• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 F
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• pp.2671-2673
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• 1999

Front end AC to DC converters of the boost type are used in traction applications for generating the DC link for the inverters. A GTO based converter is usually switched with a switching frequency of 300 to 500Hz, resulting in low frequency harmonic problems. In order to avoid this, multiple converters with phase shifted carrier signals are used to suppress the low frequency harmonics. A detailed study of an AC to DC converter, parallel operated with reduced sensor and improved power-factor in light load conditions is presented in this paper.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2011년도 추계학술대회 초록집
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• pp.49.2-49.2
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• 2011

본 논문에서는 대용량 태양광 PCS의 병렬운전 알고리즘에 대해 제안한다. 제안한 알고리즘은 dc-link 전압을 이용하여 PCS를 독립적으로 제어한다. 일반적으로 태양광 PCS는 정격용량 또는 그 근처에서 최대 효율을 낸다. 제안한 알고리즘은 일사량이 적을 시 일부 PCS만 작동하도록 하여 전력 변환 효율을 높인다. 항상 모든 PCS가 작동하는 것이 아니라 필요한 수량만 작동하도록 하고, 작동하는 PCS도 순차적으로 바꿔서, 전제 시스템의 수명을 늘리는 효과도 있다. 또한 일부 PCS가 고장이 날 경우 다른 PCS가 작동하도록 하여 태양광 발전이 멈추지 않고 계속 발전할 수 있도록 한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 통신소사이어티 추계학술대회논문집
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• pp.113-116
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• 2003

In this paper, we propose a dynamic parallel channel allocation mechanism that dynamically controls total number of allocation channels of each subscriber to effectively service user bandwidth demands while high utilization and fairness are guaranteed in WDM based optical access networks. The logical performance gain of statistical multiplexing by dynamic channel allocation is validated with analytic method as well as simulations. We also introduce the adaptive padding scheme in order to efficiently distribute forwarded frames to aggregated multi-link channels which are formed by parallel channel allocation mechanism. The proposed scheme shows the performance enhancement by minimizing unnecessary padding size and the processing time.

• 대한기계학회논문집A
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• 제20권2호
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• pp.414-430
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• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권12호
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• pp.723-731
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• 2005

The $4{\times}4$ homogeneous transformation matrix is a compact representation of orientation and position of an object in robotics and computer graphics. A coordinate transformation is accomplished through the successive multiplications of homogeneous matrices, each of which represents the orientation and position of each corresponding link. Thus, for real time control applications in robotics or animation in computer graphics, the fast multiplication of homogeneous matrices is quite demanding. In this paper, a parallel-architecture vector processor is designed for this purpose. The processor has several key features. For the accuracy of computation for real application, the operands of the processors are floating point numbers based on the IEEE Standard 754. For the parallelism and reduction of hardware redundancy, the processor takes column vectors of homogeneous matrices as multiplication unit. To further improve the throughput, the processor structure and its control is based on a pipe-lined structure. Since the designed processor can be used as a special purpose coprocessor in robotics and computer graphics, additionally to special matrix/matrix or matrix/vector multiplication, several other useful instructions for various transformation algorithms are included for wide application of the new design. The suggested instruction set will serve as standard in future processor design for Robotics and Computer Graphics. The design is verified using FPGA implementation. Also a comparative performance improvement of the proposed design is studied compared to a uni-processor approach for possibilities of its real time application.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.

• 한국정밀공학회지
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• 제26권10호
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• pp.47-55
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• 2009

In this study, a robot foot having toes for firm stepping on uneven surface is proposed. The toes are connected to the lower leg by parallel links so that the lower leg can rotate in the rolling and pitching directions during stance phase without ankle joint. The landing performance of the foot on uneven surface was evaluated by relative comparison with that of the most common foot making point contact with the walking surface, since the test conditions considering real uneven surface could be hardly defined for its objective evaluation. Anti-slip margin(ASM) was defined in this study to express the slip resistance of a robot foot when it lands on a projection with half circular-, triangular- or rectangular cross section, assuming that uneven surface consists of projections having these kind of cross sections in different sizes. Based on the ASM analysis, the slip conditions for the two feet were experimentally confirmed. The results showed that the slip resistance of the new foot is not only higher than that of the conventional point contact type foot but also less sensitive to the surface friction coefficient.

• 한국정밀공학회지
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• 제29권9호
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• pp.971-977
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• 2012

Redundant actuated parallel kinematic machines (PKMs) have been widely researched to increase stiffness of PKMs. This paper presents theoretical analyses on the stiffness of non-redundant and redundant actuated PKM. Stiffness of each mechanism is defined by summation of actuator and structural stiffness; the actuator stiffness is determined from displacements of actuators, and the structural stiffness is determined from deformations of links by external forces. Calculated actuator and structural stiffness of non-redundant PKM show same distribution in entire workspace. On the contrary, the actuator and the structural stiffness of a redundant PKM has very different distribution in the workspace; so, we conclude the structural stiffness of redundant PKM should be considered to design the redundant PKM. The results can be used to design and analyze non-redundant and redundant PKMs.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1996년도 창립기념 전력전자학술발표회 논문집
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• pp.109-112
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• 1996

In this paper, we composed utility interactive photovoltaic generation system of current source inverter, and controlled that low harmonic and high power factor are hold by supposing control and compensation method which is concerned with synchronous signal distortion and modulation delay. And we put parallel resonant circuit into dc link, so, magnitude of direct reactance was reduce by restraining direct current pulsation which had accumulation of pulsating power in alternating electrolytic condenser. Also we controlled that modulation factor is operated around maximum output of solar cell.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.358-361
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• 1999

In auxiliary block of high speed train power factor correction and harmonics reduction is very important issue for efficient energy transport. The GTO-equipped PWM converter is used for traction untill resently. But the rising power capability of IGBTs resently allows to build IGBT-equipped PWM converter with a considerably increased switching frequency. This paper presents switching pattern, control method, operation mode and tuned filter to reduce dc link voltage ripple for paralleled converter.