• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.513-518
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• 1998

In this paper, a robust fault-tolerant control scheme for robot manipulators overcoming actuator failures is presented. The joint(or actuator) fault considered in this paper is the free-swinging joint failure and causes the loss of torque on a joint. The presented fault-tolerant control framework includes a normal control with normal(non-failed) operation, a fault detection and a fault-tolerant control to achieve task completion. For both no uncertainty case and uncertainty case, a stable normal con-troller and an on-line fault detection scheme are presented. After the detection and identification of joint failures, the robot manipulator becomes the underactuated robot system with failed actuators. A robust adaptive control scheme of robot manipulators with the detected failed-actuators using the brakes equipped at the failed(passive) joints is proposed in the presence of parametric uncertainty and external disturbances. To illustrate the feasibility and validity of the proposed fault-tolerant control scheme, simulation results for a three-link planar robot arm with a failed joint are presented.

• Journal of Magnetics
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• v.22 no.1
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• pp.23-28
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• 2017

This paper is a study of the eddy current brake designed to replace the air brake of railway application. The eddy current brake has the advantage of being able to take a high current density compared to the other application because this brake is used for applying brakes to the rolling stock for a shorter amount of time. Also, this braking system has the merit of being able to take a high current density at low speed rather than at high speed, because the heat generated by the low speed operation is less than that of the high speed operation. This paper also presents a method of improving the output torque of the eddy current brake at low speed operation through a change of the winding as well as the basic design.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.169-171
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• 2008

The brake systems of the rolling stocks are generally consisted of electrical and mechanical brake systems. Because of its inherent structure of the each brake system, the electrical brake system is mainly used at the high speed range while the mechanical brake system is used at the relatively lower speed range. It is desirable for the rolling stocks to apply the entire electrical brake system. However, since the brake force from electric brake system is not enough to stop the rolling stock within the legal stop distance. Therefore, the mechanical brake system is indispensable to rolling stocks. In general, the vast majority of the world trains are equipped with mechanical braking systems which use compressed air as the force to push block on to wheels or pads on to discs. These mechanical systems are known as air brake or pneumatic brakes. For the air brake system, basically huge scale air compressor is equipped and the long pipe line is complexively connected. Since mass of these air brake components, it is difficult to be a light weight equipment and the long pipe line raise the maintenance problem. In order to overcome these problems of air brake system, the hydraulic brake system is proposed in this research. The hydraulic brake system makes the whole weight of brake equipment be light and large braking force can be applied. Therefore, in this research, the validity and advantages of applying the hydraulic brake system are reviewed.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.4
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• pp.412-418
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• 2012

Eddy current brakes are electromechanical devices used as variable mechanical loads for testing electrical machines. Accurate modeling of eddy current loss is an important t factor for optimum design of eddy brake systems. In this second part, we propose novel formulations of eddy current loss in novel claw-pole eddy brake system. The proposed model for eddy current loss in novel claw-pole eddy brake system depends on the size of the claw poles. Also, in this paper, the flux density is measured by using the magnetic circuit of the novel claw pole. The model results are compared with experimental results and they are found to be in good agreement.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1909-1915
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• 2008

The brake systems of the rolling stocks are generally consisted of electrical and mechanical brake systems. Because of its inherent structure of the each brake system, the electrical brake system is mainly used at the high speed range while the mechanical brake system is used at the relatively lower speed range. It is desirable for the rolling stocks to apply the entire electrical brake system. However, since the brake force from electric brake system is not enough to stop the rolling stock within the legal stop distance. Therefore, the mechanical brake system is indispensable to rolling stocks. In general, the vast majority of the world trains are equipped with mechanical braking systems which use compressed air as the force to push block on to wheels or pads on to discs. These mechanical systems are known as air brake or pneumatic brakes. For the air brake system, basically huge scale air compressor is equipped and the long pipe line is complexively connected. Since mass of these air brake components, it is difficult to be a light weight equipment and the long pipe line raise the maintenance problem. In order to overcome these problems of air brake system, the hydraulic brake system is proposed in this research. The hydraulic brake system makes the whole weight of brake equipment be light and large braking force can be applied. Therefore, in this research, the validity and advantages of applying the hydraulic brake system are reviewed.

