• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2397-2399
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• 2004

This paper deals with the messages scheduling of a CAN (Controller Area Network), based on the distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to supply the distributed processing for a humanoid robot, each control unit should have the efficient control method, fast calculation and valid data exchange. The preliminary study has concluded that the performance of CAN is better and easier to implement than other network such as FIP (Factory Instrumentation Protocol), VAN (Vehicle Area Network), etc. Since humanoid robot has to treat the significant control signals from many actuators and sensors, the communication time limitation could be critical according to the transmission speed and data length of CAN specification. In this paper, the CAN message scheduling in humanoid robot was suggested under the presence of Jitter in the message group, the existence of high load of messages over the network and the presence of transmission errors. In addition, the response time under the worst case is compared with the simulation by using the simulation algorithm. As a result, the suggested messages scheduling can guarantee our CAN limitation, and utilized to generate the walking patterns for the humanoid.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.134-141
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• 1998

Sometimes we need to acquire symbolic quantity of information instead of physical quantity for the output of any system. For instance we can not control traffic signal accurately through only the number of vehicles. At that case we can produce better output using symbolic quantity of road length and width and vehicle type. But it is very difficult to aggregate symbolic information from the unrelated and mutually conflicted input after calculating linear and related expression. Moreover that will take much time to produce symbolic output by the physical quantity only. In this paper we implemented the ultimate traffic control information by using fuzzy sensor algorithm and compared our results with the conventional traffic controller after studying the necessity of symbolic information in the traffic control.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.444-449
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• 2009

An engine is one of the most dominant noise and vibration sources in vehicle systems. Therefore, in order to resolve noise and vibration problems due to engine, various types of engine mounts have been proposed. This work presents a new type of active engine mount system featuring a magneto-rheological (MR) fluid and a piezostack actuator. As a first step, six degrees-of freedom dynamic model of an in-line four-cylinder engine which has three points mounting system is derived by considering the dynamic behaviors of MR mount and piezostack mount. In the configuration of engine mount system, two MR mounts are installed for vibration control of roll mode motion whose energy is very high in low frequency range, while one piezostack mount is installed for vibration control of bounce and pitch mode motion whose energy is relatively high in high frequency range. As a second step, linear quadratic regulator (LQR) controller is synthesized to actively control the imposed vibration. In order to demonstrate the effectiveness of the proposed active engine mount, vibration control performances are evaluated under various engine operating speeds (wide frequency range) and presented in time domain.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.2
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• pp.187-193
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• 2004

For a power source of usual electronic devices such as PDA, smart phone, UPS and electric vehicle, the battery made of serially connected multiple cells is generally used. In this case, if there are some unbalanced among cell voltages, the total lifetime and the total capacity of the battery are limited to a lower value. To maintain a balanced condition in cells, an effective method of regulating the cell voltage in indispensable. In this paper, we propose the design of a balancing circuit for electronic appliances. The balancing system was controlled by a micro-controller which enables to implement the balancing action during charging period. Proposed method has been verified by the experiment using the charger and recorder. The experimental results show that the individual battery equalization can improve battery capacity and battery lifetime and performance through an extended operational time.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.6-8
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• 2010

HEV(Hybrid Electrical Vehicle)의 배터리와 전동기/발전기용 인버터 사이에 전력의 흐름에 따라 바뀌어 동작하는 양방향 컨버터가 장착된다. 이 컨버터는 낮은 배터리의 전압을 승압해 DC-Link 전압을 높혀줌으로써 전동기의 전류용량을 낮춰 줄 수 있으며 그에 따른 전동기의 부피를 감소시키고 손실을 줄이는 역할을 한다. 본 논문에서는 HEV에서 사용되는 양방향 컨버터의 모드 절환을 포함한 디지털 제어 방법을 소개하고, 시뮬레이션을 통해 검증하였다.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.6
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• pp.511-521
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• 2014

This study proposes an electric vehicle (EV) smart panel board and its control method on the basis of charging scheduling. The proposed system consists of batteries, a three-phase battery charger, three single-phase inverters, transfer switches for electric power distribution, and a controller. The three-phase battery charger usually charges the batteries at midnight when electric rates are cheap and in light load. When the electric power consumption of the EV standard chargers connected to one phase of the power line is relatively large or when a blackout occurs, the electric power stored in the battery is supplied by discharging through the inverters to the EV standard chargers. As a result, the value of peak load and the charging electric power quantity supplied from a utility grid are reduced, and the current unbalance is improved. The usefulness of the proposed system is confirmed through simulations, experiments, and case studies.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.472-477
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• 1994

