• The Journal of Korea Robotics Society
• /
• v.19 no.1
• /
• pp.71-78
• /
• 2024

The paper presents a hardware-in-the-loop (HIL) system designed for satellite movement testing in the microgravity environment on the ground with two industrial robots. Especially, the paper deals with the contact between satellites during rendezvous and docking simulations of satellites using a robotic HILS system. For this purpose, the admittance control method plays a core role in preventing damage to the satellite or robot from contact force between satellites. The coordinate frames are transformed into the mass center of the satellite and the admittance control at the level of exponential coordinates is adopted to actively use the properties of Lie groups related to tracking errors. These methods effectively mitigate the risk of robot damage during inter-satellite contact and ensure efficient tracking performance of satellite movements.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.52 no.8
• /
• pp.481-485
• /
• 2003

In electric railway system, potential of rail has been risen, for return-current flows through rail. The magnitude of rising voltage is different to railway feed system, ground admittance of rail and the load current. If rising voltage of rail is large, electric shock can be occurred to passengers and maintenance- worker, In this paper, we estimate the rising voltage of rail in high speed railway system and check the safety to human beings.

• Journal of electromagnetic engineering and science
• /
• v.7 no.2
• /
• pp.96-101
• /
• 2007

A design of circular polarized(CP) microstrip antenna with a fenced ground is proposed and the equivalent circuit is derived. The antenna consists of a square radiating patch with a pair of truncated comers, a bottom ground and a fenced ground. From conducted experiments, a patch size reduction using the metal fence as large as 25% from the conventional patch structure, has been obtained. The input admittance of the extracted equivalent circuit is shown to agree with that of the measurement. And the design parameters and performance of the proposed antenna are examined by analyzing the fields and circuit behaviors.

• ETRI Journal
• /
• v.30 no.5
• /
• pp.723-728
• /
• 2008

In this paper, a simple transmission line model for an edge-coupled patch antenna is presented. The coupled section is modeled with a lump network which represents the mutual admittance between patches and from patch to ground. Theoretical analysis of two edge-coupled patch antenna models are compared by simulation and experiment in antennas designed to operate at the 2 GHz band. The proposed model predicts the return loss of the antenna accurately.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.6
• /
• pp.553-559
• /
• 2015

The purpose of this research is to develop a gait assistive device to enhance the gait stability and training efficiency of stroke patients. The configuration of this device is mainly composed of a motored wheel and a single cane whose lower end is attached to a motored wheel frame. A patient can feel haptic information from continuous ground contact from the wheel while walking through the grip handle. In addition, the wheeled cane can avoid using excessive use of the patient's upper limb for weight support and motivate the patient to use a paralyzed lower limb more actively. Moreover, the proposed device can provide intuitive and safe user interaction by integrating a force sensor and a tilt sensor equipped to the cane frame, and a switch sensor at the cane's handle. The admittance control has been implemented for the patient to change the walking speed intuitively by using the interaction forces at the handle. A hemi-paretic stroke patient participated in the walking assistive experiments as a pilot study to verify the effectiveness of the proposed haptic cane system. The results showed that the patient could improve walking speed and muscle activations during walking with a constant speed mode of the haptic cane. Moreover, the patient could maintain the preferred walking speeds and gait stability regardless of the magnitude of resistance forces with the admittance control mode of the haptic cane. The proposed robotic gait assistive device with a simple and intuitive mechanism can provide efficient gait training modes to stroke patients with high possibilities of widespread utilizations.

• Journal of Biomedical Engineering Research
• /
• v.25 no.5
• /
• pp.335-342
• /
• 2004

This paper describes a trans-admittance scanner for breast cancer detection. A FPGA-based sinusoidal waveform generator produces a constant voltage. The voltage is applied between a hand-held electrode and a scan probe placed on the breast. The scan probe contains an 8x8 array of electrodes that are kept at the ground potential. Multi-channel precision digital ammeters using the phase-sensitive demodulation technique were developed to measure the exit current from each electrode in the array. Different regions of the breast are scanned by moving the probe on the breast. We could get trans-admittance images of resistor and saline phantoms with an anomaly inside. The images provided the information on the depth and location of the anomaly. In future studies, we need to improve the accuracy through a better calibration method. We plan to test the scanner's ability to detect a cancer lesion inside the human breast.

