• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.649-652
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• 1989

In this paper we outline an approach for the collision-free trajectory planning of two robot arms which are modeled as connected line segments. A new approach to determine the collision between two robot arms and the boundary of the collision region in the coordination space is proposed. The coordination curve may then be chosen to avoid the collision region. For minimum time trajectory, time is assigned to this curve by dynamic time scaling under constraints such as maximum torque or maximum angular velocity of each actuator. A comparison of the proposed method and the graphical method of determining the collision region is also included. Finally, as an example, some simulation results for two SCARA type robots are presented.

• Proceedings of the KIEE Conference
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• 1999.11b
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• pp.160-162
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• 1999

This paper presents an optimal design method for fuzzy controllers of HVDC system using adaptive evolutionary algorithm(AEA). We have proposed an adaptive evolutionary algorithm which uses a genetic algorithm and an evolution strategy in an adaptive manner in order to take merits of two different evolutionary computations. AEA is used for tuning fuzzy membership functions, scaling constants and PD gains. The simulation results show that the disturbances are well damped by both controllers and the dynamic performances of fuzzy controllers have better responses than those of PD controllers when mechanical torque changes suddenly.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• KIEE International Transactions on Power Engineering
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• v.3A no.4
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• pp.181-190
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• 2003

This paper presents the design of a fuzzy power system stabilizer (FPSS) using an adaptive evolutionary algorithm (AEA). AEA consists of genetic algorithm (GA) for a global search capability and evolution strategy (ES) for a local search in an adaptive manner when the present generation evolves into the next generation. AEA is used to optimize the membership functions and scaling factors of the FPSS. To evaluate the usefulness of the FPSS, we applied it to a single-machine infinite bus system (SIBS) and a power system simulator at the Korea Electrotechnology Research Institute. The FPSS displays better control performance than the conventional power system stabilizer (CPSS) for a three-phase fault in heavy load, which is used when tuning FPSS. To show the robustness of the FPSS, it is applied with disturbances such as change of mechanical torque and three-phase fault in nominal and heavy load, etc. The FPSS also demonstrates better robustness than the CPSS. Experimental results indicate that the FPSS has good system damping under various disturbances such as one-line to ground faults, line parameter changes, transformer tap changes, etc.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.5
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• pp.541-547
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• 2015

In this study, the performance of a low-floor midsize bus under development is predicted through simulations. To predict the vehicle's acceleration, maximum speed, and uphill driving performance, a forward simulator which calculates the vehicle power is developed. Also we verify the forward simulator by comparing simulations and test result for benchmarking vehicle. To predict the fuel consumption, we use a backward simulator for a specified road cycle. However, to predict the fuel consumption using the backward simulation the engine fuel-consumption map is needed. The engine fuel-consumption map extracting data from a similar sized diesel engine is used by re-scaling the maximum torque. As a result, we simulate the vehicle's forward performance with a new engine. Further, we simulated the backward performance to optimize the fuel efficiency and gearshift timing.

• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.839-850
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• 2002

A performance simulation program for the turboprop engine (PT6A-62), which is the power plant of the first Korean indigenous basic trainer KT-1, was developed for performance prediction, development of an EHMS (Engine Health Monitoring System) and the flight simulator. Characteristics of components including compressors, turbines, power turbines and the constant speed propeller were required for the steady state and transient performance analysis with on and off design point analysis. In most cases, these were substituted for what scaled from similar engine components'characteristics with the scaling law. The developed program was evaluated with the performance data provided by the engine manufacturer and with analysis results of GASTURB program, which is well known for the performance simulation of gas turbines. Performance parameters such as mass flow rate, compressor pressure ratio, fuel flow rate, specific fuel consumption and turbine inlet temperature were discussed to evaluate validity of the developed program at various cases. The first case was the sea level static standard condition and other cases were considered with various altitudes, flight velocities and part loads with the range between idle and 105% rotational speed of the gas generator. In the transient analysis, the Continuity of Mass Flow Method was utilized under the condition that mass stored between components is ignored and the flow compatibility is satisfied, and the Modified Euler Method was used for integration of the surplus torque. The transient performance analysis for various fuel schedules was performed. When the fuel step increase was considered, the overshoot of the turbine inlet temperature occurred. However, in case of ramp increase of the fuel longer than step increase of the fuel, the overshoot of the turbine inlet temperature was effectively reduced.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.403-404
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• 2013

최근 scaling down의 한계에 부딪힌 DRAM과 Flash Memory를 대체하기 위한 차세대 메모리(Next Generation Memory)에 대한 연구가 활발히 진행되고 있다. ITRS (international technology roadmap for semiconductors)에 따르면 PRAM (phase change RAM), RRAM (resistive RAM), STT-MRAM (spin transfer torque magnetic RAM) 등이 차세대 메모리로써 부상하고 있다. 그 중 RRAM은 간단한 구조로 인한 고집적화, 빠른 program/erase 속도 (100~10 ns), 낮은 동작 전압 등의 장점을 갖고 있어 다른 차세대 메모리 중에서도 높은 평가를 받고 있다 [1]. 현재 RRAM은 주로 금속-산화물계(Metal-Oxide) 저항 변화 물질을 기반으로 연구가 활발하게 진행되고 있다. 하지만 근본적으로 공정 과정에서 산소에 의한 오염으로 인해 수율이 낮은 문제를 갖고 있으며, Endurance 및 Retention 등의 신뢰성이 떨어지는 단점이 있다. 따라서, 본 연구진은 산소 오염에 의한 신뢰성 문제를 근본적으로 해결할 수 있는 다양한 금속-질화물(Metal-Nitride) 기반의 저항 변화 물질을 제안해 연구를 진행하고 있으며, 우수한 열적 안정성($>450^{\circ}C$, 높은 종횡비, Cu 확산 방지 역할, 높은 공정 호환성 [2] 등의 장점을 가진 WN 박막을 저항 변화 물질로 사용하여 저항 변화 메모리를 구현하기 위한 연구를 진행하였다. WN 박막은 RF magnetron sputtering 방법을 사용하여 Ar/$N_2$ 가스를 20/30 sccm, 동작 압력 20 mTorr 조건에서 120 nm 의 두께로 증착하였고, E-beam Evaporation 방법을 통하여 Ti 상부 전극을 100 nm 증착하였다. I-V 실험결과, WN 기반의 RRAM은 양전압에서 SET 동작이 일어나며, 음전압에서 RESET 동작을 하는 bipolar 스위칭 특성을 보였으며, 읽기 전압 0.1 V에서 ~1 order의 저항비를 확보하였다. 신뢰성 분석 결과, $10^3$번의 Endurance 특성 및 $10^5$초의 긴 Retention time을 확보할 수 있었다. 또한, 고저항 상태에서는 Space-charge-limited Conduction, 저저항 상태에서는 Ohmic Conduction의 전도 특성을 보임에 따라 저항 변화 메카니즘이 filamentary conduction model로 확인되었다 [3]. 본 연구에서 개발한 WN 기반의 RRAM은 우수한 저항 변화 특성과 함께 높은 재료적 안정성, 그리고 기존 반도체 공정 호환성이 매우 높은 강점을 갖고 있어 핵심적인 차세대 메모리가 될 것으로 기대된다.