• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.963-968
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• 2005

For worm robots applied to pipe inspection and colonoscopy, earthworm-like robots that have a locomotion pattern in backward wave or green caterpillar-like robots that have a locomotion pattern in forward wave have been studied widely. Note however that a method using a single and fixed locomotion pattern is not desirable in the sense of mobility cost, if there are various changes in pipe diameter. In this paper, locomotion patterns are considered for a semi-looper-like robot, which adopts a locomotion pattern of green caterpillars as the basic motion and sometimes can realize a locomotion pattern of looper, whose motion approximately consists of two rhythms or relatively low rhythm.

• International Journal of Fluid Machinery and Systems
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• v.2 no.3
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• pp.223-231
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• 2009

Experimental investigations were conducted for the internal flows of the axial flow stator and diagonal flow rotor. Corner separation near the hub surface and the suction surface of stator blade are mainly focused on. For the design flow rate, the values of the axial velocity and the total pressure at stator outlet decrease between near the suction surface and near the hub surface by the influence of corner wall. For the flow rate of 80-90% of the design flow rate, the corner separation of the stator between the suction surface and the hub surface is observed, which becomes widely spread for 80% of the design flow rate. At rotor outlet for 81% of the design flow rate, the low axial velocity region grows between near the suction surface of rotor and the casing surface because of the tip leakage flow of the rotor.

• International Journal of Fluid Machinery and Systems
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• v.6 no.1
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• pp.18-24
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• 2013

In order to apply the design method of diagonal flow fan based on axial flow design to the design of radial-outflow type diagonal flow fan which has lower specific speed of 600-700 [$min^{-1}$, $m^3/min$, m], radial-outflow type diagonal flow fan which specific speed was 670 [$min^{-1}$, $m^3/min$, m] was designed by a quasi three-dimensional design method. Experimental investigations were conducted by fan characteristics test, flow surveys by a five-hole probe and a hot wire probe. Fan characteristics test agreed well with the design values. In the flow survey at rotor outlet, the characteristic region was observed. Two flow phenomena are considered as the cause of the characteristic region, one is tip leakage vortex near rotor tip and another is pressure surface separation on the rotor blade.

• 한국전산유체공학회:학술대회논문집
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• 2003.10a
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• pp.187-188
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• 2003

In order to control the transonic flow field with shock wave, a condensing flow was produced by an expansion of moist air on a circular bump model and shock waves were occurred in the supersonic parts of the fields. Furthermore, the additional passive technique of shock - boundary layer interaction using the porous wall with a cavity underneath was adopted in this flow field. The effects of these methods on the shock wave characteristics were investigated numerically. The result showed that the flow fields might be effectively controlled by the suitable combination between non-equilibrium condensation and the position of porous wall.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.505-508
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• 1995

The automatic interpretation of awake background electroencephalogram (EEG), consisting of quantitative EEG interpretation and EEG report making, has been developed by the authors based on EEG data visually inspected by an electroencephalographer (EEGer). The present study was focused on the adaptability of the automatic EEG interpretation which was accomplished by the constructive neural network with forgetting factor. The artificial neural network (ANN) was constructed so as to give the integrative decision of the EEG by using the input signals of the intermediate judgment of 13 items of the EEG. The feature of the ANN was that it adapted to any EEGer who gave visual inspection for the training data. The developed method was evaluated based on the EEG data of 57 patients. The re-trained ANN adapted to another EEGer appropriately.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.157-160
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• 1999

A prediction method of conditional event matching pre-diction (EMP) for a purpose of predicting nonlinear phenomena of insulator pollution was proposed in this paper. The EMP was used if the conditional probability for increase of insulator pollution exceeded a threshold value. A performance of the EMP was strongly related to selection of database of events and a closeness function. By use of the prediction of the insulator pollution based on the conditional EMP, reliable decision making for the washing timing of the polluted insulators was e-valuated based on actual data in Kasatsu substation, Japan.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.464-473
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• 2003

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1300-1305
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• 1990

A VSS observer-based sliding mode control is described for continuous-time systems with uncertain nonlinear elements, in which the Euclidean norm of unknown element is bounded by a known value. For a case of complete state information, we first derive a sliding mode controller consisting of three parts: a linear state feedback control, an equivalent input and a min-niax control. It is then shown that the present attractiveness condition is simpler than that for a case without using the concept of equivalent input. We next design a VSS observer as a completely dual form to the sliding mode controller. Finally, we discuss a cas of incomplete state information by applying the VSS observer.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.220-227
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• 2004

This paper describes the design and implementation techniques of a generic Internet-based telerobotic system. The purpose is to make available the precious technical information and hands-on experience of the authors for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST, Korea and Saga University, Japan. In its current functionality, two control modes: high-level supervisory control and low-level supervisory control are explored demonstrating their merits and demerits.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.841-846
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• 1998

The superconducting permanent current switch (PCS) is an important component to build MRI system. This switch uses a thermal and / or magnetic super-to-normal phase transition of the superconductor. Unfortunately, in the past it was not designed for using in line frequency. We made some superconducting power electronics devices operating up to 100 Hz [1]. The results of development and preliminary studying of the hear controlled S-PED up to line frequency are presented.