• Journal of Drive and Control
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• v.13 no.2
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• Smart Structures and Systems
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• v.9 no.6
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• pp.535-547
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• 2012

Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a $3{\times}5$ flexible piezoelectric tactile sensor array is developed to provide a foot pressure map and zero moment point for a biped robot. We introduce an innovative concept involving structural electrodes on a piezoelectric film in order to improve the sensitivity. The tactile sensor consists of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber bump-like structure is attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results show that the output signal of the sensor exhibits a linear behavior within 0.2 N ~ 9 N, while its sensitivity is approximately 42 mV/N. According to the characteristic of the tactile sensor, the readout module is designed for an in-situ display of the pressure magnitudes and distribution within $3{\times}5$ taxels. Furthermore, the trajectory of the zero moment point (ZMP) can also be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to the in-situ feedback to control the balance of moment for a biped robot.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.306-312
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• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

• Nuclear Engineering and Technology
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• v.56 no.1
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• pp.189-194
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• 2024

This paper presents a radiation-hardened-by-design preamplifier that utilizes a self-compensation technique with a charge-sensitive amplifier (CSA) and replica for total ionizing dose (TID) effects. The CSA consists of an operational amplifier (OPAMP) with a 6-bit binary weighted current source (BWCS) and feedback network. The replica circuit is utilized to compensate for the TID effects of the CSA. Two comparators can detect the operating point of the replica OPAMP and generate appropriate signals to control the switches of the BWCS. The proposed preamplifier was fabricated using a general-purpose complementary metal-oxide-silicon field effect transistor 0.18 ㎛ process and verified through a test up to 230 kGy (SiO₂) at a rate of 10.46 kGy (SiO₂)/h. The code of the BWCS control circuit varied with the total radiation dose. During the verification test, the initial value of the digital code was 39, and a final value of 30 was observed. Furthermore, the preamplifier output exhibited a maximum variation error of 2.39%, while the maximum rise-time error was 1.96%. A minimum signal-to-noise ratio of 49.64 dB was measured.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.49 no.1
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• pp.15-24
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• 2012

In this paper, we suggest the dynamic-response-free SMPS using a new high-resolution DPWM generator based on switched-capacitor delay technique. In the proposed system, duty ratio of DPWM is controlled by voltage slope of an internal capacitor using switched-capacitor delay technique. In the proposed circuit, it is possible to track output voltage by controlling current of the internal capacitor of the DPWM generator through comparison between the feedback voltage and the reference voltage. Therefore the proposed circuit is not restricted by the dynamic-response characteristic which is a problem in the existing SMPS using the closed-loop control method. In addition, it has great advantage that ringing phenomenon due to overshoot/undershoot does not appear on output voltage. The proposed circuit can operate at switching frequencies of 1MHz~10MHz using internal operating frequency of 100 MHz. The maximum current of the core circuit is 2.7 mA and the total current of the entire circuit including output buffer is 15 mA at the switching frequency of 10 MHz. The proposed circuit has DPWM duty ratio resolution of 0.125 %. It can accommodate load current up to 1 A. The maximum ripple of output voltage is 8 mV. To verify operation of the proposed circuit, we carried out simulation with Dongbu Hitek BCD $0.35{\mu}m$ technology parameter.

• Korea Science and Art Forum
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• v.30
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• pp.453-464
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• 2017

With the development of IT technology, various smart products and services have been spread in our daily life, providing users with convenience and emotional satisfaction. Particularly, input and output technologies, sensor technologies, and intelligent system technologies have offered new opportunities for diverse interaction patterns and new user experiences. This research started from the interest in the idea generation of product designers who need to combine various technological aspects with users' needs. The goal of this research is to propose an interaction design framework which can be used in an idea generation stage. To do so, first, the concept and characteristics of smart products were studied through literature reviews, and the interaction technologies, including input/output modality and context-aware technologies, were also investigated. Then, the frameworks that have been proposed in the deisgn fields were reviewed. This paper finally proposed the interaction design framework and explained its application to the idea generation, using several case studies. The proposed framework consists of four categories: product components, context-awareness elements, information input elements, and feedback output elements. Each of these are divided into several sub-categories, focused on users' needs. Sub-categories includes some elements of interaction, and each of the elements is explained with an existing smart product/system. The paper also describes how the proposed framework would be used in the idea generation process, using some design ideation examples. In the future study, more various concept ideas will be proposed through some elaborated case studies, and the framework is expected to be verified in terms of its possibility as an idea generation tool.

