• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.347-354
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• 2000

This paper presents performance characteristics of a semi-active suspension featuring continuously variable ER (electro-rheological) dampers. These are evaluated through the field test of a passeng er car. Four ER dampers (two for front and two for rear part) are manufactured and their field-dependent damping properties are experimentally investigated. The damping force responses to step input fields are also identified by employing small size of high voltage amplifiers which are made adaptable to the field test. A skyhook controller considering the vertical, pitch and roll motions is formulated and incorporated with a car to be tested. The field test is then undertaken in order to evaluate both comfortability and steering stability showing bump, dive and squat responses.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.2
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• pp.48-56
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• 2001

This paper presents the position tracking control of a closed-loop cylinder system using electro-rheological (ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system, Sliding mode controllers are the designed for these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.322-324
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• 1994

The 2nd prototype LPM is designed as single side stator structure for improving the thrust force and acceleration time. Experimental results are shown that the static and dynamic characteristics are improved compared with the 1 st prototype. By the computer simulation, the permanent magnet design method is also clarified to desired thrust force. And microstep driver is adopted to the position controller to the designed LPM. The driver suppressed position errors within 1/10 pitch.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.10
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• pp.497-504
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• 2005

For maximum output power, wind turbines are usually controlled at the speed which is determined by the optimal tip-speed ratio. This method requires information of wind speed and the power conversion coefficient which is varied by the pitch angle control. In this paper, a new maximum output power control algorithm using fuzzy logic control is proposed, which doesn't need this information. Instead, fuzzy controllers use information of the generator speed and the output power. By fuzzy rules, the fuzzy controller produces a new generator reference speed which gives the maximum output power of the generator for variable wind speeds. The proposed algorithm has been implemented for the 3[kW] cage-type induction generator system at laboratory, of which results verified the effectiveness of the algorithm.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2643-2645
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• 2005

The power source of inverter welder stable power of low voltage and high current. Because if shouldn't be, it is caused to spark between the parent metal and the peak. So that, we designed to be base on high frequency transformer and reactor of DC part. Then, we optimized control of PWM, current rising slant, voltage, current, pulse current and inverter out-put voltage. Also we designed PCB for EMI and noises.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.871-878
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• 2003

With the development of micro -technology, the demand for micro actual ing device is increasing. But, it is difficult to achieve high resolution and wide bandwidth with the conventional contact systems. So, the contact-free systems which are suspended or levitated by magnetic force or air bearing were proposed. These systems can be applied to high precision stages and alignment apparatuses. This paper describes a magnetically suspended system with four degrees of freedom which are composed of three rotations (roll, pitch, yaw), and one translation ( z). The operating principle and the structure of the system are similar to variable reluctance type electric machines. In this study, the force analysis is executed using magnetic circuit and virtual work principle, and the equations that describe the dynamics of the system are presented. The multivariable PID controller is adapted to the system and the experiment is executed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.917-921
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• 2000

One of the major limitations of productivity and quality in machining is machining accuracy of the machine tools. The machining accuracy is affected by geometric, volumetric errors of the machine tools. This paper suggests the enhancement method of machining accuracy for precision machining of high quality metal reflection mirror or optics lens, etc. In this paper, we study 1) the compensation of linear pitch error with NC controller compensation function using laser interferometer measurement, 2) the method for enhancing the accuracy of NC milling machining by modeling and compensation of volumetric error, 3) the generation of the parabolic face profile. And the method is verified by the parabolic face machining experiment with a vertical three axes NC milling machine. After this study, we will inspect using On-machine measurement and study the repetitive machining by a compensated path