• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2067-2070
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• 2005

This paper presents an approach to evaluate the appropriate parameters for Piezoelectric ceramic utilization by adopting Impedance Method. Butterworth Van Dyke model (BVD) is considered to use as an equivalent circuit of Piezoelectric ceramic in case of no load. The experimental results from this model will be compared with the results from a circular Piezoelectric ceramic with 4.8 cm. diameter and 3 mm. thickness. The Thickness Mode vibration measured by Impedance Analyzer model 4192A can be analyzed from 1Hz to 13MHz for calculating and analyzing parameters at resonance frequency and anti-resonance frequency. These parameters are evaluated to design the efficient circuit for Piezoelectric ceramic utilization to obtain the optimal efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.156.3-156
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• 2001

This paper handles synthesis and investigation of a neural network guidance law based on pursuit-evasion games. This work considers two-dimensional pursuit-evasion games solved by using the gradient method. The procedure of developing a guidance law from the game-optimal solutions is deeply examined, and important features of the neural network guidance are investigated. The proposed neural network guidance law takes the range, range rate, line-of-sight rate, and heading error as its input variables. By reconstructing the trajectory, the accuracy of the neural network approximation is verified. Afterwards, robustness of the neural network guidance to the autopilot lag, which results from its feedback structure, is investigated ...

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.59-60
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• 2010

BLDC 모터는 고출력, 저소음, 제어 용이성 등의 장점을 가져 산업/차량/로봇등 산업 전반에 걸쳐 많은 응용 분야를 가진다. 이러한 BLDC 모터는 고속 및 큰 부하에서 Back EMF 대비 전류의 지상 성분이 발생하여 상전류 증가 및 전체 효율을 떨어뜨린다. 이에 본 연구에서는 BLDC 모터의 상전류와 Back EMF의 위상을 일치시키기 위하여 전류 동적 특성을 이용한 Lead angle의 양을 계산하는 기법을 제안하였다. 제안된 기법은 실험을 통하여 그 효용성을 증명하였다.

• Journal of information and communication convergence engineering
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• v.5 no.1
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• pp.73-77
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• 2007

This paper discusses the implementation of a rehabilitation center based on a ubiquitous sensor network. This paper discusses the implementation of a rehabilitation center based on a ubiquitous sensor network. We recognize that certain mild conditions requiring rehabilitation may be treated with minimal human supervision. In place of this constant human supervision, a variety of sensors are used to monitor the patient and rehabilitation progress. These sensors send data through a wireless Zigbee network to a server which stores the data and makes it available to a rehabilitation expert for analysis. This rehabilitation expert also issues rehabilitation prescriptions which are created based on the expert's determination of the patient's condition. By having the ability to control the rehabilitation equipment used, strictly enforce the assigned prescription, and constantly monitor the patient for any warning signs, the system ensures a safe and optimal rehabilitation session.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.11
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• pp.5343-5364
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• 2016

Considering the tradeoff between energy consumption and outage behavior in buffer-aided relay selection, a novel energy-efficient buffer-aided optimal relay selection scheme with power adaptation and Inter-Relay Interference (IRI) cancellation is proposed. In the proposed scheme, energy consumption minimization is the objective with the consideration of relay buffer state, outage probability and relay power control, in order to eliminate IRI. The proposed scheme selects a pair of optimal relays from multiple candidate relays, denoted as optimal receive relay and optimal transmit relay respectively. Source-relay and relay-destination communications can be performed within a time-slot, which performs as Full-Duplex (FD) relaying. Markov chain model is applied to analyze the evolution of relay buffer states. System steady state outage probability and achievable diversity order are derived respectively. In addition, packet transmission delay and power reduction performance are investigated with a specific analysis. Numerical results show that the proposed scheme outperforms other relay selection schemes in terms of outage behavior with power adaptation and IRI cancellation in the same relay number and buffer size scenario. Compared with Buffer State relay selection method, the proposed scheme reduces transmission delay significantly with the same amount of relays. Average transmit power reduction can be implemented to relays with the increasing of relay number and buffer size, which realizes the tradeoff between energy-efficiency, outage behavior and delay performance in green cooperative communications.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.777-784
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• 2006

