• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.563-566
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• 1999

The functional diagnosis instrument should be preceded first to both the accurate selection of exact acupoint and discrimination. so the measuring and stimulating method are improved to SPAC pattern to evaluate impedance existed in the body. As a result, the resistance factor between skin and probe, the dipolization of cell was reduced so that the judgement of acupoint is advanced. After extraction of optimization parameter of SPAC pattern which the high discrimination efficiency and the lowest affection on the human body is controlled by using microprocessor to enhance conviction. The discrimination efficiency was confirmed by meridian visualization system. Also mechanism of probe was improved to increase efficiency of image recognition processing. The image of discriminated acupoint with probe is obtained by using a camera, the location on the tip of probe is recognized and processed. And then these are converted to virtual color by proportional to measuring current level of scan point on skin.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 추계학술대회 논문집
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• pp.81-84
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• 2003

For increasing power of photovoltaic systems, serial and parallel connection needed. In parallel connection, a desirable characteristic of parallel-connected supply system is that individual converters share the load current equally and stably. The current sharing(CS) can be implemented using two approaches. The first one, known as a Droop method, and the other is Active current-sharing. In Droop method, current distribution characteristics relies on the high output impedance of each converter. This scheme is more simple and no need interconnections. but also has a disadvantages of degrading current sharing characteristics. In this paper, using droop method at multiful-parallel connection with it's convenience and simplicity.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권4호
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• pp.213-219
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• 2000

In this paper, a controller design method is proposed for haptic interface considering transparency and robust stability. For this, a performance index for the transparency as performance measure is defined in the points of impedance matching and the optimal solution which is minimizing the performance index is obtained by solving H2 optimal problem. In haptic interface, the modeling uncertainties can be restricted to that of haptic device. To implement the robust stabilizing haptic controller to the uncertainties of haptic device, a robust stable condition using H$\infty$ norm from small gain theorem is proposed. To verify the effectiveness of the proposed haptic controller design scheme, numerical examples and experimental results are illustrated for virtual wall consisting of stiffness and damping factor.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.692-695
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• 2003

Generally, photovoltaic system is composed with several solar cell modules. For increasing power of photovoltaic systems, serial and parallel connection needed. A Desirable characteristic of a parallel supply system is that individual converters share the load current equally and stably. The current sharing(CS) can be implemented using two approaches. The first one, known as a droop method, relies on the high output impedance of each converter. and The second approach, known as active current-sharing techniques. In this paper, using droop method at parallel connection with it's convenience and simplicity.

• Journal of Power Electronics
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• 제19권4호
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• pp.1020-1033
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• 2019

This paper presents a control strategy to enhance the accuracy of reactive power sharing between paralleled three-phase inverters in an islanded microgrid. In this study, the mismatch of power sharing when the line impedances have significant differences between inverters connected to a microgrid has been solved, the accuracy of the reactive power sharing in an islanded microgrid is increased, the voltage droop slope is tuned to compensate for the mismatch of voltage drops across the line impedances by using an enhanced droop controller. The proposed method ensures accurate power sharing even if the microgrid has local loads at the output of the inverters. The control model has been simulated by MATLAB/Simulink with two or three inverters connected in parallel. Simulation results demonstrate the accuracy of the implemented control method. Furthermore, in order to validate the theoretical analysis and simulation results, an experimental setup was built in the laboratory. Results obtained from the experimental setup verify the effectiveness of the proposed method.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2014년도 추계학술대회 논문집
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• pp.145-146
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• 2014

여러 가지 분산 발전 시스템들은 마이크로그리드의 형태를 지니고 있다. 이 마이크로그리드는 계통연계모드에서 부하의 수요를 담당하게 되고, 계통 사고가 발생할 시 단독운전모드로 동작을 해야 한다. 드룹 제어 방식은 이 때 각각의 분산발전시스템에서의 유효전력과 무효전력 부하 sharing을 통해 안정적으로 전력을 공급 할 수 있고 순환 전류를 최소화 할 수 있다. 본 논문에서는 제안된 가상 저항과 캐패시터를 이용하여 인버터 병렬 운전 시스템을 위한 드룹 제어에 대해서 연구하였다. 그리고 가상 복합 임피던스에 따른 출력 임피던스에 대해서 연구하고 이에 따른 드룹 제어를 분석하여 PSIM 시뮬레이션으로 이를 검증하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.33-36
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• 2002

본 논문은 고정 및 이동물체와의 효율적인 충돌회피 알고리즘으로 적응임피던스제어 알고리즘을 제안하였다. 일반적인 충돌회피 알고리즘은 이동로봇의 동적 특성을 고려하지 않고 최적의 경로생성에만 관심을 둠으로써 실제 이동로봇이 추종하기 어려운 경로를 생성하기 쉽다. 그러므로 이동로봇의 동적 특성을 고려한 충돌회피 알고리즘을 위해, 이동로봇과 장애물과의 상호작용관계를 가상의 힘으로 정의한 임피던스제어 알고리즘을 사용하였다. 하지만 이런 단순 임피던스제어 알고리즘만으로는 갑작스런 장애물의 출현 시 이동로봇의 속도가 증가하고 장애물이 사라지면 속도가 감소하는 비효율적인 속도제어라는 문제점을 가지고 있다. 그러므로 충돌 가능성에 따른 새로운 속도제어 방식을 고려한 적응임피던스제어 알고리즘을 제안하고 검증하고자 한다.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2015년도 전력전자학술대회 논문집
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• pp.445-446
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• 2015

독립운전 모드로 동작하는 분산 발전 시스템의 제어방식 중 하나로 유무효 전력제어를 통한 전력분담을 실현하기 위한 드룹제어 방식이 있다. 이 방식은 선로 임피던스가 여러 가지 복합 성분으로 구성되어 있거나 불평형일 경우 이는 유무효 전력의 분담에 있어서 여러 가지 이유로 오차를 발생시키며 이에 대한 대책으로 가상 임피던스를 추가하여 복합적 불평형 라인 임피던스에 기인한 유무효 전력 조류의 복잡성을 해결하기 위한 연구가 최근 많이 진행되어 오고 있다. 본 논문에서는 위의 사항을 고려하여 가상 임피던스를 이용하여 시스템의 유무효전력 분담을 개선하고자 하였으며 안정도 분석을 위하여 각 가상 임피던스에 소신호 모델링을 수행하고 이를 비교하였다. 각 가상 임피던스에 대한 전력분담과 안정도 해석은 각각 PSIM과 MATLAB을 통해 검증되었다.

• 한국전기전자재료학회논문지
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• 제32권4호
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• pp.276-280
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• 2019

In this study, we investigated the crystal defects and grain boundary properties in a ZZCCC ($ZnO-Zn_2BiVO_6-Co_3O_4-Cr_2O_3-CaCO_3$) varistor, with the liquid-phase sintering aid $Zn_2BiVO_6$ developed by our laboratory. The ZZCCC varistor sintered at $1,200^{\circ}C$ exhibited excellent nonlinear current-voltage characteristics (${\alpha}=63$), with oxygen vacancy ($V_o^*$ ; 0.35 eV) as a main defect, and an apparent activation energy of 1.1 eV with an electrically single grain boundary. Therefore, among the various additives to improve the electrical properties of ZnO varistors, if $Zn_2BiVO_6$ is used as a liquid phase sintering aid, it will be ideal to use Co for the oxygen vacancy and Ca for the electrically single grain boundary. This will allow the good properties of ZnO varistors to be maintained up to high sintering temperatures.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.