• Wind and Structures
• /
• v.19 no.4
• /
• pp.421-441
• /
• 2014

With the assistance of typhoon field data at aerial elevation level observed by meteorological satellites and wind velocity and direction records nearby the ground gathered in Guangzhou Weather Station between 1985 and 2001, some key wind field parameters under typhoon climate in Guangzhou region were calibrated based on Monte-Carlo stochastic algorithm and Meng's typhoon numerical model. By using Peak Over Threshold method (POT) and Generalized Pareto Distribution (GPD), Wind field characteristics during typhoons for various return periods in several typical engineering fields were predicted, showing that some distribution rules in relation to gradient height of atmosphere boundary layer, power-law component of wind profile, gust factor and extreme wind velocity at 1-3s time interval are obviously different from corresponding items in Chinese wind load Codes. In order to evaluate the influence of typhoon field parameters on long-span flexible bridges, 1:100 reduced-scale wind field of type B terrain was reillustrated under typhoon and normal conditions utilizing passive turbulence generators in TJ-3 wind tunnel, and wind-induced performance tests of aero-elastic model of long-span Guangzhou Xinguang arch bridge were carried out as well. Furthermore, aerodynamic admittance function about lattice cross section in mid-span arch lib under the condition of higher turbulence intensity of typhoon field was identified via using high-frequency force-measured balance. Based on identified aerodynamic admittance expressions, Wind-induced stochastic vibration of Xinguang arch bridge under typhoon and normal climates was calculated and compared, considering structural geometrical non-linearity, stochastic wind attack angle effects, etc. Thus, the aerodynamic response characteristics under typhoon and normal conditions can be illustrated and checked, which are of satisfactory response results for different oncoming wind velocities with resemblance to those wind tunnel testing data under the two types of climate modes.

• Journal of electromagnetic engineering and science
• /
• v.9 no.2
• /
• pp.105-109
• /
• 2009

The problem of electromagnetic coupling between a slit fed by a flanged parallel-plate waveguide(PPW) and a slit in an infinite nearby conducting screen parallel to the flanged ground conductor is studied as a simplified problem for a near-field scanning microscopy(NSM). The method of moments isused to solve the coupled integral equations for the electric field distributions over the slits. The performance of the proposed apparatus as an NSM is tested by examining the effects of some geometrical parameters on the equivalent slit admittance and coupled powers through the slits.

• Proceedings of the KIEE Conference
• /
• 2000.07b
• /
• pp.1365-1367
• /
• 2000

In electric railway system, potential of rail has been risen, for return-current flows through rail. The magnitude of rising voltage is different to railway feed system, ground admittance of rail and the load current. If rising voltage of rail is large, electric shock can be occurred to passengers and maintenance-worker. In this paper, we estimate the rising voltage of rail in high speed railway system and check the safety to human beings.

• Proceedings of the KIEE Conference
• /
• 2003.07b
• /
• pp.840-842
• /
• 2003

저 주파수에서 인덕턴스 단위(H, Henry)는 전기용량의 단위(F, Farad)로부터 Maxwell bridge 또는 LC를 이용한 resonance 방법으로써 유도가 된다. 이중 Maxwell bridge 방법은 국가의 단위표준을 유지하는 연구소 또는 기관에서 가장 많이 사용되는 "product arm" 형의 bridge로 잘 알려져 있다. 개발된 bridge는 ratio-transformer를 전압공급 쪽(source)과 신호검출 쪽(detector)에 사용하여 종래의 Maxwell bridge 평형조절 시 main balance와 Wagner balance의 2개 과정을 진행하던 것과는 달리 main balance, source balance, detector balance의 과정을 진행함으로서 기존 bridge의 불안정한 ground admittance들의 영향에 의해 나타나는 불확도를 완전히 제거하였다. 한편 개발된 bridge는 10 mH, 100 mH를 10 nF의 전기용량표준기와 $1\;k{\Omega}$, $10\;k{\Omega}$의 저항표준기로부터 유도 되도록 제작되었으며. 10 mH의 경우 $400\;Hz{\sim}5\;kHz$의 주파수 영역에서 약 $2.2{\times}10^{-6}$(k=1)의 불확도로 인덕턴스 단위를 유도할 수가 있게 되었다.