• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.185-190
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• 1993

The POSTECH Hand adopting coupled tendon driven technique with planar two fingers is developed. The hand is designed to emulate principal motions of the human hand which has two and three joints respectively. Its kinematic parameters are determined through a parameter optimizing technique to aim at improving the isotropy of fingertip motions with new criterion functions of design. For the control of the hand, tension and torque control algorithms are developed. Based on the virtual stiffness concept, we develop the stiffness control method of a grasped object with redundant finger mechnism and investigate experimentally.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1399-1410
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• 2003

In this paper, we develop a joystick manual driving algorithm for an electric vehicle called Cycab. Cycab is developed as a public transportation vehicle, which can be driven either by a manual joystick or an automated driving mode. The vehicle uses six motors for driving four wheels, and front/rear steerings. Cycab utilizes one industrial PC with a real time Linux kernel and four Motorola MPC555 micro controllers, and a CAN network for the communication among the five processors. The developed algorithm consists of two automatic vehicle speed control algorithms for normal and emergency situations that override the driver's joystick command and an open loop torque distribution algorithm for the traction motors. In this study, the algorithm is developed using SynDEx, which is a system level CAD software dedicated to rapid prototyping and optimizing the implementation of real-time embedded applications on distributed architectures. The experimental results verify the usefulness of the two automatic vehicle control algorithms.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.758-760
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• 2000

본 논문에서는 기구적으로 여유자유도를 갖는 로봇 매니퓰레이터 시스템을 대상으로 하여, 로봇 랜드가 주어진 제적을 추종할 수 있는 관절 토크를 유도하기 위한 동적제어 식을 새로이 구성하고, 동적제어식을 만족하는 관절 토크 해들 중에 국소적으로 토크의 크기를 최적화하는 해를 사용하는 최적토크제어를 제안한다. 최적토크를 구하는 문제에 있어 관절 토크에 가중치 행렬을 적용하여 각 관절 토크의 최대 크기의 비를 반영할 수 있도록 한다. 또한, 로봇 핸드 자코비안-관성 역행렬의 영공간에서 나타나는 영공간 관절 속도를 정의하고 이러한 영공간 관절속도가 최적토크제어에서는 로봇 시스템을 불안정하게 할 수 있다는 것을 보인다. 최적토크 제어의 이러한 문제를 해결하기 위하여 영공간 관절 속도를 제거하기 위한 소산토크를 유도하고, 최적토크제어식에 소산토크를 추가하는 방법을 제안한다. 평면형 3-자유도 로봇을 대상으로 한 모의실험을 통해 제안된 제어 방법의 우수성을 검증하고 그 결과를 분석한다.

• Journal of Advanced Marine Engineering and Technology
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• 제36권4호
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• pp.467-475
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• 2012

이 논문에서는 비틈 봉을 기반으로 한 중력보상기가 적용된 새로운 외력증강기를 이용하여 인체 다리관절에 작용하는 부하를 경감시키는 방법에 대해 제안한다. 비틈 봉 특성을 추정하고 측정하기 위하여 설계와 구조 해석을 행하였다. 설계와 구조해석을 바탕으로 매우 경량이고 소형인 새로운 외력증강기를 개발하였다. 구조해석은 외력증강기를 매우 경량으로 하기위해 최적두께의 링크에 대한 FEM해석을 행하였다.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2001년도 춘계학술대회 논문집
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• pp.173-179
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• 2001

The torsional or axial critical vibration of the order coinciding with the number of propeller blades is simultaneously excited by the harmonic tangential or radial forces acting on the crank shaft and by the harmonic of the same order from the propeller. The exciting torque of propeller is relatively small comparing with that of crank side, but the exciting force of propeller rather larger than that of crank shaft. With this situation, the exciting force of propeller cannot neglect if the axial vibration of propulsion shafting is calculated. With the propeller in its optimal angular position, i.e. its excitation effect opposed to that of the engine, the stresses at the critical revolution will largely cancel themselves out. In this paper, a method of optimizing the angular propeller position with regard to torsional and axial vibration is studied. The optimal relative angle is determined theoretically by calculation results of coupled torsional-axial vibration.