The lateral dynamic behaviours of a track inspection vehicle with laterally guided system are studied for the safety and comfort. A 10-DOF dynamic model is proposed counting for lateral and yaw motions. The equations for motions of the vehicle running on curved tracks at a constant speed are presented. It is shown by simulation that lateral guiding forces applied to the guiding wheels on the inner side of the track increase in a larger scale in comparison with those on the outer side when the vehicle passes through curved tracks with cant, and the front guiding spring forces is larger than the rears. Lateral vibrations due to yaw motions of the vehicle take place when the vehicle runs through curved tracks. Finally, effect of the lateral guidance on the vehicle dynamics is also examined and advantages of such a guiding system are discussed in some details. An optimal guided control is applied to restrain the lateral and yaw motions. The comparisons between the active and passive guidance explain the effect of the active control approaches.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Journal of the Korean Applied Science and Technology
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• v.16 no.3
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• pp.249-254
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• 1999

The N-docosyl N'-methyl viologen-$(TCNQ)_2$, (DMVT) was synthesized. We investigated the ${\pi}-A$ isotherm of DMVT to find the optimal deposition condition. Temperature-dependent current-voltage characteristics of the DMVT LB films shows that there is an increase in conductivity at 330K or so. The in-plane electrical conductivity at room temperature is in the range of $10^{-7}{\sim}10^{-6}S/cm$. From the plot of logarithmic conductivity as a function of reciprocal temperature, two types of activation energies, 0.04eV and 0.73eV, were obtained depending on the temperature range. The Ohmic behaviour was observed below 0.6V and the Schottky effect was confirmed at $2.5{\sim}6V$, when the I-V characteristics was measured with Al/LB film/Al structure. I-V measurement for Al/LB film/ITO structure showed the asymmetrical I-V relationship, which resulted from the rectification property.

• Environmental Engineering Research
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• v.17 no.1
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• pp.17-25
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• 2012

Concern about green water problem has surfaced as a serious issue in Korea. In order to solve this problem, it is necessary to research inhibition of green water and corrosion control of copper pipe in water service. This paper discovered that moderate corrosion inhibitors can solve the green water problem and copper corrosion in water service by adding the optimal concentration of corrosion inhibitors based on regulation. Firstly, in the case of phosphate based corrosion inhibitors, as dosage of the corrosion inhibitor increases from 1 mg/L to 5 mg/L, the relative effect of corrosion inhibitor declines rapidly. Secondly, except for 1 mg/L dosage of silicate based inhibitor, relative effects of the inhibitor displays a positive number depending on inhibitor concentration. The most significant result is that the amount of copper release shows a downward trend, whereas the phosphate based inhibitor accelerates copper ion release as the inhibitor dosage increases. Thirdly, as the dosage of mixed inhibitors increases to 10 mg/L, the copper release change shows a similar trend of phosphate based inhibitor. Lastly, according to the Langelier saturation index (LI), silicate based inhibitors have the most non corrosive value. Larson ratio (LR) indicates that phosphate based inhibitors are the least corrosive. Korea water index (KWI) represents that silicate based inhibitors are most effective in controlling copper pipe corrosion.

• Journal of the Semiconductor & Display Technology
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• v.5 no.4 s.17
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• pp.1-4
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• 2006

Recently, with rapid development of digital media like semiconductor and large flat panel display, the manufacturing equipment is required to have high precision over large travel range. Moreover it should have high product throughput. To achieve high product throughput, a controller should perform fast point-to-point motion and high precision positioning after settling in spite of external disturbances or residual vibrations. We proposed a new mode switching control algorithm with an application to dual stage for long range and high precision positioning. The proposed algorithm uses a proximate time-optimal servomechanism for the fast settling and a time-delay controller for the high precision positioning. Experimental results show that the proposed method enables smooth mode switching and improves the settling time and the precision accuracy after settling by over than 33% and 45%, respectively.