• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• 한국정밀공학회지
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• 제33권3호
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• pp.183-190
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• 2016

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.144-146
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• 2018

In order to meet the harmonics standards such as IEEE 519 and P1547 the output quality of a grid connected inverter should satisfy a certain level of Total Harmonic Distortion (THD) value. However, the output quality of an inverter gets degraded due to the grid voltage harmonics, the dead time effects and the nonlinearity of the switches, which all contributes to a higher THD value of the output. In order to meet the required THD value for the inverter output under the distorted grid condition the use of harmonic controller is essential. In this paper a novel feedforward harmonic compensation method is proposed in order to effectively eliminate the low order harmonics in the inverter current to the grid. In the proposed method, unlike the conventional harmonic control methods, the hamonic components are directly compensated by the feedforward terms generated by the PR controller with the grid current in the stationary frame. The proposed method is simple in implementation but powerful in eliminating the harmonics from the output. The effectiveness of proposed method is verified through the PSIM simulation and the experiments with a 5kW single phase grid connected inverter.

• ETRI Journal
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• 제37권6호
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• pp.1154-1164
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• 2015

This paper proposes a fully sensorless driver for a permanent magnet synchronous motor (PMSM) integrated with a digital motor controller and an analog pre-driver, including sensing circuits and estimators. In the motor controller, a position estimator estimates the back electromotive force and rotor position using a sliding-mode observer. In the pre-driver, drivers for the power devices are designed with a level shifter and isolation technique. In addition, a current sensing circuit measures a three-phase current. All of these circuits are integrated in a single chip such that the driver achieves control of the speed with high accuracy. Using an IC fabricated using a $0.18{\mu}m$ BCDMOS process, the performance was verified experimentally. The driver showed stable operation in spite of the variation in speed and load, a similar efficiency near 1% compared to a commercial driver, a low speed error of about 0.1%, and therefore good performance for the PMSM drive.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2239-2241
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• 2003

A new RF control system of Pohang Accelerator Laboratory (PAL) storage ring is a subsystem upgraded PAL control system, which is based upon Experimental Physics and Industrial Control System (EPICS). There are 5 control components, Low Level RF System (LRS), Klystron System, Circulator System, Cavity System, Local Cooling Water System (LCW) at the storage ring of PAL. The new RF control system for the storage ring has been under development for one years, first versions of individual VME (Versa Module Europa) Input/output modules under construction and system integration begun. In this system, VMEbus-based hardware is widely used for front-end controllers (FDS), Input/output controller (IOC). A number of Programmable Logic Controller (PLC) and SUN workstations are also used for Operator Interfaces (OPI) in the control system. This paper describes the development VME I/O module to the new control system and how the design of this new system.

• 전력전자학회논문지
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• 제24권3호
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• pp.215-227
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• 2019

Grid-connected inverters should satisfy a certain level of total harmonic distortion (THD) to meet harmonics standards, such as IEEE 519 and P1547. The output quality of an inverter is typically degraded due to grid voltage harmonics, dead time effects, and the device's turn-on/turn-off delay, which all contribute to increasing the THD value of the output. The use of a harmonic controller is essential to meet the required THD value for inverter output under a distorted grid condition. In this study, an improved feedforward harmonic compensation method is proposed to effectively eliminate low-order harmonics in the inverter current to the grid. In the proposed method, harmonic components are directly compensated through feedforward terms generated by the proportional resonant controller with the grid current in a stationary frame. The proposed method is simple to implement but powerful in eliminating harmonics from the output. The effectiveness of the proposed method is verified through simulation using PSIM software and experiments with a 5 kW single-phase grid-connected inverter.

