• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.301-306
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• 2003

PID controller is applied mostly to two-order system. In third-order or higher- system, it's impossible to get high response quality because of having more zero point than the number of zero point being in the PID controller. To solve those, Jung & Dorf suggested a new type of PIDA controller and solved problen of a third-order system. But, as the result of getting step response using PIDA controller, rising time is very quickly but wide overshoot is happened. Beside designing PIDA controller with using CDM(Coefficient Diagram Method) suggested by shunji manabe. But, In Performance standard, CDM decreases overshoot to desired but rising time is very slow. Therefore this paper suggest a PD-PIDA controller for low overshoot with PD type Pre-compensator. This paper applied designed PD-PIDA controller to position control of 3-Phase induction motor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.286-290
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• 2004

This paper deals with tipping over of hydraulic excavator's crane work. If the excavator lifts too heavy weight, the excavator will be tipped up. This is account for 38% of whole excavator accidents. In this paper, tipping-over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping-over rate are computed with Zero Moment Point theory. ZMP is verified with simulation and experiment.

• 드라이브 ㆍ 컨트롤
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• 제13권4호
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• 전력전자학회논문지
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• 제21권5호
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• pp.449-452
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• 2016

This paper presents a simplified analysis on the rotor position detection error in sensorless interior permanent magnet brushless DC motor (BLDCM) drives, wherein terminal voltage sensing based on the back-electromotive force (back-EMF) zero-crossing point detecting circuitry is employed. The effect of a rotor saliency on the back-EMF's zero-crossing point detection is analyzed using the extended EMF-based voltage equation of the interior permanent BLDCM in a stationary reference frame, and thus the overall analysis is considerably simplified compared to the conventional one. Simulation results are provided to verify the effectiveness of the proposed method.

• 한국정밀공학회지
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• 제22권3호
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• pp.107-114
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• 2005

A new approach which combines implicit surface scheme and point projection method is presented in order to fill the arbitrarily shaped holes in the polygon model. In the method a trimmed surface which has an outer boundary curve is generated by using the implicit surface scheme and normal projection of point onto the base surface. The base surface is constructed by creating smooth implicit surface from the incomplete polygon model through which the surface should pass. In this paper an implicit surface is defined by a radial basis function, a continuous scalar-valued function over the domain $R^3$. The base surface is the set of all points at which this scalar function takes on the value zero and is created by placing zero-valued constraints at the vertices of the polygon model. In order to show the validity of the present study, various hole fillings are carried out for the complex polygon model of arbitrary topology.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.948-953
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• 2004

For stable walking of various biped walking robots(BWR), we need to know the kinematics, dynamics and the Zero Moment of Point(ZMP) which are not easy to analyze analytically. In this reason, we developed a simulation program for BWRs composed of 4 degree-of-freedom upper-part body and 12 degree-of-freedom lower-part of the body. To operate the motion simulator for analyzing the kinematics and dynamics of BWES, inputs for the distance between legs, base angle, choice of walking type, gaits, and walking velocity are necessary. As a result, if stability condition is satisfied by the simulation, angle data for each actuator are generated automatically, and the data are transmitted to BWRS and then, they are actuated by the motion data. Finally, we validate the performance of the proposed motion simulator by applying it to a constructed small sized BWR.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.355-360
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• 1995

In order to align the shaft, the dialgauge method has used as a means of solution until now. The method using a dialgauge require a great deal of labour and money due to making by hand, the accurate alignmentis not up to the expectation. For aligning the shaft, all the rotor must come to accord. It means that the moment of the point of coupling must keep being "Zero". The ideal measurement method as to material on the zero is used by straingauge which can gauge the moment at any point of the shaft. Also, the dialgauge method cannot be compared with straingauge measurement method, form the viewpoint, which can gauge in short time.hort time.

• 한국위성정보통신학회논문지
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• 제10권2호
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• pp.60-69
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• 2015

제로 포인트 콘스텔레이션(zero point constellation)을 이용하는 수정된 변조방식에 의해 평균 전력 절감 방법뿐만 아니라 콘스텔레이션 추정을 기반으로 하는 새롭고 효율적인 도플러 효과 보상 방법이 이론 해석과 적절한 시뮬레이션을 통해 제시된다. 제안된 방식은 고속 차량의 이동 단말에 대하여 전력을 제한하는 트랜스폰더(transponder)에 의해 중계되는 위성 OFDM 신호에 매우 효과적이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.530-532
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• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.539-541
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• 2006

Biped locomotion is a popular research area in robotics due to the high adaptability of a walking robot in an unstructured environment. When attempting to automate the motion planning process for a biped walking robot, one of the main issues is assurance of dynamic stability of motion. This can be categorized into three general groups: body stability, body path stability, and gait stability. A zero moment point (ZMP), a point where the total forces and moments acting on the robot are zero, is usually employed as a basic component for dynamically stable motion. In this rarer, learning based neuro-fuzzy systems have been developed and applied to model ZMP trajectory of a biped walking robot. As a result, we can provide more improved insight into physical walking mechanisms.