• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.1
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• pp.65-70
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• 2006

This paper presents the transient behaviors of grounding system impedance against lightning impulse currents. The dynamic characteristics of the deeply driven ground rod and grounding grid subjected to the impulse current were investigated. The transient ground impedance strongly depends on the configuration and size of grounding electrodes and the shapes of impulse currents, and the inductance of grounding electrodes has a significant affect on the transient ground impedance of grounding system Also, the deeply-driven ground rod was effective to reduce the transient ground impedance in time domain of miceroseconds.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.

• Structural Engineering and Mechanics
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• v.10 no.4
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• pp.299-312
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• 2000

The response of an embedded body to dynamic loads is greatly influenced by the reactions of the soil to the motion of the body. The properties of the soil surrounding embedded bodies (e.g., piles) may be different than those of the far-field for a variety of reasons. It may be weakened or strengthened according to the method of installation of piles, or altered due to applying one of the soil strengthening technique (e.g., electrokinetic treatment of soil, El Naggar et al. 1998). In all these cases, the shear strength of the soils and its shear modulus vary gradually in the radial direction, resulting in a radially inhomogeneous soil layer. This paper describes an analysis to compute vertical and torsional dynamic soil reactions of a radially inhomogeneous soil layer with a circular hole. These soil reactions could then be used to model the soil resistance in the analysis of the pile vibration under dynamic loads. The soil layer is considered to have a piecewise, radial variation for the complex shear modulus. The model is developed for soil layers improved using the electrokinetic technique but can be used for other situations where the soil properties vary gradually in the radial direction (strengthened or weakened). The soil reactions (impedance functions) are evaluated over a wide range of parameters and compared with those obtained from other solutions. A parametric study was performed to examine the effect of different soil improvement parameters on vertical and torsional impedance functions of the soil. The effect of the increase in the shear modulus and the width of the improved zone is investigated.

• New & Renewable Energy
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• v.9 no.2
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• pp.51-57
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• 2013

The Grid code is being strengthen as increase of renewable energy ratio. Especially, the grid connection regulations are continuously being updated for stable operation of power grids. Static grid support and Dynamic grid support must make an accurate measure at Grid connected point because they needs control algorithm individually. It has to exactly measure voltage including switching ripple at the output of the inverter generating system. In addition, it is necessary to have an accurate voltage measurement when the situation rapidly changing the grid impedance is caused by the input of serial impedance of transformer and line impedance as well as Grid Fault Device. In this paper, We propose a new detection method of grid voltage to calculate accurately the r.m.s voltage of the grid connection point along the standard required by the low voltage regulation. We verified performance through simulation grid fault device.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.2
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• Journal of the Korean Crystal Growth and Crystal Technology
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• v.6 no.4
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• pp.648-662
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• 1996

Electrode surface reaction on glassy carbon and synthesized graphite (PVDF mixed graphite) in sulfuric acid solution is investigated by impedance spectroscopy at cyclic polarization. The redox peak, which may be due to the change of chemical adsorped functional group on electrode surface or oxidation and reduction of oxygen, is represented on glassy carbon and graphite electrode in potentio-dynamic current curve. The oxidation and reduction of these surface functional group on glassy carbon and PVDF mixed graphite have a major affect on the impedance spectrum and Faraday impedance parameter at cyclic polarization.

• Structural Engineering and Mechanics
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• v.8 no.5
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• pp.505-512
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• 1999

Based on the concept of the parameter-mixed synthesis, this paper presents a mixed formulation of the substructure synthesis method in terms of the physics-impedance-modal parameter. An example is given to show the validity of this method.

• Journal of KSNVE
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• v.6 no.6
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• pp.749-754
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• 1996

In this paper, a design method of matching layers is presented for the sandwich type broad band underwater acoustic vibrators. The characteristic impedances of matching layers are determined to be matched to the characteristic impedance of head mass material. For the dynamic characteristic analysis of the sandwich type transducers, one dimensional FEM technique is also introduced. A test vibrator with the quarter wave matching layers has been designed to verify the proposed method. And the wide band characteristics of the input impedance and transmitting voltage response (TVR) are investigated.

• Structural Engineering and Mechanics
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• v.24 no.6
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• pp.683-698
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• 2006

The accurate dynamic analysis of concrete arch dams relies heavily on employing a three-dimensional semi-infinite fluid element. The usual method for calculating the impedance matrix of this fluid hyper-element is dependent on the solution of a complex eigen-value problem for each frequency. In the present study, an efficient procedure is proposed which simplifies this procedure amazingly, and results in great computational time saving. Moreover, the accuracy of this technique is examined thoroughly and it is concluded that efficient procedure is incredibly accurate under all practical conditions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.232-236
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• 2000

To provide model parameters for servo control system design, dynamic characteristics of a piezoelectric microactuator for hard disk drive(HDD) were investigated. At first frequency response characteristics was measured and a second order model was proposed. Here the amplitude dependent dynamic characteristics such as low frequency gain and damping ratio were studied. In addition, the load current and equivalent impedance of the piezoelectric actuator were measured by varying excitation voltage and frequency. At last, the super-harmonic resonance of the piezoelectric actuator was discussed.