• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.3
• /
• pp.356-363
• /
• 2014

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

• Journal of the Korea Society of Computer and Information
• /
• v.19 no.1
• /
• pp.1-8
• /
• 2014

In recent years, much attention has been paid to the development of intelligent vehicles that integrate automotive technology into the information technology, with the aim of improving user friendliness and stability. The representative function is a autonomous driving and a cruise control. In designing such vehicles, it is critical to address the real-time issues (i.e., real-time vehicle control and timely response). However, previous research excluded the real-time scheduling. We develop a model car with unmanned cruise control, design the real-time scheduler using cyclic executive to easily adapt the model car, and provide some insight into potential solutions based on various experiments.

• International journal of advanced smart convergence
• /
• v.9 no.2
• /
• pp.38-48
• /
• 2020

The shaking-off the dust from balustrade of higher stories may cause the higher risk of falling accident rate. Main purpose of this study was to quantify an effect of balustrade heights and blanket types on possibility of falling accident relative to one's motor controllability during shaking-off the dust of the blanket from balcony. Female participants, who consisted of total 10 under condition of balustrade height of 3 kinds (90 cm, 110 cm, 130 cm) and blanket types (0.4 kg, 1.6 kg, 3 kg, 200^⁎230 cm), performed repetitively the task of shaking-off the dust of the blanket. Vertical position and velocity of center of mass due to increase of blanket weigh in case of balustrade height of 90 cm was increased, but vertical ground reaction force was decreased swiftly. That is, the higher balustrade height was, the less distance difference between center of mass and center of pressure was.

• Proceedings of the KIPE Conference
• /
• 2010.07a
• /
• pp.240-241
• /
• 2010

Research on modification and replacement of conventional AC distribution system to DC distribution system has been widely conducted. When DC system is applied, it is possible to improve energy transferring efficiency because most of the home appliances are electric loads which require DC input voltage. Furthermore, compatibility with renewable energy sources and secondary batteries should be improved as they are DC based power sources. To design energy efficient DC system, it is important to understand the load characteristics of the electric devices. In this paper, the electric appliances are classified to 3 types: motor, heating, and electric loads and their typical power consumptions are shown. Load patterns of load which can be used in analyzing the designed system are modeled according the statistics. Feasibility of the developed load patterns are verified by applying it in distribution system design tool.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.18 no.2
• /
• pp.224-230
• /
• 2008

This paper is concerned with the active vibration control of building structure by means of the active tuned mass damper and the modified positive position feedback controller. To this end, one-degree-of-freedom spring-mass-damper system equipped with ATMD is considered. The stability condition for the addressed system when applying the proposed PPF controller is derived by Routh-Hurwitz stability criterion. The stability condition shows that the modified PPF controller is absolutely stable if the controller gain is positive. so that the modified PPF controller can be used without difficulty. Theoretical study shows that the modified PPF controller can effectively suppress vibrations as the original PPF controller does in smart structure applications. To investigate the validity of the modified PPF controller, a simple experimental structure with an ATMD system driven by DC motor was built. The modified PPF control algorithm was implemented on Atmel 128 microcontroller. The experimental result shows that the modified PPF controller can also suppress vibrations for the real structure.

• Smart Structures and Systems
• /
• v.9 no.5
• /
• pp.427-439
• /
• 2012

The present paper deals with the analytical solution of a functionally graded piezoelectric (FGP) cylinder in the magnetic field under mechanical, thermal and electrical loads. All mechanical, thermal and electrical properties except Poisson ratio can be varied continuously and gradually along the thickness direction of the cylinder based on a power function. The cylinder is assumed to be axisymmetric. Steady state heat transfer equation is solved by considering the appropriate boundary conditions. Using Maxwell electro dynamic equation and assumed magnetic field along the axis of the cylinder, Lorentz's force due to magnetic field is evaluated for non homogenous state. This force can be employed as a body force in the equilibrium equation. Equilibrium and Maxwell equations are two fundamental equations for analysis of the problem. Comprehensive solution of Maxwell equation is considered in the present paper for general states of non homogeneity. Solution of governing equations may be obtained using solution of the characteristic equation of the system. Achieved results indicate that with increasing the non homogenous index, different mechanical and electrical components present different behaviors along the thickness direction. FGP can control the distribution of the mechanical and electrical components in various structures with good precision. For intelligent properties of functionally graded piezoelectric materials, these materials can be used as an actuator, sensor or a component of piezo motor in electromechanical systems.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.1227-1232
• /
• 2008

