• Journal of Ocean Engineering and Technology
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• v.20 no.4 s.71
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• pp.37-42
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• 2006

This paper is concerned with experimental investigation of steering performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9 m(L)x0.75 m(B)x0.4 m(H) and weight of 167 kg was constructed with a pair of driving chain links, driven by two AC-servo motors. The tracks were configured with detachable grousers with variable span. A deep seabed was simulated by means of a bentonite-water mixture in a soil bin of 6.0 m(L)x3.7 m(B)x0.7 m(H). The turning radii of vehicle and driving torques of motors were measured with respect to experiment variables: steering ratio, driving speed, grouser chevron angle, grouser span, and grouser height. L8 orthogonal table is adopted for DOE (Design of experiment). The effects of experiment variables on steering performance are evaluated.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.49 no.8
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• pp.557-564
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• 2000

A very simple control approach using neural network for the robust position control of a Permanent Magnet Synchronous Motor(PMSM) is presented. The linear quadratic controller plus feedforward neural network is employed to obtain the robust PMSM system approximately linearized using field-orientation method for an AC servo. The neural network is trained in on-line phases and this neural network is composed by a feedforward recall and error back-propagation training. Since the total number of nodes are only eight, this system can be easily realized by the general microprocessor. During the normal operation, the input-output response is sampled and the weighting value is trained multi-times by error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. In addition, the robustness is also obtained without affecting overall system response. This method is realized by a floating-point Digital Signal Processor DS1102 Board (TMS320C31).

• Korean Journal of Optics and Photonics
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• v.30 no.6
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• pp.243-248
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• 2019

The respiratory tract is an essential part of the respiratory system involved in the process of respiration. However, if stenosis occurs, it interferes with breathing and can even lead to death. Asthma is a typical example of a reversible cause of airway narrowing, and the number of patients suffering from acute exacerbation is steadily increasing. Therefore, it is important to detect airway narrowing early and prevent the patient's condition from worsening. Optical coherence tomography (OCT), which has high resolution, is suitable for observing the microstructure of tissues. In this study we developed an endoscopic OCT system. We combined a 1300-nm OCT system with a servo motor, which can rotate at a high speed. A catheter was pulled back using a linear stage while imaging with 360° rotation by the motor. The motor was selected considering various requirements, such as torque, rotational speed, and gear ratio of pulleys. An ex vivo rabbit tracheal model was used as a sample, and the sample and catheter were immobilized by acrylic structures. The OCT images provided information about the structures of the mucosa and submucosa. The difference between normal and stenosed parts in the trachea was confirmed by OCT. Furthermore, through a three-dimensional (3-D) reconstruction process, it was possible to identify and diagnose the stenosis in the 3-D image of the airway, as well as the cross-sectional image. This study would be useful not only for diagnosing airway stenosis, but also for realizing 3-D imaging.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.214-221
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• 1998

A new control approach using neural network for the robust position control of a BRUSHLESS direct drive(BLDD) motor is presented. The linear quadratic controller plus feedforward neural network is employed to obtain the robust BLDD motor system approximately linearized using field-orientation method for an AC servo. The neural network is trained in on-line phases and this neural network is composed by a feedforward recall and error back-propagation training. Since the total number of nodes are only eight, this system will be easily realized by the general microprocessor. During the normal operation, the input-output response is sampled and the weighting value is trained by error back-propagation at each sample period to accommodate the possible variations in the parameters or load torque. And the state space analysis is performed to obtain the state feedback gains systematically. In addition, the robustness is also obtained without affecting overall system response.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.90-96
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• 2013

As the need of electric motor is increased rapidly throughout our society, the various application fields are created and the service market called robot gets expanded as well as the existing industrial market. Out of those, the joint systems such as humanoid that is servo actuator for position control or all fields which require multi-degree of freedom (multi-DOF) require the development of innovative actuator. It is multi-DOF spherical motor that can replace the existing system in multi-DOF operating system. But, multi-DOF spherical motor that has been researched up to date is at the stage which is insufficient in performance or mechanical practicality yet. Thus, first of all the research results and limitation of the previously-researched guide frame-type spherical motors were analyzed and then the feature of double air-gap spherical motor which was devised to complement that was studied. The double air-gap multi-DOF spherical motor is very suitable spherical motor for system applying which requires the multi-DOF operation due to its simple structure that does not require other guide frame as well as performance improvement due to its special shape which has two air-gaps. So, the validity of the study was verified by designing and producing it with 3D-FEM through the exclusive jig for multi-DOF spherical motor.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.54-63
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• 2022

Among the various industrial robots, palletizing robots have received particular attention because of their higher productivity in accordance with technological progress. When designing a palletizing robot, the main components, such as the servo motors and reducers, should be properly selected to ensure its performance. In this study, a practical method for selecting the motors and reducers of a robot was proposed by performing the dynamic analysis of rigid-flexible multibody systems using ANSYS and ADAMS. In the first step, the links and frames were selected based on the structural analysis results obtained from ANSYS. Subsequently, a modal neutral file (MNF) with information on the flexible body was generated from the links and frames using modal analysis through ANSYS and APDL commands. Through a dynamic analysis of the flexible bodies, the specifications of the major components were finally determined by considering the required torque and power. To verify the effectiveness of the proposed method, the analysis results were compared with those of a rigid-body model. The comparison showed that rigid-flexible multibody dynamic analysis is much more useful than rigid body analysis, particularly for movements heavily influenced by gravity.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.380-388
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• 2016

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2004.11a
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• pp.122-125
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• 2004

In radiotherapy of tumors in liver, enough planning target volume (PTV) margins are necessary to compensate breathing-related movement of tumor volumes. To overcome the problems, this study aims to obtain patients' body movements by using a moving phantom and an ultrasonic sensor, and to develop respiration gating techniques that can adjust patients' beds by using reversed values of the data obtained. The phantom made to measure patients' body movements is composed of a microprocessor (BS II, 20 MHz, 8K Byte), a sensor (Ultra-Sonic, range 3 cm ${\sim}$3 m), host computer (RS232C) and stepping motor (torque 2.3Kg) etc., and the program to control and operate it was developed. The program allows the phantom to move within the maximum range of 2 cm, its movements and corrections to take place in order, and x, y and z to move successively. After the moving phantom was adjusted by entering random movement data(three dimensional data form with distance of 2cm), and the phantom movements were acquired using the ultra sonic sensor, the two data were compared and analyzed. And then, after the movements by respiration were acquired by using guinea pigs, the real-time respiration gating techniques were drawn by operating the phantom with the reversed values of the data. The result of analyzing the acquisition-correction delay time for the three types of data values and about each value separately shows that the data values coincided with one another within 1% and that the acquisition-correction delay time was obtained real-time (2.34 ${\times}$ 10$^{-4}$sec). This study successfully confirms the clinic application possibility of respiration gating techniques by using a moving phantom and an ultra sonic sensor. With ongoing development of additional analysis system, which can be used in real-time set-up reproducibility analysis, it may be beneficially used in radiotherapy of moving tumors.