The lockup clutch is embeded on torque converter of automatic transmission to prevent the efficiency deterioration of torque converter in high speed. For improving fuel consumption rate, it is desirable to engage the lockup clutch earlier. But, it results in degrading shift quality, due to the transient torque. The transient clutch pressure which affects the shifting quality, should be controlled properly. In this study, to solve the problem, it is analysed the hydraulic circuit of lockup system including line pressure regulating circuit, established the nonlinear model, and designed the PID controller. The line pressure is supplied to the lockup clutch through the lockup control valve by switching the lockup solenoid valve on. In order to control the transient pressure actively, it is needed to control the lockup solenoid valve by closed loop control. The lockup solenoid valve is 2-way on-off valve, and is adequate for PWM control. To reduce the pressure chattering, the carrier frequency is increased. Target pressure profile is computed from optimized velocity difference profile throuth dynamic equation of vehicle system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.6
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• pp.583-590
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• 2009

An engine is one of the most dominant noise and vibration sources in vehicle systems. Therefore, in order to resolve noise and vibration problems due to engine, various types of engine mounts have been proposed. This work presents a new type of active engine mount system featuring a magneto-rheological (MR) fluid and a piezostack actuator. As a first step, six degrees-of freedom dynamic model of an in-line four-cylinder engine which has three points mounting system is derived by considering the dynamic behaviors of MR mount and piezostack mount. In the configuration of engine mount system, two MR mounts are installed for vibration control of roll mode motion whose energy is very high in low frequency range, while one piezostack mount is installed for vibration control of bounce and pitch mode motion whose energy is relatively high in high frequency range. As a second step, linear quadratic regulator (LQR) controller is synthesized to actively control the imposed vibration. In order to demonstrate the effectiveness of the proposed active engine mount, vibration control performances are evaluated under various engine operating speeds(wide frequency range) and presented in time domain.

• Proceedings of the KAIS Fall Conference
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• 2009.05a
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• pp.244-248
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• 2009

본 논문에서는 만타형상의 무인잠수정의 운동성능과 제어기설계에 대한 성능을 확인하기 위한 수학모델을 정립하여 시뮬레이션 프로그램을 개발하였다. 본 논문에 사용된 수학모델은 6자유도 운동방정식을 이용하여 Matlab / Simulink를 이용하여 시뮬레이션 프로그램을 개발하였다. 개발된 시뮬레이션 프로그램을 이용하여 만타형상무인잠수정(Manta-type unmanned underwater test vehicle)의 동역학적 운동성능을 해석하였으며, 무인잠수정의 제어성능을 해석하기 위하여 PID(비례-미분-적분)제어기와 슬라이딩모드(Sliding mode)제어기를 설계하여 만타형상무인잠수정의 제어 성능을 해석하였다. 설계된 제어기는 무인잠수정의 수심제어와 방향각제어에 사용되었다. 설계된 제어기의 성능을 확인하기 위하여 미국 해군대학원(Naval Postgraduate School)의 AUV II와 비교하였다. 설계된 수심제어와 방향각 제어기를 이용하여 만타형무인잠수정의 설계 목표에 부합하는 항해제어시뮬레이션을 실시하였다.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.4
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• pp.614-623
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• 2015

When the speed of a coaxial rotor helicopter in forward flight increases, the wake skew angle of the rotor increases and consequently the position of the vena contracta of the upper rotor with respect to the lower rotor changes. Considering ambient air and the effect of the upper rotor, this study proposes a nonuniform inflow model for the lower rotor of a coaxial rotor helicopter in forward flight. The total required power of the coaxial rotor system was compared against Dingeldein's experimental data, and the results of the proposed model were well matched. A plant model was also developed from first principles for flight simulation, unknown parameter estimation and control analysis. The coaxial rotor helicopter used for this study was manufactured for surveillance and reconnaissance and does not have any stabilizer bar. Therefore, a feedback controller was included during flight test and parameter estimation to overcome unstable situations. Predicted responses of parameter estimation and validation show good agreement with experimental data. Therefore, the methodology described in this paper can be used to develop numerical plant model, study non-uniform inflow model, conduct performance analysis and parameter estimation of coaxial rotor as well as other rotorcrafts in forward flight.