• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.541-543
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• 1998

Generally, PI control is simple and easy to implement and gains of PI control are determined by specifying a dynamics of the servo driver system. However, the gain-tuning is so difficult that it is relied on an expert's effort. This paper presents a gain auto-tuning method for PI controllers based on a fuzzy inference mechanism. First, the proposed fuzzy inference system identifies a system moment of inertia and adjusts control gains by using the difference in speed responses between a real plant and a reference model. Second, this paper proposes an improved fuzzy PI controller. To reduce the speed overshoot, we adapt a control method that selects a proper PI gains with respect to the load inertia variation. To prove the validity of the proposed gain tuning algorithm and the feasibility of the servo drive, a high performance servo drive will be implemented by DSP(TMS320C31) and intelligent power module (IPM). The proposed controller is applied to the speed control of the 300W AC servo motor. Some simulations and experimental results show that the proposed fuzzy PI controller is more robust than the conventional PI controller against the load inertia variation.

• JOURNAL OF ELECTRICAL WORLD
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• s.280
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• pp.64-70
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• 2000

파워디바이스는 산업$\cdot$전력$\cdot$교통$\cdot$정보 등 여러 분야에서 사용되고 그 기기들의 성능은 이 파워디바이스의 성능에 의해 크게 좌우된다. 특히 고도 정보화시대가 되는 21세기에는 전력수요가 점점 더 증가될 것이기 때문에 인버터화 등에 의한 생에너지 대책과 클린에너지 등에 의한 신에너지의 창출이 중요한 과제가 되고 있다. 한편, 지구환경 보호면에서 전기자동차 등의 환경고려형 장치의 보급이 활발해질 것이 예상된다. 이와 같은 사회환경 속에서 파워 일렉트로닉스를 지탱하는 소자로서 파워디바이스는 점점 더 그 역할의 중요성이 커지고 있다. 최근의 파워디바이스로서는 디스크리트, 모듈, IPM(Intelligent Power Module)등 여러 가지의 디바이스가 출현하고 있는데 그 성능을 결정하는 중심이 되는 것이 파워디바이스 칩이다. 파워디바이스 칩 자신도 급속히 진화하여 현재는 MOS계 파워디바이스 칩이 주류를 이루고 있다. 그 중에서도 사용하기 쉽다는 면에서 MOSFET와 IGBT(Insulated Gate Bipolar Transistor)가 주로 실용화되고 있으며, 미세가공기술과 라이프타임 제어기술의 진전에 따라 현저한 성능개선이 진행되고 있다. 한편, 공업용 대용량인버터나 전력응용에서 요구되는 고내압$\cdot$대용량 영역에서는 당분간 저손실이라는 의미에서 바이폴라계의 사이리스터형 디바이스가 주류로 사용되고, 이 영역에서는 GTO에 대체하는 소자로서 GCT(Gate Commutated Turn-off)사이리스터가 개발되어 그 응용이 확대될 것이 기대되고 있다. 또한 전압형 인버터장치에서는 IGBT와 GCT등의 스위칭디바이스와 함께 환류용 다이오드(FWD)가 필요하며 이 FWD의 특징 개선도 스위칭디바이스의 개선과 병행하여 추진되고 있다.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.4
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• pp.73-80
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• 2009

In this paper, we implemented the integrated gateway for health care and home network system based on PLC(Power Line Communication) and Zigbee. The designed system is consists of sensors, integrated gateway, Zigbee module and PLC modem. The integrated gateway will transmit the data which is collected by health care sensors to health care control system and control an appliance for comfortable environment to medical facilities. The implemented gateway can support various health care and home network service.

• JOURNAL OF ELECTRICAL WORLD
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• s.297
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• pp.66-72
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• 2001

1957년에 사이리스터가 발표된 이래 파워반도체디바이스(이하 ''파워디바이스''라 한다)의 발전과 더불어 이것을 사용하여 전력변환$\cdot$제어와 이를 응용한 파워일렉트로닉스 산업도 현저한 발전을 이루어 왔다. 21세기를 맞이하여 지구의 유한성을 강하게 인식하고 자원과 에너지를 고도이용하는 순환형 사회에로의 전환을 도모하는 기술혁신과 IT(정보기술)를 구사한 기술보급의 움직임이 활발해지고, 파워일렉트로닉스와 그 키파트인 파워디바이스가 수행하여야 할 역할은 점점 더 중요해지고 있다. 이와 같은 배경 하에서 파워디바이스는 인버터제어를 주목적으로 사이리스터, GTO(Gate Turn-off Thyristor), 바이폴라트랜지스터, MOSFET(Metal Oxide Silicon Field Effect Transistor)에서 IGBT(Insulated Gate Bipolar Transistor)에로 진전되고, 그 응용분야도 가전제품에서 OA, 산업, 의료, 전기자동차, 전철, 전력에 이르는 폭넓은 분야로 확대되었다. 현재 파워디바이스를 취급하는 전력의 범위는 수W의 스위칭 전원에서 GW급의 직류송전까지 9단위까지에 이르러 광범위한 전력 제어가 가능하게 되었다. 한편 응용의 중심이 되는 IGBT는, 고속화와 저손실화 및 파괴 내량의 향상을 지향한 개량을 거듭하여 제5세대제품이 나타나기 시작하였다. 또한 IGBT에 구동$\cdot$보호$\cdot$진단 회로 등을 넣어 모듈화한 IPM(Intelligent Power Module)이 그 편리성과 소형화를 특징으로 파워디바이스의 주역의 자리에 정착하였다. 가전$\cdot$산업$\cdot$자동차$\cdot$전철의 각 분야에서는 시장 니즈에 최적 설계된 IPM이 개발되게 되어 보다 더한 시장확대가 기대되고 있다. 또한 종래의 Si(실리콘)에 대신하는 반도체 재료로서 SiC(실리콘 카바이드 : 탄화규소)에 대한 기대가 크고 MOSFET나 SBD 등의 파워디바이스의 조기실용화에의 대처노력도 주목할 만하다.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.238-244
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• 2022

