• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.2
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• pp.134-141
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• 2009

The new method is proposed to improve the dynamics of the phase angle detector during abrupt voltage dip caused by a grid fault. Usually, LPF(low pass filter) is used in the feedback loop of SRF(Synchronous Reference Frame) - PLL (Phase Locked Loop) system because the measured grid voltage contains harmonic distortions and sensor noises. A better transient response can be obtained with the proposed design method for SRF-PLL by the analysis of linearized model of the PLL system including LPF. Furthermore, in the proposed method, the controller gain and LPF cut-off frequency are changed from normal value to transient value when the voltage disturbance is detected. This paper shows the feasibility and the usefulness of the proposed methods through the computer simulation and the experiment.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.153-156
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• 1992

Transient stability analysis of Korea Electric power Corporation(KEPCO) system is conducted by time simulation method, and the method is robust and reliable. But, time simulation consumes enormous computing resources and engineering time, and it does not provide a measure of the degree of stability of the system. Therefore, this method does not apply to every changed condition appropriately and quickly in planning and operating. And Transient Energy Function (TEF) method whis can assess quickly and quantatively the degree of stability of the system and which judges the stability and the instability to analyse transient dynamic charater of the system by mutual changing kinetic energy and potential energy, is developed. TEF method analyses the first Swing transient stability of the system by using the thought that if after disturbance happening, the increase of all the rotator kinetic energy changes into the potential energy after diturbance clearing, the system is stable, otherwise the system is unstable. This paper represents the availabiIity of the TEF method by comparing with time simulation method on the two cases.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.11
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• pp.2126-2135
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• 1992

In order to prevent the decay heat removal system from failure due to air entrainment or free surface vortex in the piping system, a set of simulating experiments for the midloop operation of nuclear power plant was performed. Through these experiments, a relation between the dimensionless numbers, such as submergence H/d, froude number, reynolds number, was found. However, the effect of reynolds number was negligible for the operation conditions of Nuclear power plant. It was also found that the perturbation of the system by the disturbance such as pump start, valve operation, etc., has a strong effect on the free surface vortex. Furthermore, from a view point of reactor safery, a modified inlet device of reducer type is strongly recommendable for the prevention of air entrainment.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.15-20
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.2
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• pp.382-392
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• 2004

The usage of constant velocity (CV) joint is effective for motorboats on gliding regime of the motion. During transition on the gliding when angle of the CV differs from null on driving and driven composite shafts there are moments of the second order. Excitation of oscillations of the second order moments occurs when driving shafts transmits a variable torque. which generates through CV joint a lateral moment acting on the bearing. As a result of oscillations from a resonating harmonic of a shafting the harmonic with the greater or periodically varying amplitude for power condition trough transferring to nominal power 144kW. Beating conditions coincide with third mode having frequency 45.486 Hz. In that case there is high increasing of the equivalent stresses. The forming of the stiffness of the composite material is concerned to use most orientation of the layer angle in the range of $\pm$60 degrees relatively of shaft axis. Application of that angles for layer orientation gives possibility to avoid high disturbance of the shafting for motorboat transition regime.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.5
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• pp.418-426
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• 2003

To show a retina shape and thickness on the computer monitor, a laser has been used in Scanning Laser Ophthalmoscope(SLO) equipment using the traveling difference. This method requires exact synchronous control of laser traveling in optic system to show a clear 3-dimensional image of retina To obtain this image, this exact synchronism is very important for making the perfect plane scanning. In this study, a high speed and synchronous control of the galvanometer to make 3-dimensional retina image is presented. For the more, deadbeat load torque observer is added to the PI controller for compensation of the position error arisen in the high speed control. As a result, the proposed control system has a robust and precise response against the load torque variation appeared in high speed control. A stability and usefulness are verified by the computer simulation and the experiment.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.1
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• pp.42-49
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• 2004

This paper presents a new method of external load disturbance compensation using deadbeat load torque observer and gain compensation by parameter estimator. The response of the permanent magnet synchronous motor(PMSM) follows the nominal plant. The load torque compensation method is composed of a deadbeat observer. To reduce the noise effect, the post-filter implemented by moving average(MA) process is adopted. The parameter compensator with recursive least square method(RLSM) parameter estimator is suggested to make the new system work as same as the name plate system which in used to take gains. The proposed estimator is combined with a high performance load torque observer to resolve the problems. As a result, the proposed control system has a robust and precise system against the load torque and the parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• Journal of Power Electronics
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• v.18 no.3
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• pp.723-735
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• 2018

Linear proportional-integral (PI) controllers are an attractive choice for controlling the speed of induction machines because of their simplicity and ease of implementation. Fractional-order PI (FO-PI) controllers, however, perform better than PI controllers because of their nonlinear nature and the underlying iso-damping property of fractional-order operators. In this work, an FO-PI controller based on the proposed first-order plus dead-time induction motor model and integer-order (IO) controllers, such as Ziegler-Nichols PI, Cohen-Coon PI, and a PI controller tuned via trial-and-error method, is designed. Simulation and experimental investigation on an indirect field-oriented induction motor drive system proves that the proposed FO-PI controller has better speed tracking, lesser settling time, better disturbance rejection, and lower speed tracking error compared with linear IO-PI controllers. Our experimental study also validates that the FO-PI controller maximizes the torque per ampere output of the induction machine and can effectively control the motor at low speed, in field-weakening regions, and under detuned conditions.

• Journal of the Korean Society of Visualization
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• v.13 no.1
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• pp.15-20
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• 2015

Sensitivity studies of blade angle and twisted angle are numerically investigated to optimize the Savonius blade. As blade angle increases, the contact area between blade and wind decreases, showing the suppression of the vortex generation near blade. Compared to the blade angle of 0 degree, the blade angle of 20 degree shows about 2.6% increment of power efficiency. Based on the blade angle of 20 degree, sensitivity studies of the twisted angle are performed. The result indicates that the adjustment of the twisted angle causes the torque of blade to increase. Optimized blade can suppress the formation of the vortex structure in rear region. Also, wind flows without disturbance of vortex when passing through the optimized blade. The 1kw vertical wind turbine system with optimized blade can generate 4442.2kWh per year and have 53% capacity factor.