High-speed train of push-pull type called as G7 train has been developed and chosen as the model of KTX-II which will be operated on Honam Line nexr year. However, the EMU-type high-speed train appeared to be the recent trend that foreign markets have shown. Also, in the near future, a great number of new train sets are needed to accommodate the increased passengers in our country. Thus, development of the high-speed EMU was decided, planned, and started. In the development, included were almost all fundamental key technologies such as noise and vibration reduction in a passenger cabin, running characteristics, aerodynamic analysis, crashworthiness evaluation, EMI/EMC analysis, design of the cooling system for the propulsion control system, enhanced performance of transformer and switching converters, synchronous traction motor with permanent magnets, new design of front nose and ergonomic interiors, application of advanced information technology(IT) and smart sensors and the cost reduction of construction of railway bridges, etc. Each key technologies are carried out as sub-project independently but under the supervision of a project. The project will develop the high advanced level of technologies and provide necessary know-why's and support the team in charge of the development of the high-speed EMU, Hyundai Rotem Co. Ltd. The high-speed EMU will be successfully developed with the support of the project.

• Smart Structures and Systems
• /
• v.8 no.2
• /
• pp.205-217
• /
• 2011

This article describes the research work involving the implementation of an Active Bracing System aimed at the modification of the initial dynamics of a laboratorial building structure to a new desired dynamics. By means of an adequate control force it is possible to assign an entirely new dynamics to a system by moving its natural frequencies and damping ratios to different values with the purpose of achieving a better overall structural response to external loads. In Civil Engineering applications, the most common procedures for controlling vibrations in structures include changing natural frequencies in order to avoid resonance phenomena and increasing the damping ratios of the critical vibration modes. In this study, the actual implementation of an active system is demonstrated, which is able to perform such modifications in a wide frequency range; to this end, a plane frame physical model with 4 degrees-of-freedom is used. The Active Bracing System developed is actuated by a linear motor controlled by an algorithm based on pole assignment strategy. The efficiency of this control system is verified experimentally by analyzing the control effect obtained with the modification of the initial dynamic parameters of the plane frame and observing the subsequent structural response.

• Journal of The Korean Society of Agricultural Engineers
• /
• v.61 no.4
• /
• pp.55-61
• /
• 2019

Motor pumps cannot be used in those areas where electricity is not accessible such as remote rural areas in many African countries. Hydraulic ram pump is one of the solutions for supplying water for irrigation or domestic uses. The hydraulic ram pumps are working based on the water hammer effect for pumping without external power or electricity. This study was conducted to investigate the effect of air chamber volume and operation parameters on the performance of the hydraulic ram pump which was assembled with common plumbing parts. The experimental results showed the volume of the air chamber did not affect the performance such as discharge rate and head. When drive heights were 1.7 and 2.35 m, the maximum discharge heads were up to 7 m and 10 m, respectively. When the air chamber volume was 1 L, discharge rates were 0.23 and 2.12 L/min under the drive heights of 1.7 and 2.35 m, respectively. The average energy efficiency of the hydraulic ram pump assembled in this study was about 60% for all the experimental conditions.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.17 no.6
• /
• pp.1293-1300
• /
• 2022

In this paper, research was conducted to prevent various safety accidents that may occur from infant vehicles carrying children and to use infant vehicles easier. In order to prevent the infant vehicle from driving without protection, a brake function is mounted on the infant vehicle wheels using a pressure sensor and a sub motor, and a pressure sensor and an LCD are used to determine whether a seat belt is fastened to prevent the infant from falling from the infant vehicle. In addition, it is designed to turn on the warning light when exceeding a certain temperature and humidity using LCD and LED so that infants can be in a pleasant environment when using a baby vehicle.