Maintenance works of offshore wind turbines could take a longer time, which causes the reduction of their energy production efficiency, than those of onshore wind turbines owing to severe offshore environment. Subsequently, preventive maintenance measures are required to increase the production efficiency. Thus, we proposed a wheel-based Underwater Pole Climbing Robot (UPCR) platform, which was aimed at the periodic inspection and maintenance of the substructures of the offshore wind turbines, with three advantages: high speed, good mobility and low power consumption. In the proposed platform, a self-locking system using a gripper module was adopted for preventing slippery problem and a dual configuration was chosen for moving on a branched structure. As a result, the proposed robot was able to continuously climb, preserve it's position at the pole without consuming energy, and move from the pole to the other branched pole. The results of this research show that the UPCR has basic moving capabilities required for the underwater work for the substructures of the offshore wind turbines.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.6
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• pp.123-132
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• 2012

Gas sensors has been used very differently that depending on following purposes; Automotive (exhaust gas, fuel mixture gas, oxygen, particulates), agriculture / food industry (fresh, stored, CO2, humidity, NH3, nitrogen oxide gas, organic gas, toxic gas emitted from pesticides and insecticides), industrial / medical (chemical gas, hydrogen, oxygen and toxic gases), military (chemical weapon), environmental measurements (CO and other air pollution consisting of sulfur and nitrogen gas), residential (LNG, LPG, butane, indoor air, humidity). The types of industrial toxic substances are known about 700 species and many of these exist in gaseous form under normal conditions. he multi-gas detection sensors will be developed for casualties that detect the most important and find easy three kinds of gases in marine plant; carbon dioxide(CO2), carbon(CO), ammonia(NH3). Package block consists of gas sensing device minor ingredient, rf front end, zigbee chip. Develope interworking technology between the sensor and zigbee chip inside a package. Conduct a performance test through test jig about prototype zigbee sensor module with rf output power and unwanted emission test. This research task available early address when poisonous gas leaked from large industrial site and contribution for workers' safety at the enclosed space.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.2
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• pp.111-118
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• 2016

This paper presents an X-band (9.375 GHz) $1{\times}2$ array microstrip antenna which is capable of active beam compensation for installation of an unmanned aerial vehicle (UAV). First of all, a basic $1{\times}2$ array microstrip antenna incorporated with wilkinson power divider was designed and performance of the array antenna was verified. Next, to verify beam steering performance of the designed array microstrip antenna, we fabricated a phase shifter, and the wilkinson power divider as module structure and measured characteristics of beam steering according to phase shifting. The main lobe is 0.6 dBi at $0^{\circ}$, and the side lobe decreased 18.8 dB. The reliable radiation pattern was achieved. Finally, an active beam steering microstrip array antenna attached with the phase shifter and the power divider on the back side of the antenna was designed and fabricated to install wing of UAV for compactness. The maximum gain is 0.1 dBi. Therefore, we obtained a basic antenna technology for compensating beam error according to wing deformation of an UAV installed array antennas.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.4
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• pp.659-666
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• 2006

Servo-motors are used as key components of automated system by performing precise motion control as accurate positioning and accurate speed regulation in response to the commands from computers and sensors. Especially, the linear brushless servo-motors have numerous advantages over the rotary servo motors which have connection with the friction induced transfer mechanism such as ball screws, timing belts, rack/pinion. This paper proposes an estimation method of unknown motor system parameters using the informations from the sinusoidal driving type linear brushless DC motor dynamics and outputs. The estimated parameters can be used to tune the controller gain and a disturbance observer. In order to meet this purpose high performance Digital Signal Processor, TMS320F240, designed originally for implementation of a Field Oriented Control(FOC) technology is adopted as a controller of the liner BLDC servo motor. Having A/D converters, PWM generators, rich I/O port internally, this servo motor application specific DSP play an important role in servo motor controller. This linear BLDC servo motor system also contains IPM(Intelligent Power Module) driver and hail sensor type current sensor module, photocoupler module for isolation of gate signals and fault signals.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.05a
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• pp.463-466
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• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.9
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• pp.707-714
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• 2013

IoT, which can be regarded as an enhanced version of M2M communication technology, was proposed to realize intelligent thing to thing communications by utilizing Internet connectivity. Things in IoT are generally heterogeneous and resource constrained. Also such things are connected with each other over LLN(low power and lossy Network). Confidentiality, mutual authentication and message origin authentication are required to make a secure service in IoT. Security protocols used in traditional IP Networks cannot be directly adopted to resource constrained devices in IoT. Under the respect, a IETF standard group proposes to use lightweight version of DTLS protocol for supporting security services in IoT environments. However, the protocol can not cover up all of very constrained devices. To solve the problem, we propose a scheme which tends to support mutual authentication and session key agreement between devices that contain only a single crypto primitive module such as hash function or cipher function because of resource constrained property. The proposed scheme enhances performance by pre-computing a session key and is able to defend various attacks.