• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.193-199
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• 2014

In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권2호
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• pp.564-582
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• 2015

This paper proposes a novel swarm intelligence optimization method which integrates bacterial foraging optimization (BFO) with quantum computing, called quantum bacterial foraging optimization (QBFO) algorithm. In QBFO, a multi-qubit which can represent a linear superposition of states in search space probabilistically is used to represent a bacterium, so that the quantum bacteria representation has a better characteristic of population diversity. A quantum rotation gate is designed to simulate the chemotactic step for the sake of driving the bacteria toward better solutions. Several tests are conducted based on benchmark functions including multi-peak function to evaluate optimization performance of the proposed algorithm. Numerical results show that the proposed QBFO has more powerful properties in terms of convergence rate, stability and the ability of searching for the global optimal solution than the original BFO and quantum genetic algorithm. Furthermore, we examine the employment of our proposed QBFO for cognitive radio spectrum allocation. The results indicate that the proposed QBFO based spectrum allocation scheme achieves high efficiency of spectrum usage and improves the transmission performance of secondary users, as compared to color sensitive graph coloring algorithm and quantum genetic algorithm.

• 설비공학논문집
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• 제22권4호
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• pp.213-218
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• 2010

In this study, a star screen model was constructed to predict the dynamic characteristics of interactive waste particles and to simulate separation capability of the particle using geared type screen(star screen). In order to approach this model, it is necessary to determine the design parameters of the screen such as driving torque, percentage of open space, and capability. Thus, a dynamic star screen model was developed with a total of 32 columns of geared assembly including screen part, wastes guide, and extra joints to rotate the screen using ADAMS. Each parameter was simulated to predict the screening capability for particle size, rotating speed, and particle condition. From the results, separation ability was predicted according to the affecting variables by using the dynamic star screen model.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• International Journal of Automotive Technology
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• 제1권1호
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• pp.17-25
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• 2000

The electromechanical valve train (EMV) technology allows for a reduction in fuel consumption while operating under a stoichiometric air-fuel-ratio and preserves the ability to use conventional exhaust gas aftertreatment technology with a 3-way-catalyst. Compared with an engine with a camshaft-driven valve train, the variable valve timing concept makes possible an additional optimization of cold start, warm-up and transient operation. In contrast with the conventionally throttled engine, optimized control of load and in-cylinder gas movement can be used for each individual cylinder and engine cycle. A load control strategy using a "Late Intake Valve Open" (LIO) provides a reduction in start-up HC emissions of approximately 60%. Due to reduced wall-wetting, the LIO control strategy improves the transition from start to idle. "Late Exhaust Valve Open" (LEO) timing during the exhaust stroke leads to exhaust gas afterburning and, thereby, results in high exhaust gas temperatures and low HC emissions. Vehicle investigations have demonstrated an improved accuracy of the air-fuel-ratio during transient operation. Results in the New European Driving Cycle have confirmed a reduction in fuel consumption of more than 15％ while meeting EURO IV emission limits.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2005년도 춘계학술대회
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• pp.361-365
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• 2005

Since the fuel cell uses the hydrogen for its fuel. it has no emission and higher efficiency than an internal combustion engine. Also fuel cell is much quieter than engine generator and generates heat much less than engine generator. So it has advantage of Army's 'si lent watch' capability and the ability to operate undetected by the enemy. The fuel cell hybrid system combines a fuel cell power system with an ESS. The ESS (e.g., batteries or ultracapacitors) reduces the fuel cell's peak power and transient response requirements. It allows the fuel cell to operate more efficiently and recovery of vehicle energy during deceleration. The battery has high energy density, so it has the advantage regarding driving distance. However, it has a disadvantage considering dynamic characteristic because of low power density. One other hand. the ultracapacitor has higher power density, so it can handle sudden change or discharge of required power. Yet. it has lower energy density. so it will be bigger and heavier than the battery when it has the same energy. This paper proposes the power management strategy for multi-power source fuel cell hybrid system. which is applied with the merits of both battery and ultra capacitor by using both of them simultaneous.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.979-984
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• 2007

This paper presents a new control mechanism for the proportional pressure control which is accomplished by electro-pneumatic regulator using two PZT actuators. The electro-pneumatic regulator of this study is 2-stage type and consists of two piezoelectric actuators, a controller and a main poppet valve. The piezoelectric actuators are multilayer bender type and are controlled by digital signal. Proportional pressure control technique is very important because that can derive improvement of product quality and driving ability in the pneumatic system. Solenoid actuator method for pressure control is widely used but this actuator has a high power consumption characteristics. So new actuator is required for the energy saving. In this study, PZT actuator for the pressure control was fabricated and experimented instead of the conventional type solenoid actuator. Experiments for the new control mechanism of the elector-pneumatic regulator were operated under the input condition of 0.4[MPa] and it was confirmed that this mechanism has a good control characteristics to the response sensitivity and hysteresis.

• 한국정밀공학회지
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• 제28권11호
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• 로봇학회논문지
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• 제2권4호
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• 한국산업융합학회 논문집
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• 제23권3호
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• pp.481-489
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• 2020

Safety and security during the handling of hazardous materials is a great concern for anyone in the field. One driving point in the security field is the ability to detect the source of the danger and take action against it as quickly as possible. Via the usage of a fully convolutional network, it is possible to create the label map of an input image, indicating what object is occupying the specific area of the image. This research employs the usage of U-net, which was constructed in biomedical field segmentation to segment cells, instead of the original FCN. One of the challenges that this research faces is the availability of ground truth with precise labeling for the dataset. Testing the network after training resulted in some images where the network pronounces even better detail than the expected label map. With better detailed label map, the network might be able to produce better segmentation is something to be studied in further research.