• Korean Journal of Construction Engineering and Management
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• v.19 no.2
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• pp.15-24
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• 2018

Despite the recognition of the need for productivity information and its importance, the feedback of productivity information is not well-established in the construction industry. Effective use of productivity information is required to improve the reliability of construction planning. However, in many cases, on-site productivity information is hardly management effectively, but rather it relies on the experience and/or intuition of project participants. Based on the literature review and expert interviews, the authors recognized that one of the possible solutions is to develop a systematic approach in dealing with productivity information of the construction job-sites. It is required that the new system should not be burdensome to users, purpose-oriented information management, easy-to follow information structure, real-time information feedback, and productivity-related factor recognition. Based on the preliminary investigations, this study proposed a framework for a novel system that facilitate the effective management of construction productivity information. This system has utilized Sketchup software which has good user accessibility by minimizing additional data input and related workload. The proposed system has been designed to input, process, and output the pertinent information through a four-stage process: preparation, input, processing, and output. The inputted construction information is classified into Task Breakdown Structure (TBS) and Material Breakdown Structure (MBS), which are constructed by referring to the contents of the standard specification of building construction, and converted into productivity information. In addition, the converted information is also graphically visualized on the screen, allowing the users to use the productivity information from the job-site. The productivity information management system proposed in this study has been pilot-tested in terms of practical applicability and information availability in the real construction project. Very positive results have been obtained from the usability and the applicability of the system and benefits are expected from the validity test of the system. If the proposed system is used in the planning stage in the construction, the productivity information and the continuous information is accumulated, the expected effectiveness of this study would be conceivably further enhanced.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.434-440
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• 2023

This paper propose the method that measure the main system parameters for current control of a.c. motor adopting the vector control technique. The automatical method that tuning PI control gains for current control of servo motors are used frequently through the information of main system parameters, wire resistance and inductance. In this study, the techniques to measure these two system parameters through the control of 3-phase inverter are presented. These control and measuring method are implemented by measuring output phase current obtained as a results of the step current control using simple proportional feedback input. Moreover, this method use freewheeling current of inverter at special switching mode for measuring inductance. This analytic strategy is could measure and calculate the system parameters without the complex measurement algorithm and new additional measuring circuits. That is could measure the total resistance and total inductance including wiring resistance and conduction resistance of switching devices using real driving circuits to control the motors.

• Journal of Korean Society of Transportation
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• v.20 no.7
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• pp.177-183
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• 2002

Current state-of-the-art of VMS control is based upon simple knowledge-based inference engine with message set and each message's priority. And R&Ds of the VMS control are focused on the accurate detection and estimation of traffic condition of the subject roadways. However VMS display itself cannot achieve a desirable traffic allocation among alternative routes in the network In this context, VMS display strategy is the most crucial part in the VMS control. VMS itself has several limitations in its nature. It is generally known that VMS causes overreaction and concentration problems, which may be more serious in urban network than highway network because diversion should be more easily made in urban network. A feedback control algorithm is proposed in this paper to address the above-mentioned issues. It is generally true that feedback control approach requires low computational effort and is less sensitive to models inaccuracy and disturbance uncertainties. Major features of the proposed algorithm are as follows: Firstly, a regulator is designed to attain system optimal traffic allocation among alternative routes for each VMS in the network. Secondly, strategic messages should be prepared to realize the desirable traffic allocation, that is, output of the above regulator. VMS display strategy module is designed in this context. To evaluate Probable control benefit and to detect logical errors of the Proposed feedback algorithm, a offline simulation test is performed using real network in Daejon, Korea.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.3 s.345
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• pp.1-9
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• 2006

In this paper, we propose a MIMO-OFDMA (Multi Input Multi Output-Orthogonal Frequency Division Multiple Access) system based on beamforming for performance improvement of downlink real-time traffic transmission in harsh channel conditions with low CIR (Carrier-to-Interference Ratio). In the proposed system, we first consider the M-GTA-SBA (Modified-Grouped Transmit Antenna-Simple Bit Allocation) using effective CSI (Channel State Information) calculation procedure based on spatial resource grouping, which is adequate for the combination of MRT (Maximum Ratio Transmission) in the transmitter and MRC (Maximum Ratio Combining) in the receiver. In addition, to reduce feedback information for the beamforming, we also apply QEGT (Quantized Equal Gain Transmission) based on quantization of amplitudes and phases of beam weights. Furthermore, considering multi-user environments, we propose the P-SRA (Proposed-Simple Resource Allocation) algorithm for fair and efficient resource allocation. Simulation results reveal that the proposed MIMO-OFDMA system achieves significant improvement of spectral efficiency in low CRI region as compared to a typical open-loop MIMO-OFDMA system using pseudo-orthogonal space time block code and H-ARQ IR (Hybrid-Automatic Repeat Request Incremental Redundancy).