• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3_1spc
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• pp.509-517
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• 2013

This paper presents upgraded equipment to assist a patient in rehabilitating of their knee-joint by themselves. A new automatic mechanism is suggested and developed in order to add functions for enforcing the leg muscles, which were absent in previous rehabilitation machines. Using the Pro-engineer software, we analyze the displacements and speeds of several moving points of the equipment during various planned exercises. In addition, an appropriate control panel for operation is developed. Three motors andthree motor drivers are used in a tilting part for the ankle joint, sliding guide part for the knee joint, and up-down moving part for the whole leg. Finally, various newly upgraded motions can be generated by controlling the three motors simultaneously. we show that by using this equipment, we can adjust the proper length of the equipment according to the user's height and the intensity of the rehabilitation exercise.

• Journal of Magnetics
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• v.21 no.3
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• pp.379-386
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• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Journal of IKEEE
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• v.18 no.2
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• pp.282-290
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• 2014

This paper presents the design of embedded electrical power control unit for Personal Electrical Vehicle(PEV). The embedded unit is designed using PIC18F8720 processor, 16Mb flash ROM, 32Mb SDRAM and signal condition circuits. The proposed PEV consists of 4KW in-wheel Brushless DC Motor(BLDCM), 3 phase voltage source inverter with the $180^{\circ}$ conduction space vector PWM method, PID speed controller and the embedded control unit. The PEV has mechanical manufacture of inverse 3 wheel system, which is applied by the in-wheel BLDCM and steering mechanism with tilting function. Also, the performances of the proposed embedded electrical power control unit are verified through the lab experiment and road driving test of PEV.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.4
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• pp.325-332
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• 2001

The vestibular system located in the inner ear controls reflex body posture and movement, It has the semicircular canals sensing an angular acceleration and the otolith organs sensing a linear acceleration. With this organic signal, medical doctor decide if a person has disease or not. To obtain this data, a precision stimular system is considered. Robust control is needed to obtain eye signals induced by off-vertical axis rotation because of an unbalanced load produced by tilting the axis of the system upto 30 degrees. In this study, off-vertical axis rotatory system with visual stimulation system are developed. This system is consisted of head mounted display for generating horizontal, vertical, and three dimensional stimulus patterns. Furthermore wireless recording system using RF modem is considered for noiseless data transmission. Detailed data was described.

• Journal of Biosystems Engineering
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• v.35 no.5
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• pp.302-309
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• 2010

Aerial application using an unmanned agricultural helicopter would allow precise and timely spraying. The attitude of a helicopter depends on a number of dynamic variables for roll-balanced flight. Laterally tilting behavior of a helicopter is a physically intrinsic phenomenon while hovering and forwarding. In order to balance the fuselage, the rotor should be counter-tilted, resulting in the biased down-wash. The biased spraying toward right side causes uneven spray pattern. In this study, a raised tail rotor system for the roll-balanced helicopter was studied. Thrust of the tail rotor system was measured and theoretically estimated for the fundamental database of the roll-balanced helicopter design. The estimated tail thrust and roll-moment would be used to design the raising height of tail rotor and roll balancing dynamics. The unmanned agricultural helicopter required the tail rotor thrust of about 39.2 N (4.0 kgf) during hovering with a payload of 235.4 N (24 kgf). A raised tail rotor system would compensate for the physical tilt phenomena. A further attitude control system of helicopter would assist roll-balanced aerial spray application.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1375-1381
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• 2007

In this paper, we propose a linear modeling and identical PD controller design scheme for the three-pole hybrid-type AMB recently developed in the laboratory, which consists of three permanent magnets, providing bias flux, three Hall diodes, measuring rotor displacements, and ring type permanent magnet bearing, stabilizing in axial and tilting directions. Along the three physical coordinates formed by three poles, we introduce the redundant coordinate system and three identical decoupled controllers to construct linear model. The experiments are also carried out in order to verify the effectiveness of proposed controller in stabilizing the transient and steady state response of rotor.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.281-286
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• 1993

In this paper, a parallel link typed wrist is developed for robotic precision assembly. The developed wrist can make the corrective motion required for compensating lateral and tilting errors. The mechanism of this wrist is one example of a motion simulator generating 6 DOF motion in space by 6 actuators connected in paralle. To make the wrist more compact, miniature DC motors containing reduction gears and servo system were used. The parallel link architecture enables a high positioning accuracy and high nominal load capacity. In this study, inverse kinematic problem is solved by using a Denavet-Hartenberg method and a simulational result about workspace of the proposed parallel mechanism is obtained.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.202-203
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• 2007

Induction Motor is important at tilting train. Tiling train induction motor should be operated to commercial servicespeed 180km/h at Korea Conventional Line upgrade railroad. As the induction motors are without commutators, maintenance is easy and it is far lighter than the conventional motors with the same capacity. The induction motor, however, posed problems in use as its motor torque is not large enough compared with DC motors. With the recent advances in power semiconductors, it is possible to apply the induction motors to trains by applying VVVF inverter control method to the traction motor. In this study, we realize the stable measurement AC motor temperature characteristic of TTX train.

• Journal of the Institute of Convergence Signal Processing
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• v.18 no.1
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• pp.1-5
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• 2017

It is important to train lower limb muscle strength using a tilting table to recover the lower extremity function of hemiplegia patients. It is known that the foot deformity and poor posture of hemiplegia patients can reduce the effectiveness of lower limb rehabilitation training. In this study, we developed a sensor system that can measure the foot pressure distribution of the patients for the load control of the lower extremity during lower limb rehabilitation training and it can be substituted for conventional high-cost technologies.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.6
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• pp.524-530
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• 2002

A control of the body posture and movement is maintained by the vestibular system, vision, and proprioceptors. Afferent signals from those receptors are transmitted to the vestibular nuclear complex, and the efferent signals from the vestibular nuclear complex control the eye movement and skeletal muscle contract. The postural disturbance caused by loss of the vestibular function results in nausea, vomiting, vertigo and loss of craving for life. The purpose of this study is to develop a off-vertical rotatory system for evaluating the function of semicircular canals and otolith organs, selectively, and visual stimulation system for- stimulation with horizontal, vortical and 3D patterns. The Off-vortical axis rotator is composed of a comportable chair, a DC servo-motor with reducer and a tilting table controlled by PMSM. And a double feedback loop system containing a velocity feedback loop and a position feedback loop is applied to the servo controlled rotatory chair system. Horizontal, vertical, and 3D patterns of the visual stimulation for applying head mounted display are developed. And wireless portable systems for optokinetic stimulation and recording system of the eye movement is also constructed. The gain, phase, and symmetry is obtained from analysis of the eye movement induced by vestibular and visual stimulation. Detailed data were described.