• Journal of the Korean Society for Railway
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• v.9 no.6 s.37
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• pp.677-681
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• 2006

In general, the braking system of high speed train has an important role for the safety of the train. To stop the train safely at its pre-decided position, it is necessary to combine the various brakes properly. The Korean high speed train (HSR-350x) has adopted a combined electrical and mechanical (friction) braking system. In this study, the measuring method that can obtain the disc braking forces and friction coefficient between disc and pad during on-line test of HSR-350x has been suggested and verified through the comparison of the results obtained from this method and those of the results of the dynamo-tests.

• Proceedings of the KIEE Conference
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• 2005.10c
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• pp.279-281
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• 2005

In DC traction substation with 12-pulse diode rectifiers, the DC line voltage tends to rise above noload voltage because it can't absorb the regenerative power caused by electric brakes of train. To solve this problem, an IGBT regenerative inverter should be installed and thus recycles the surplus regenerative power by delivering it to the supply grid. In this paper, the DC traction substation equipped with a IGBT regenerative inverter is studied using computer simulation. Matlab/simulink is used to simulate the operation of regenerative inverter which injects the regenerative power into the supply grid and stabilizes the DC line voltage. It is confirmed that the high quality regenerative power is delivered to the supply grid thorough computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1559-1564
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• 2003

In this paper, a control method is presented to improve performance of haptic display on a passive haptic device equipped with passive actuators. In displaying a virtual wall with the passive haptic device, an unstable behavior occurs with excessive actions of brakes due to the time delay mainly arising from the update rate of the virtual environment and force approximation originated from the characteristics of the passive actuators. The previous T.D.P.C. (Time Domain Passivity Control) method was not suitable for the passive haptic device, since a programmable damper used in the previously introduced T.D.P.C. method easily leads to undesirable behaviors. A new passivity control method is evaluated with considering characteristics of the passive device. First, we propose a control method which is designed under the analysis of the passive FME (Force Manipulability Ellipsoid). And then a passivity control scheme is applied to the proposed control method. Various experiments have been conducted to verify the proposed method with a 2-link mechanism.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.155-157
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• 2008

An electric multiple unit(EMU) consists of car body, bogie and brake equipment which is directly related to safety and performance of the motorcar. The blending brake mixed an electric brake and a friction brake is to reduce the energy by applying the restoration energy caused when the motorcar is stopped to car lines and to curtail the maintenance cost by saving the friction brake use. We have developed the advanced EMU since 2004, based on the experiences on the standard EMU in 1999, and we develop the installation which minimizes the use rate of the friction air brake by maximizing the electric brake use in the existing blending brake. We could accomplish the goal by improving the motorcar's Performance and solving the restoration energy's deficit by the friction brake. Actually, when it comes to the test results of standard EMU, except the service brake, in most conditions, we use electric brake to meet the requirements of the necessary brake power, exclusive when the motorcar leaves and stops. Therefore, in this paper, we consider the design concept of motorcar's blending brakes and suggest the way to develop the blending brake using the electric brake maximumly, which is caused by adequately controling the electric brake and the restoration brake.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.2
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• pp.198-207
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• 2008

The conventional Residual Current Protective Devices(RCD, or earth leakage circuit breaker, ELB) operates depending on the total leakage current which is the vector-sum of resistive and capacitive components of a leakage current. However, the electric disaster such as electric shock or fire is mainly caused by the resistive component. Therefore, in this view point, the RCD is more realistic when it operates by the resistive component of the leakage current. In this paper, a new algorithm for measuring the resistive leakage current from the total leakage current is suggested, and is realized to an actual circuit. According to the suggested algorithm, the resistive component of the leakage current can be found by integrating the total leakage current over only a half cycle of the line voltage, and it is realized by using analog switches and resettable integrators. It is confirmed through experiments that the suggested algorithm detects, within maximum average error of 6.74%, the resistive leakage current from the total leakage current, and the RCD employing the suggested algorithm brakes the circuit within the regular interrupt time(30msec).