• International Journal of Advanced Culture Technology
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• 제10권3호
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• pp.393-396
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• 2022

Recently, rapid climate change has had a significant impact on the ecosystem of honeybees. In addition, the problem of Vespa Hornets invasion of colonies has a fatal impact on the bee ecosystem, independent of climate change. Especially in late summer. This study relates to a method for preventing Vespa Hornets attack. In this study, we developed a Vespa Hornets sound detection device was developed by collecting and analyzing the sound of a Vespa Hornets and applying IoT technology. The developed device detects the sound of a Vespa Hornets when Vespa Hornets appears around the hive of the bees and sends a signal to automatically close the door of the beehive. The device that receives the signal drives the motor that controls the honeycomb door to close the beehive door. The Vespa Hornets sound detection device operates until no Vespa Hornets sound is detected. The system developed by us is expected to be installed in the beehives of actual beekeeping farms to dramatically reduce the damage caused by by Vespa Hornets.

• 한국정밀공학회지
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• 제10권4호
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• pp.200-205
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• 1993

In many applications, the typical parallel-jaw end-effector of a robot arm has been remarkably satisfactory. But, it is not adequate for the applications such as complicated manipulation. In the study, a finger with 4 joints (so, having redundancy) was consturcted to investigate the characteristics of an articulated hand. Each joint was driven by one actuator, and the motor torque was transmited to each joint through a tendon-pulley system. In the context, major considerations for hardware design and the method to solve the inverse kinematics of a redundant manipulator were presented. Finally, the basic capabilities of an articulated hand were presented through experiments.

• Journal of Power Electronics
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• 제15권3호
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• pp.753-762
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• 2015

This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error, and less sensitivity to system uncertainties than the linear SMC method.

• 한국통신학회논문지
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• 제22권10호
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• pp.2236-2245
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• 1997

직접위성방송(DBS)은 정보화사회를 위한 실질적인 서비스 분야로써 각광을 받고 있으며, 특히 해상에 까지 광범위한 방송서비스를 제공할 수 있는 매우 유용한 매체이다. 그러나 해상에서의 DBS 수신장치는 선박의 운항이나 피칭(pitching), 로링(rolling), 요잉(yawing) 등의 동요에 관계없이 위성을 계속 추적하기 위한 복잡한 안테나 제어장치가 필요하다. 이 연구는 소형 선박에서 무궁화위성의 DBS를 수신하기 위한 장치의 개발을 목표로 하고 있으며, 한반도 주위의 해역을 항해하는 소형 선박에서 쉽게 탑재하고 사용할 수 있도록 소형, 경량, 저가격화에 중점을 두었다. 그러므로 한반도 연.근해에서 무궁화위성의 추적조건을 분석하고 이에 적합한 Az/El 2축 마운트를 설계하여 제작하였으며, 스텝트렉(step track) 빙식에 의한 추적과 각속도 센서를 이용한 마운트의 동요보정 기능을 타 장비의 도움없이 스스로 수행할 수 있는 시스템을 연구하였다. 또한 장치를 탑재할 수 있는 선박운동 시뮬레이터를 제작하여 여러가지 형태의 동요를 구현하며, 추적과 동요보정에 따른 수선상태를 측정, 분석하므로써 실험적으로 최적의 알고리즘을 작성하였다.

• 전기학회논문지
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• 제58권8호
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• 전력전자학회논문지
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• 제7권1호
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• pp.101-110
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• 2002

본 논문에서는 3고조파를 주입한 정현파 PWM 인버터의 과변조 영역에서, 인버터 전압을 선형적으로 제어하기 위한 방법을 제시한다. 정현파 PWM에 3고조파를 삽입하면 단순한 정현파 PWM에 비해 선형영역을 확장할 수 있다. 그러나 이 경우에도 선형영역은 six-step 인버터에 비해 90% 정도까지가 된다. 따라서 PWM 인버터를 six-step 인버터의 출력에 이르기까지 선형적으로 제어하기 위해, PWM 인버터의 과변조 영역에서의 변조지수와 인버터 출력의 기본파 전압 크기와의 관계를 분석하여, 과변조 영역에서 기준전압을 보정해 줄 수 있는 방법을 제시하였다. 보정된 기준 전압을 명령 값으로 사용함으로써 반복 계산 없이 3고조파 주입형 정현파 PWM에서 출력전압을 six-steP에서의 전압에 이르기까지 선형적으로 제어할 수 있게 된다. 제안된 방법을 인버터-유도전동기 시스템에 대한 시뮬레이션을 통하여 확인하였고 실험으로 입증하였다.

