• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.5
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• pp.14-20
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• 2006

In recent year, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Actuators are key technologies underpinning robotics. Breakthroughs in actuator technology, particular in terms of power-to-weight ratio, or energy-density, will have significant impacts upon the design and control of robotic system. In this paper, a new approach to design and control of shape memory alloy(SMA) actuator is presented to drive the robot hand. SMA wire is divided into many segments and their thermal states of the SMA are controlled individually in a binary manner. This control manner will reduce the hysteresis that the SMA material has and it becomes the fundamental technology to develop the anthropomorphic robot hand. In this paper, the mechanism In the digital step motor of the shape memory alloy that is driven by the segmented binary control, which is a new control technique, is studied. This SMA digital step actuator applies for the robot hand and the driving mechanism of the robot hand is investigated.

• Journal of the Speleological Society of Korea
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• no.88
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• pp.1-7
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• 2008

Recently, it is one of very interest technology of Human Computer Interaction(HCI). Nowadays, it is easy to find out that, for example, inside SF movies people has talking to computer. However, there are difference between CPU language and ours. So, we focus on connecting to CPU. For 30 years many scientists experienced in that technology. But it is really difficult. Our project goal is making that CPU could understand human voice. First of all the signal through a voice sensor will move to BCD (binary code). That elevator helps out people who wants to move up and down. This product's point is related with people's safety. Using a PWM for motor control by ATmega16, we choose a DC motor to drive it because of making a regular speed elevator. Furthermore, using a voice identification module the elevator driven by voice sensor could operate well up and down perfectly from 1st to 10th floor by PWM control with ATmega16. And, it will be clearly useful for high-rise vertical shift with voice recognition sensor driven.

• Proceedings of the KIPE Conference
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• 2018.07a
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• pp.69-71
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• 2018

기존 전기자전거의 경우에 사용되는 일반 배터리팩 방식에 비해 이중 배터리 팩 (Li-ion Batterty + Super Capacitor)의 방식이 동등 주행 성능 및 지속 시간 조건에서 무게 및 원가 저감이 가능하다. 또한 기존 승압형 Converter인 Boost Converter는 이중 배터리를 이용시 큰 inrush 전류를 발생시키고 이 전류로 인해 소자 파손에 문제가 있다. 따라서 본 논문에서는 입력 전압을 Li-ion Battery로, 출력 전압에 Super Capacitor를 연결하는 이중 배터리로 구성되고 기존 Boost converter 입력단에 Mosfet과 Diode를 추가하여 inrush 전류가 발생하지 않게 한다. 본 논문에서는 제안된 회로의 이론적 특성을 분석하고 실험을 통해 타당성을 검증하였다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1956-1957
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• 2007

본 논문에서는 모델기반의 제어기 설계 프로그램인 National Instruments(NI)사의 System Identification Toolkit과 Control Design Toolkit, Simulation module을 사용하여 기존의 제어기 설계방식 보다 쉽고 편리하게 제어기를 설계할 수 있었다. 직류전동기의 속도 제어시스템을 구현하기 위해서 하드웨어는 NI사에서 제공하는 실시간 제어기(Real-Time Controller:RT) CompactRIO를 사용하였다. 먼저는, 테스트 입력 신호를 전동기에 인가하고 얻은 출력신호를 통해 제어대상 플랜트인 직류전동기 구동시스템의 전달함수를 구할 수 있었다. 다음으로는 원하는 제어응답성능을 갖는 극점, 영점 제어기를 설계한 후, 모의실험을 통해 속도제어응답을 확인할 수 있었고, 실시간프로그램으로 다운로드하여 실제 전동기 구동시스템의 실험을 통해서 설계된 속도제어기의 응답 결과를 모의실험과 비교하여 검증하였다.

• 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.

• International Journal of Aerospace System Engineering
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• v.4 no.1
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• pp.13-21
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• 2017

In this paper, we present some results on performance analysis for flap actuation system of aircraft. For this, by utilizing MATLAB/Simulink solution, which is widely used physical model-based design tool, we particularly construct the architecture of the analysis model consisting of the main three phases: 1)commanding and outer-controlling the flap angle through flight control computer; 2)generating hydraulic/mechanical power through control module and power drive unit; 3)transmitting torque and actuating the flap through torque tube and rotary geared actuators. For mimicking the motion of the actual flap, we apply each mechanical component, which is already being used in actual aircraft, to our performance analysis model so that it guarantees the congruency of the simulation results. That is, we reflect the actual specifications of flap hardware and software as parameters of the model. Finally, simulation results are presented to illustrate the model.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.9 no.6
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• pp.41-48
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• 1995

