TFET)의 전류 및 커패시턴스(Capacitance)-전압 특성을 조사하였다. 사용된 양자 모델은 density gradient, Bohm Quantum Potential(BQP), Vandort quantum correction 모델을 슈뢰딩거-푸아송 모델과 calibration하여 사용하였다. BQP, Vandort, density gradient 모두 구동전류는 감소하였다. BQP를 단독으로 사용한 경우에 SS(subthreshold swing)와 on-set 전압($V_{onset}$)은 일정하지만 구동전류에서만 약 3배 전류가 감소하였으며, BQP와 Vandort 사용한 경우와 density gradient를 사용한 경우에 모두 $V_{onset}$이 약 0.07 eV 이동하였으며, SS가 40 mV/dec 이상으로 증가하였다.

• 드라이브 ㆍ 컨트롤
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• 제19권2호
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• pp.11-16
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• 2022

It is important to measure the excavator's work productivity that estimates the bucket's payloads on a process. If the bucket isn't filled at every working cycle, the excavator's operator has to drive the machine more to achieve his work quota. If bucket is filled over with the load, the other way around, the transferred object has to spread out on the workplace. That causes additional work to clean the site. This paper proposes a method that can estimate the bucket's payload to improve the excavator's work productivity. This method assumes that the excavator is a lumped mass system. And it uses a 3 points angle (boom link, arm link, swing) and 2 points pressure (boom cylinder's input port and output port) of measurable data. Depending on assumptions, the bucket's payload can be calculated by the payload's motion equation. And this suggested method can be verified by simple experiments.

• 한국철도학회논문집
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• 제17권5호
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• pp.336-341
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• 2014

기차나 군용 트럭 등에 이용되던 굴절차량이 승객의 대량 수송을 위하여 일반 도로에 적용이 검토되고 있다. 레일을 따라가지 않고 일반 도로에서 주행하는 굴절차량은 회전반경, 차량 선회 폭, 이탈궤적, 스윙아웃등 다양한 제어 요소를 갖는다. 현재 승객 수송을 목적으로 제작되는 굴절차량은 각 바퀴에 하나의 모터를 장착하고 구동하는 독립 구동 방식을 채택하고 있으며, 각 바퀴의 독립 제어를 통하여 차량의 빠르고 정확한 자세제어가 가능하다. 이 논문에서는 여러 제어 요소 중 굴절차량의 최초 목적인 회전반경 감소를 위한 토크 분배 알고리즘을 제안하고, 시뮬레이션을 통하여 회전 반경이 감소함을 검증하였다.

• 전자공학회논문지S
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• 제34S권5호
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• pp.94-103
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• 1997

It is necesary that analog buffer circuit should drive an external load in the VLSI design such as switched capacitor efilter (SCF), D/A converter, A/d converter, telecommunicatin circuit, etc. The conventional CMOS buffer circuit have many probvlems according as CMOS technique. Firstly, Capacity of large load ar enot able to opeate well. The problem can be solve to use class AB stages. But large load are operated a difficult, because an element of existing CMOS has a quadratic functional relation with inptu and outut voltage versus output current. Secondly, whole circuit of dynamic rang edecrease, because a range of inpt and output voltages go down according as increasing of intergration rate drop supply voltage. In this paper suggests that new differential CMOS line driver make out of operating an external of large load. In telecommunication's chip case transmission line could be a load. It is necessary that a load operate line driver. The proposal circuit is planned to hav ea high generation power rnage of voltage with preservin linearity. And circuit of capability is inspected through simulation program (HSPICE).

• Journal of Information Display
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• 제12권1호
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• pp.61-67
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• 2011

A single-clock-driven shift register and a two-stage buffer are proposed, using p-type, low-temperature polycrystalline silicon thin-film transistors. To eliminate the clock skew problems and to reduce the burden of the interface, only one clock signal was adopted to the shift register circuit, without additional reference voltages. A two-stage, p-type buffer was proposed to drive the gate line load and shows a full-swing output without threshold voltage loss. The shift register and buffer were designed for the 3.31" WVGA ($800{\times}480$) LCD panel, and the fabricated circuits were verified via simulations and measurements.