• 대한통합의학회지
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• 제10권1호
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• pp.129-136
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• 2022

Purpose : The purpose of this study was to investigate the effect of applying intensity on the muscle activity and muscle hardness of the upper trapezius muscle in adult males when TENS (transcutaneous electrical nerve stimulation) was applied. In addition, this study intends to prepare the scientific basic data of TENS for the purpose of relaxation based on the experimental results. Methods : Eighty-seven healthy adult males participated in the experiment, and they were randomly divided into an experimental group and a control group. All subjects in this study were healthy subjects without musculoskeletal or nervous system damage. All subjects were subjects who voluntarily consented to the purpose and method of the experiment. All subjects were provided with a load by typing for 20 minutes, and muscle activity and muscle hardness of the upper trapezius muscle were measured immediately. Afterwards, TENS was given to each groups for 15 minutes, and the experimental group received stimulation at the motor threshold level, and the control group received a placebo stimulation. After stimulation, muscle activity and muscle hardness of the upper trapezius muscle were measured in the same method. The measured data were compared between groups through an independent t-test and dependent t-test. The statistical significance level was set at .05. Results : The application of TENS statistically significantly decreased the muscle activity and muscle hardness of the trapezius muscle in the experimental group, and the results showed a significant difference from the control group. Conclusion : Application of TENS significantly decreased the muscle activity and muscle stiffness of the upper trapezius muscle. The application of TENS of applying intensity that induces muscle contraction may induce relaxation by reducing the muscle activity and muscle hardness of the trapezius muscle.

• 제어로봇시스템학회논문지
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• 제21권12호
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• pp.1193-1200
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• 2015

An effective swing trajectory of legged robots is different from the swing trajectories of humans or animals because of different dynamic characteristics. Therefore, it is important to find optimal parameters through experiments. This paper proposes a real-time nonlinear programming (RTNLP) method for optimization of the swing trajectory of the legged robot. For parameterization of the trajectory, the swing trajectory is approximated to parabolic and cubic spline curves. The robotic leg is position-controlled by a high-gain controller, and a cost function is selected such that the sum of the motor inputs and tracking errors at each joint is minimized. A simplified dynamic model is used to simulate the dynamics of a robotic leg. The purpose of the simulation is to find the feasibility of the optimization problem before an actual experiment occurs. Finally, an experiment is carried out on a real robotic leg with two degrees of freedom. For both the simulation and the experiment, the design variables converge to a feasible point, reducing the cost value.

• 전기학회논문지
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• 제57권3호
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• pp.390-397
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• 2008

Permanent Magnet Linear Synchronous Motor (PMLSM) has high efficiency, high energy density, and high control-ability. But, the detent force always is produced by the structure of slot-teeth. There are the disadvantages such as noise and vibration of the apparatuses are induced and the control ability is curtailed because detent force acts as thrust ripple. Therefore, the detent force reduction is an essential requirement in PMLSM. Generally, the method, skewing permanent magnet or slot-teeth, is used to reduce the detent force. But the thrust is decreased at the same time. If permanent magnet is skewed, the lateral force which operates as the perpendicular direction of skew direction is generated in linear guide of PMLSM. So, V-skew model is proposed for the reduction of lateral force. The lateral force acts as braking force in linear motion guide, and it has bad influence to the characteristics of PMLSM. However, these problems will not be solved by 2-dimensional Finite Element Analysis (FEA). So, in this paper 3-dimensional FEA is applied to analyze the PMLSM where permanent magnet is skewed and has overhang. The detent force and thrust characteristics considering skew and overhang effects of permanent magnet are analyzed by 3-dimensional FEA and the results are compared with experimental values to verify the propriety of analysis.

• 센서학회지
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• 제27권2호
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• pp.105-111
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• 2018

In this paper, a torque sensor is designed and fabricated to measure the knee joint torque of a walking assist robot for stroke patients. The torque sensor sensing part was modeled on the link of the part connected to the knee joint motor. The torque capacity of the knee joint was calculated by simulation and the size of the torque sensor sensing part was designed using the finite element method. The torque sensor was fabricated by attaching a strain gauge to the sensing part. Characteristic experiments were conducted to characterize the torque sensor, and the torque sensor was calibrated to utilize it for the control of the walking assist robot. As a result of the characteristics test, the reproducibility error and the nonlinearity error of the torque sensor were 0.03% and 0.04%, respectively. Therefore, it is considered that the developed torque sensor can be used to measure the torque applied to the knee joint when walking on a walking assist robot.