• Journal of Electrical Engineering and Technology
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• 제7권6호
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• pp.948-953
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• 2012

The characteristics of an induction motor vary with the number of parameters and the performance relationship between the parameters also is implicit. In case of the induction motor design, we generally should estimate many objective physical quantities in the optimization procedure. In this article, the multi objective design optimization based on genetic algorithm is applied for the three phase induction motor. The efficiency, starting torque, and material cost are selected for the objectives. The validity of the design results is also clarified by comparison between calculated results and measured ones.

• Journal of Electrical Engineering and Technology
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• 제13권4호
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• pp.1549-1557
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• 2018

Optimizing the design of large-scale electric machines based on nonlinear finite element analysis (FEA) requires longer computation time than other applications of FEA, mainly due to the huge size of the machines. This paper addresses a new region decision method (RDM) with mesh adaptive direct search (MADS) for the optimal design of wind generators in order to reduce the computation time. The validity of the proposed algorithm is evaluated using Rastrigin and Goldstein-Price benchmark function. Moreover, the algorithm is employed for the optimal design of a 5.6MW interior permanent magnet synchronous generator to minimize the torque ripple. Additionally, mechanical stress analysis as well as electromagnetic field analysis have been implemented to prevent breakdown caused by large centrifugal forces of the modified design.

• International Journal of Automotive Technology
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• 제7권4호
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• pp.441-448
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• 2006

In-cylinder flows such as tumble and swirl play an important role on the engine combustion efficiencies and emission formations. The tumble flow, which is dominant in current high performance gasoline engines, is able to effect fuel consumptions and emissions under a partial load condition in addition to the volumetric efficiency under a wide open throttle condition. Therefore, it is important to optimize the tumble ratio of a gasoline engine for better fuel economy, lower emissions, and maximum volumetric efficiency. First step for optimizing a tumble ratio is to measure a tumble ratio accurately. For a tumble ratio measurement, many different methods have been developed and used such as steady flow rig, PIV, PTV, and LDV. However, it is not well known about the relations among the measured tumble ratios using different methods. The purpose of this research is to correlate the tumble ratios measured using three different methods and find out merits and demerits of each measurement method. In this research the tumble flow was measured, compared, and correlated using three different measurement methods at the same engine: steady flow rig; 2-dimensional PIV; and 3-dimensional PTV water flow rig.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권3호
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• pp.246-255
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• 2017

The proposed design methodology represents a new approach to optimize the propeller-hull system simultaneously. In this paper, two objective functions are considered, the first objective function is Lifetime Fuel Consumption (LFC) and the other one is cost function including thrust, torque, open water and skew efficiencies. The variables of the propeller geometries (Z, EAR, P/D and D) and ship hull parameters (L/B, B/T, T and $C_B$) are considered to be optimized with cavitation, blades stress of propeller. The well-known evolutionary algorithm based on NSGA-II is employed to optimize a multi-objective problem, where the main propeller and hull dimensions are considered as design variables. The results are presented for a series 60 ship with B-series propeller. The results showed that the proposed method is an appropriate and effective approach for simultaneously propeller-hull system design and is able to minimize both of the objective functions significantly.

• International Journal of Internet, Broadcasting and Communication
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• 제10권4호
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• pp.6-11
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• 2018

As embedded memory technology evolves, the traditional Static Random Access Memory (SRAM) technology has reached the end of development. For deepening the manufacturing process technology, the next generation memory technology is highly required because of the exponentially increasing leakage current of SRAM. Non-volatile memories such as STT-MRAM (Spin Torque Transfer Magnetic Random Access Memory), PCM (Phase Change Memory) are good candidates for replacing SRAM technology in embedded memory systems. They have many advanced characteristics in the perspective of power consumption, leakage power, size (density) and latency. Nonetheless, nonvolatile memories have two major problems that hinder their use it the next-generation memory. First, the lifetime of the nonvolatile memory cell is limited by the number of write operations. Next, the write operation consumes more latency and power than the same size of the read operation.These disadvantages can be solved using the compiler. The disadvantage of non-volatile memory is in write operations. Therefore, when the compiler decides the layout of the data, it is solved by optimizing the write operation to allocate a lot of data to the SRAM. This study provides insights into how these compiler and architectural designs can be developed.