• Journal of the Korea Convergence Society
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• v.11 no.11
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• pp.195-201
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• 2020

This paper implemented quadcopter-type drone system and proposed the heuristic method for obtaining the optimum gain coefficients in order to minimize the settling time. Control system for quadcopter posture stabilization reads the posture data from accelerator and gyro sensor, revises the original posture data using Mahony filter, and drives 4 DC motors using PID controller. The first step of the proposed method is to obtain the gain coefficients using the Ziegler-Nichols method, and then determine the optimum gain coefficients using the heuristic method at the next 3 steps. The experimental result shows that the maximum overshoot decreases from 44.3 to 29.8 degrees and the settling time decreases from 2.6 to 1.7 seconds compared to the Ziegler-Nichols method. Therefore, we proved that the proposed method works well in quadcopter flight system with high motor noise while reducing trial and error to obtain the optimal PID gain coefficients.

• Journal of the Korea Convergence Society
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• v.11 no.11
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• pp.203-209
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• 2020

A hybrid mount featuring rubber element and piezoelectric actuator is devised to reduce vibration when starting a vehicle engine. As a first step, a passive mount adopting rubber element is manufactured and its dynamic characteristics are experimentally evaluated. After evaluating dynamic characteristics of the manufactured inertial piezoelectric actuator, the proposed hybrid mount is then established by integrating the piezoelectric actuator with the rubber element for performance improvement at non-resonant high frequencies. A mathematical model of the established active vibration control system is formulated and expressed in the state space form. Subsequently, sliding mode controller (SMC) is designed to attenuate the vibration transmitted from the base excitation. Finally, control performances of the proposed hybrid mount are evaluated such as transmissibility in frequency domain and time responses.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.4
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• pp.430-436
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• 2012

This study was conducted to measure battery's voltage drop in a compact electric vehicle to get driving performance in various driving situations. In the experiment, to evaluate the energy consumption and milage, system performance have measured with changing of the driving speed and the reduction of driving distance when the heater was operating. The battery of the car in this study is lead type storage battery. The driving velocity was changed from 10km/h to 50 km/h with 20km/h intervals and the operating step of the heating device. As results, the electronic consumption rate was maximum at 35 km/h of vehicle speed and if the driver turning the heater at maximum, capacity will lead to 35% of energy consumption increment.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1352-1359
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• 2010

It is said that the number of people using public transportation has risen about 220 thousand over 3 years which was 1019 people average a day in 2006 and 1041 people last year. It is also said that the number of people using subway has increased by 198 thousand and the number of people using bus by 22 thousand. Can you imagine how many door engines work at the same time if we count Metro line no.1 to no.4 which consist of total 120 subway stations? A train has 80 door engines and Metro line trains have 9600 door engines all together. Which explains it quite simple how much Satefy, Durability and Sustainability need to be focused in Door Engines. Although it's not the whole part of door engines in Seoul Metro Line, And Metro No.4's door engines are operated by the method called mixture of mechanical type and belt type. And the last one is being used in the brand-new Metro train line No.3 which is being operated by electricity motor, instead of the old methods which use air pressure to operate a door engine. I'm sure you will agree that Safety is the first priority of Metro train and next follow comfortability and quickness. I think all I've talked so far make it the first step for the Safety of Metro train for you to understand the unit of a Door Engine.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.11 s.176
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• pp.135-141
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• 2005

Measurement of five DOF motion errors in a ultra precision feed table was attempted in this study. Yaw and pitch error were measured by using a laser interferometer and roll error was measured by using the reversal method. Linear motion errors in the vertical and horizontal directions were measured by using the sequential two point method. In this case, influence of angular motion errors was compensated by using the previously measured ones by the laser interferometer and the reversal method. The capacitive type sensors and an optical straight edge were used in the reversal method and the sequential two point method. Influence of thermal deformation on sensor jig was investgated and minimized by the periodic measurement according to the variation of room temperature. Deviation of gain between sensors was also compensated using the step response data. 5 DOF motion errors of a hydrostatic table driven by the linear motor werer tested using the measurement method. In the horizontal direction, measuring accuracies for the linear and angular motion were within ${\pm}0.02\;{\mu}m$ and ${\pm}0.04$ arcsec, respectively. In the vertical direction, they were within ${\pm}0.02{\mu}m$ and ${\pm}0.05$ arcsec. From these results, it was found that the introduced measurement method was very effective to measure 5 DOF motion errors of the ultra precision feed tables.

