• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.5
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• pp.548-552
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• 2015

In this paper, we describe the quadruped walking-control algorithm of the complete full-size humanoid DARPA Robotics Challenge-HUBO (DRC-HUBO) robot. Although DRC-HUBO is a biped robot, we require a quadruped walking function using two legs and two arms to overcome uneven terrains in the DRC. We design a wave-type quadruped walking pattern as a feedforward control using several walking parameters, and we design zero moment point (ZMP) controllers to maintain stable walking using an inverted pendulum model and an observed-state feedback control scheme. In particular, we propose a switching algorithm for ZMP controllers using supporting value and weighting factors in order to maintain the ZMP control performance during foot switching. Finally, we verify the proposed algorithm by performing quadruped walking experiments using DRC-HUBO.

• International Journal of Reliability and Applications
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• v.18 no.2
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• pp.21-44
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• 2017

Accelerated life tests (ALTs) are frequently used in manufacturing industries to evaluate the reliability of products within a reasonable amount of time and cost. Test units are subjected to elevated stresses which yield quick failures. Most of the previous works on designing ALT plans are focused on tests that involve a single stress. Many times more than one stress factor influence the product's functioning. This paper deals with the design of optimum modified ramp-stress ALT plan for Burr type XII distribution with Type-I censoring under two stress factors, viz., voltage and switching rate each at two levels- low and high. It is assumed that usage time to failure is power law function of switching rate, and voltage increases linearly with time according to modified ramp-stress scheme. The cumulative exposure model is used to incorporate the effect of changing stresses. The optimum plan is devised using D-optimality criterion wherein the ${\log}_{10}$ of the determinant of Fisher information matrix is maximized. The method developed has been explained using a numerical example and sensitivity carried out.

• Journal of Power Electronics
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• v.15 no.1
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• pp.190-201
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• 2015

This paper uses the switching function approach to present a simple state model of the Vienna-type rectifier. The approach introduces the relationship between the DC-link neutral point voltage and the AC side phase currents. A novel direct power control (DPC) strategy, which is based on the sliding mode control (SMC) for Vienna I rectifiers, is developed using the proposed power model in the stationary ${\alpha}-{\beta}$ reference frames. The SMC-based DPC methodology directly regulates instantaneous active and reactive powers without transforming to a synchronous rotating coordinate reference frame or a tracking phase angle of grid voltage. Moreover, the required rectifier control voltages are directly calculated by utilizing the non-linear SMC scheme. Theoretically, active and reactive power flows are controlled without ripple or cross coupling. Furthermore, the fixed-switching frequency is obtained by employing the simplified space vector modulation (SVM). SVM solves the complicated designing problem of the AC harmonic filter. The simplified SVM is based on the simplification of the space vector diagram of a three-level converter into that of a two-level converter. The dwelling time calculation and switching sequence selection are easily implemented like those in the conventional two-level rectifier. Replacing the current control loops with power control loops simplifies the system design and enhances the transient performance. The simulation models in MATLAB/Simulink and the digital signal processor-controlled 1.5 kW Vienna-type rectifier are used to verify the fast responses and robustness of the proposed control scheme.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.3
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• pp.244-252
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• 2002

In this paper, do link ripple currents for three-phase ac/dc/ac PWM converters feeding adjustable speed ac machine drives are analysed in a frequency domain. The expression of the harmonic currents is developed by using switching functions of the converter and exponential courier series expansion. The effect of the displacement angle between the switching Periods of line-side converters and motor-side inverters on the dc link ripple currents is Investigated. Also, the influence of asynchronization of PWM is observed. The result of analysis is compared with frequency spectrum which results from PSIM simulation. The proposed analysis technique is useful to understand the principles of P% and to derive an equivalent model of the dc link capacitors in a high frequency range.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.447-449
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• 1996

The main objective of this paper is to increase the efficiency, to eliminate the harmonics wave and to acomplish the zero voltage regulation of the output voltage. To accomplish the goal, DC-to-DC converter model with ERS(Energy Recovery Snubber) is developed. And, to realize the detail purpose, we are used ZVS soft switching snubber, ripple steering filter and, function control law etc.. So, we presented to show superior operation of this convertor with the zero voltage regulation function.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.540-545
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• 1993

When modeling an underwater vehicle uncertainty arises in the presence of unsteady flow. It is difficult to include the uncertainty in the model and is therefore desirable to investigate robust controller design methods for the underwater vehicle. In the paper two robust control methods are applied for the underwater system. One is standard H$_{\infty}$ control and the other is time-varying sliding mode control with modified saturation function. Suboptimal design parameters for H$_{\infty}$ control and design parameters for time-varying switching surfaces are provided. Simulations and comparison are carried out.t.

• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.321-322
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• 2014

In this paper, a zero-voltage switching (ZVS) phase shift full-bridge converter is analyzed. The small-signal model is derived to design a digital controller. PLECS simulation shows how sampling method effects on transfer function of ZVS phase shift full-bridge converter.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.390-394
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• 2001

A dynamic simulation model for the brush less dc (BLDC) motor drives using Matlab is presented. In this model, an entire BLDC motor drive, including power conversion unit, BLDC motor, and speed/torque control system, is investigated. Especially, the PWM inverter is modeled using switching function concept, so that the detailed voltage and current waveforms, such as line-to-line voltages, inverter input current, ac line current, and switch/diode currents, can be obtained and average/rms ratings of the components can be easily calculated. Also, the proposed model is made into modular blocks and it can be easily extended to other ac motor applications with a little modification. The detailed modeling method is explained and its actual implementation is described. The validity of the proposed model is verified by various simulation results.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.422-428
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• 2005

In this paper, the contact force between two colliding bodies is modeled by using Hertz's force-displacement law and nonlinear damping function. In order to verify the appropriateness of the proposed contact force model, the drop type impact test is carried out for different impact velocities and different materials of the impacting body, such as rubber, plastic and steel. In the drop type impact experiment, six photo interrupters in series close to the collision location are installed to measure the velocity before impact more accurately. The characteristics of contact force model are investigated through experiments. The parameters of the contact force model are estimated using the optimization technique. Finally the estimated parameters are used to predict the impact force between two colliding bodies in opening action of the magnetic contactor, a kind of switch mechanism for switching electric circuits.

• JSTS:Journal of Semiconductor Technology and Science
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• v.7 no.3
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• pp.196-208
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• 2007

An analytical model is proposed for an optically controlled Metal Semiconductor Field Effect Transistor (MESFET), known as Optical Field Effect Transistor (OPFET) considering the diffusion fabrication process. The electrical parameters such as threshold voltage, drain-source current, gate capacitances and switching response have been determined for the dark and various illuminated conditions. The Photovoltaic effect due to photogenerated carriers under illumination is shown to modulate the channel cross-section, which in turn significantly changes the threshold voltage, drainsource current, the gate capacitances and the device switching speed. The threshold voltage $V_T$ is reduced under optical illumination condition, which leads the device to change the device property from enhancement mode to depletion mode depending on photon impurity flux density. The resulting I-V characteristics show that the drain-source current IDS for different gate-source voltage $V_{gs}$ is significantly increased with optical illumination for photon flux densities of ${\Phi}=10^{15}\;and\;10^{17}/cm^2s$ compared to the dark condition. Further more, the drain-source current as a function of drain-source voltage $V_{DS}$ is evaluated to find the I-V characteristics for various pinch-off voltages $V_P$ for optimization of impurity flux density $Q_{Diff}$ by diffusion process. The resulting I-V characteristics also show that the diffusion process introduces less process-induced damage compared to ion implantation, which suffers from current reduction due to a large number of defects introduced by the ion implantation process. Further the results show significant increase in gate-source capacitance $C_{gs}$ and gate-drain capacitance $C_{gd}$ for optical illuminations, where the photo-induced voltage has a significant role on gate capacitances. The switching time ${\tau}$ of the OPFET device is computed for dark and illumination conditions. The switching time ${\tau}$ is greatly reduced by optical illumination and is also a function of device active layer thickness and corresponding impurity flux density $Q_{Diff}$. Thus it is shown that the diffusion process shows great potential for improvement of optoelectronic devices in quantum efficiency and other performance areas.