• 농촌의학ㆍ지역보건
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• 제22권2호
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• pp.225-237
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• 1997

This study was conducted to the cognition and attitude for internal and external organizational behavior of health centers staff. An analytical model employed in this study was developed by modifying 'organizational behavior model'. Data was collected a mail survey of officers at health center, including 66 directors and 1,768 staffs of the health centers in southern region. The major findings are as follows : Among directors of the health centers 47% of them stated that legislators and chief executive officer(CEO) of local governments are highly concerned about the public health program. However only 15.2% of health center directors reported that legislators and CEO put public health high priority. For leadership type of directors 39.0% of them was classified as controller, 30.3% as participant, 22.7% entertaining and 7.6% comprehending. Regarding sociopsychological characteristics of the health center staffs, about a quarter of them had high degree of group cohesion, while 10.7% had low degree. Those staffs who are older, high educational level, or working in the rural health centers showed higher degree of cohesion than those who are young, low educational level, or working in urban health center. A third of them were less likely to be satisfied by what they are doing at the health centers. The higher educational level, the likely to be satisfied by what they are doing at the health centers. The higher educational level, the more satisfied with their job. Considering these results, policy implication was discussed and suggested. It is suggested that educational efforts be made to improve leadership of the health center directors and concern with public health program by the CEOs and legislators of local governments.

• 전력전자학회논문지
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• 제8권6호
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• pp.478-487
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• 2003

본 논문에서는 고압 대용량 전동기 구동용 멀티레벨 인버터의 종류 및 특징을 간략히 살펴보고, 특히 입출력 전력품질이 우수하고 전압별 시리즈화가 용이한 H-브릿지 멀티레벨 인버터의 구조적 특징 및 장점을 기술하였다. 연구 개발된 3,300V lMVA 용량의 Cascaded H-브릿지 멀티레벨 인버터의 구체적인 전력회로 구조 및 설계방법, 제어기 구성 그리고 PWM 기법을 제시하였다. 또한, 실용량의 시험을 통해 H-브릿지 멀티레벨 인버터는 출력 전압 Step이 여러 단계이고 dv/dt가 적으며 입력단 THD를 크게 낮출 수 있어 성능 면에서도 여타 방식보다 우수함을 입증하였다. 또한 생산적인 측면에서도 저압 소자를 사용하여 설계하므로 기존의 생산/시험 기술과 설비를 이용할 수 있어 매우 경제적이며 Power Cell 단위 결합 구조이므로 신뢰성 측면이나 보수/유지 측면에서도 유리하다는 결론을 얻었다.

• Journal of Power Electronics
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• 제18권1호
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• pp.116-128
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• 2018

Conventionally, in order to reduce the ac components of the dc-link capacitors of the two-level Half-Bridge Voltage Source Inverter (HB-VSI), high dc-link capacitances are required. This necessitates the employment of short-lifetime and bulky electrolytic capacitors. In this paper, an analysis for the performance of low dc-link capacitances-based HB-VSI is presented to elucidate its ability to generate an enhanced fundamental output voltage magnitude without increasing the voltage rating of the involved switches. This feature is constrained by the load displacement factor. The introduced enhancement is due to the ac components of the capacitors' voltages. The presented approach can be employed for multi-phase systems through using multi single-phase HB-VSI(s). Mathematical analysis of the proposed approach is presented in this paper. To ensure a successful operation of the proposed approach, a closed loop current controller is examined. An expression for the critical dc-link capacitance, which is the lowest dc-link capacitance that can be employed for unipolar capacitors' voltages, is derived. Finally, simulation and experimental results are presented to validate the proposed claims.

• Journal of Power Electronics
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• 제18권6호
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• pp.1642-1649
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• 2018

A single-stage flyback LED AC-DC converter based on primary-side control under constant current mode is proposed in this study. The proposed converter features low total harmonic distortion (THD) and high power factor (PF). It also consists of a zero-crossing distortion compensation circuit and a variable duty ratio control compensation circuit to deal with the line current distortions caused by fixed duty ratio control. The system model and layout are built in Simplis and Cadence, respectively. The feasibility and performance of the proposed circuit is verified by designing and fabricating an IC controller in the HHNEC $0.35{\mu}m$ 5 V/40 V HVCMOS process. Experimental results show that the PF can reach a level in the range of 0.985-0.9965. Moreover, the average THD of the entire system is approximately 10%, with the minimum being 6.305%, as the input line voltage changes from 85 VAC to 265 VAC.