• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1513-1519
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• 2000

This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.

• Journal of Electrical Engineering and Technology
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• v.3 no.3
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• pp.444-449
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• 2008

This study aims at compensation of the skin moisture level using skin impedance and SR factor. SR factor is related with the current diffusion into the skin layer. To efficiently analyze the current diffusion on the skin model, we used an electromagnetic simulation program called Ansys 10.0 Emag. We confirmed that the measured value decreases as the electric current gets more diffused to the layer below the horny layer. In order to conduct actual experiments based on the simulated result, we manufactured special electrodes with 24 pins by arranging 0.8mm-diameter electrodes every 0.5mm, in a $3{\times}8$ array. By simultaneously achieving both impedance value and SR value of skin with the manufactured electrodes, we compared the skin moisture level using the existing equipment to the skin moisture level applied using the skin impedance as well as the SR factor developed in this study. The correlation coefficient between the skin moisture level achieved from the existing equipment and the reference value was 0.615 (p<0.01), whereas the correlation coefficient between the skin moisture achieved from the regression equation in this study was 0.677 (p<0.01). Accordingly, it was confirmed that applying SR factor additionally improves the moisture level more precisely.

• Journal of Power Electronics
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• v.16 no.5
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• pp.1981-1989
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• 2016

Battery diagnosis is vital to battery-based applications because it ensures system reliability by avoiding battery failure. This paper presents a novel intelligent battery charger with an online diagnosis function to circumvent interruptions in system operation. The charger operates in normal charging and diagnosing modes. The diagnosis function is performed with the impedance spectroscopy technique, which is achieved by injecting a sinusoidal voltage excitation signal to the battery terminals without the need for additional hardware. The impedance spectrum of the battery is calculated based on voltage excitation and current response with the aid of an embedded digital lock in amplifier in a digital signal processor. The measured impedance data are utilized in the application of the complex nonlinear least squares method to extract the battery parameters of the equivalent circuit. These parameters are then compared with the reference values to reach a diagnosis. A prototype of the proposed charger is applied to four valve-regulated lead-acid batteries to measure AC impedance. The results are discussed.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.373-376
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• 2000

Coplanar-type MIS transmission lines have been simulated using FDTD method and compared with the measured results and the simulated results of the reference paper［3］. We can confirm that our simulation results are similar to measured results compared to the previous simulated results of the reference paper. Moreover, variations of characteristic impedance by insulator thickness are calculated for the insulator thickness of 0.0,0.5 and 1.0$\mu\textrm{m}$.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.6
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• pp.585-592
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• 2003

The parallel operation system of UPS is used to increase reliability of power source at critical load. But parallel UPS system has a few defects, impedance is different from each other and circulating current occurs between UPSs, due to line impedance and parameter variation, though controlled by the same synchronization signal. According to such characteristic of parallel UPS, balanced load-sharing control is the most important technique in parallel UPS operation. In this paper, a novel power deviation compensation algorithm is proposed. it is composed of voltage controller to compensate power deviation that be calculated by using active and reactive current deviation between Inverters on synchronous d-q reference frame.

• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.155-163
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• 2023

Auto Guided Vehicle (AGV) equipped with mecanum wheels can move in all directions, unlike ordinary wheeled AGVs. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled AGVs in the presence of disturbances. It is constructed by combining impedance control with Integral Sliding Mode Control (ISMC), which shows robust performance against disturbances, and adding a disturbance observer (DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used. In addition, the performance of the proposed control method was verified through experiment. It shows the result of tracking the set trajectory well.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.7
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• pp.335-342
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• 2005

This paper presents a circuit to generate the current reference signal for single-phase harmonic elemination systems. Some of conventional methods for the current reference signal generation based on neural network algorithms. It requires complex circuitry to implement. the simplest method is to use analog filters. but it is difficult to obtain good current reference signals. So, we propose the harmonic detection circuit using GIC(Generalized Impedance Converter) for the purpose of low cost ,simple circuitry and high performance, Simulation and experimental results verify that the proposed circuit has better harmonic detection performance than conventional circuit.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.2
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• pp.133-141
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• 2010

Grounding system insures a reference potential point for electric devices and also provides a low impedance path for fault currents in the earth. The ground impedance as function of frequency is necessary for determining its performance since fault currents could contain a wide range of frequencies. Copper and concrete rod electrodes are the most commonly used grounding electrode in electric distribution systems. In this paper, the ground impedance of copper and concrete rods has been measured by frequency and time domain characteristic tests. An equivalent transfer function model of the ground impedance is identified from the measured values by using ARMA method and evaluated by comparing conventional grounding impedances.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.2
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• pp.9-15
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• 2010

Grounding insures a reference potential point for electric devices and also provides a law resistance path for fault or transient currents in the earth. The grounding impedance as a function of frequency is necessary for determining its performance since fault or transient currents could contain a wide range of frequencies. A concrete rod electrode is one of the commonly used grounding electrodes in electric distribution systems. In this paper, the grounding impedance of concrete rods has been measured in frequency raging from 60[Hz] up to 100[kHz] and an equivalent model of the grounding impedance is identified from the measured values. The grounding impedance under study when a typical lightning surge is injected into the grounding system was simulated numerically and graphically through the use of the EDSA software program.