• Journal of Drive and Control
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• v.13 no.3
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• pp.24-31
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• 2016

The performance characteristics of a dynamic control system are evaluated according to the transient and steady-state responses. The transient performance is the controllability of the output for the tracking of the reference or the ability to reduce or reject the effects of unwanted disturbances; alternatively, the steady-state performance is represented by the magnitude of the control error at the steady state. As the effects of the two performances on each other are reciprocal, a controller design that shows a zero steady-state error for the ramp input is uncommon because of the challenge regarding the achievement of an acceptable transient response. This paper proposes a PI+double-integral controller for the elimination of the steady-state error for the ramp input while a sound transient performance is maintained. The control-gain design procedure is described by the second-order response for the step input and the response of the error dynamics for the ramp input. The PI+double-integral controller is designed for the first-order transfer function that is derived from a system identification with the open-loop experiment data of the dc-motor. The simple structure of the proposed controller enables the adoption of a low-end microcontroller for the implementation of a real-time control. The experiment results show that the control performance is as effective as that of the simulation analysis for the operating point of linear system; furthermore, the PI+double-integral controller can be conveniently applied to the control system, which is desirable for the improvement of the steady-state error.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2002.11a
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• pp.13-19
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• 2002

Design and implementation methodologies on the performance evaluation system of two-channel ring-core Flux-Gate Compass (FG-Compass) are described, with evaluation procedures and methods based on the polynomial regression models. Performance evaluation system is consists of a step motor driving unit, a bearing transmitting unit and, evaluation programs using polynomial regression formulae. Through performance evaluation tests, total residual deviation tests, total residual deviation of $\pm$4$^{\circ}$ and eigen residual deviation of $\pm$2$^{\circ}$ are obtained from the FG-Compass. The result is more accurate values than the typical FG-Compass with eigen residual deviation of $\pm$4$^{\circ}$ and is provide a possibility to develop a high performance FG-Compass. In addition, the design methodology of a smart FG-Compass with the self estimation and correction of residual deviations is also discussed.

• Journal of Biosystems Engineering
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• v.12 no.1
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• pp.45-52
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• 1987

In order to improve the thermal efficiency of an internal combustion engine, various ignition timing control systems were examined and the best one was chosen. The parts used for the systems were a microcomputer system with DAS, 8 bit output port (D-FLIP FLOP), three types of isolation circuit, two types of ignition timing pulse generator, three types of switching circuit and two types of high voltage ignition circuit. Most systems did not operate well due to the effects of electromagnetic waves and surge currents occurring when the ignition began or ended with resulting high voltage. The best ignition timing control system was found to be the combination of (microcomputer system)-(ignition timing pulse generator using step motor position control pick-up)-(switching circuit using TR logic)-(high voltage ignition circuit using CDI).

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.3
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• pp.38-43
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• 2008

The hydroforming technology has been spreaded dramatically in automotive industry last 10 years. Itmay cause many advantages to automotive applications in terms of better structural integrity of the parts, lower cost from fewer part count, material saving, weight reduction, lower springback, improved strength and durability and design flexibility. In this study, the whole process of rear sub-frame parts development by tube hydroforming using steel material having tensile strength of 440MPa grade is presented. At the part design stage, it requires feasibility study and process design aided by CAE (Computer Aided Design) to confirm hydroformability in details. Effects of parameters such as internal pressure, axial feeding and geometry shape in automotive rear sub-frame by hydroforming process were carefully investigated. Overall possibility of hydroformable sub-frame parts could be examined by cross sectional analyses. Moreover, it is essential to ensure the formability of tube material on every forming step such as pre-bending, preforming and hydroforming. In addition, all the components of prototyping tool are designed and interference with press is examined from the point of geometry and thinning.