In field oriented control of Induction motors, speed sensor is required, which reduces the sturdiness of drive system and together with the expenditure of hardware for faultless transmission and processing of sensor signals it causes considerable expenses. These expensive sensors can be replaced by speed sensorless concept. And for good control, the knowledge of the rotor flux component or the rotor resistance are needs. Thus, this paper is based on a Extended Kalman Filter (EKF) that estimates the state variables that are required for the control by only measuring the line voltages and currents of the machine. the rotor time constant and speed estimated by the EKF show satisfactory agreement with the real values, with the simulation approaches.

• KIEAE Journal
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• v.12 no.1
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• pp.113-118
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• 2012

The photovoltaic is one of the most important sustainable technologies appliable to architectures. The power performance mainly depends on the installation conditions of them. This study aims to evaluate the power performance of photovoltaic system by the installation conditions, the tracking methods and reflecting mirrors. For the study, the Solar Pro computer simulations have been conducted on installation angles, solar azimuth and solar altitude. Also, the field mock-up tests are performed to of its application to verify the simulation results. Both the results of the experiment and the simulation have proved that the efficiency of 90-degree fixed angle method was higher than that of 30-degree fixed angle, the efficiency of altitude tracking was better than that of azimuth tracking method, and changing both the altitude and the azimuth together is more efficient rather than the shortened tracing way. In addition, the light-concentrating method in which the incidence angle of the sun is controlled by an adhered reflector has been analyzed to have better efficiency than the general method of tracing according to the orbit of the sun. Therefore, this thesis is expected to offer the basic data to set a more effective tracing-type of photovoltaic power generation system in the future. For this, more researches are to be conducted hereafter on a high efficiency drive motor and the establishment of an economic system.

• Journal of Energy Engineering
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• v.19 no.2
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• pp.128-135
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• 2010

This paper introduces step by step procedures for the fabrication and operation of an embedded solar tracker. The system presented consists of application software, compactRIO, C-series interface module, analogue input module, step drive, step motor, feedback devices and other accessories to support its functional stability. CompactRIO that has a real-tim processor allows the solar tracker to be a stand-alone real time system which operates automatically without any external control. An astronomical method and an optical method were used for a high-precision solar tracker. CdS sensors are used to constantly generate feedback signals to the controller, which allow a solar tracker to track the sun even under adverse conditions. The database of solar position and sunrise and sunset time was compared with those of those of the Astronomical Applications Department of the U.S. Naval Observatory. The results presented here clearly demonstrate the high-accuracy of the present system in solar tracking, which are applicable to many existing solar systems.

• Journal of the Ergonomics Society of Korea
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• v.34 no.2
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• pp.85-101
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• 2015

Objective: The purpose of this study was to develop and evaluate smart secondary controls using iPad for the drivers with physical disabilities in the driving simulator. Background: The physically disabled drivers face problems in the operation of secondary control devices that accept a control input from a driver for the purpose of operating the subsystems of a motor vehicle. Many of conventional secondary controls consist of small knobs or switches that physically disabled drivers have difficulties in grasping, pulling or twisting. Therefore, their use while driving might increase distraction and workload because of longer operation time. Method: We examined the operation time of conventional and smart secondary controls, such as hazard warning, turn signal, window, windshield wiper, headlights, automatic transmission and horn. The hardware of smart secondary control system was composed of iPad, wireless router, digital input/output module and relay switch. We used the STISim Drive3 software for driving test, customized Labview and Xcode programs for interface control of smart secondary system. Nine subjects were involved in the study for measuring operation time of secondary controls. Results: When the driver was in the stationary condition, the average operation time of smart secondary devices decreased 32.5% in the normal subjects (p <0.01), 47.4% in the subjects with left hemiplegic disabilities (p <0.01) and 38.8% in the subjects with right hemiplegic disabilities (p <0.01) compared with conventional secondary devices. When the driver was driving for the test in the simulator, the average operation time of smart secondary devices decreased 36.1% in the normal subjects (p <0.01), 41.7% in the subjects with left hemiplegic disabilities (p <0.01) and 34.1% in the subjects with right hemiplegic disabilities (p <0.01) compared with conventional secondary devices. Conclusion: The smart secondary devices using iPad for people with hemiplegic disabilities showed significant reduction of operation time compared with conventional secondary controls. Application: This study can be used to design secondary controls for adaptive vehicles and to improve the quality of life of the people with disabilities.