• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.159-162
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• 2005

Random Early Detection (RED), one of the most well-known Active Queue Management (AQM), has been designed to substitute Tail Drop and is nowadays widely implemented in commercially available routers. RED algorithm provides high throughput and low delay as well as a solution of global synchronization. However RED is sensitive to parameters setting, so the performance of RED, significantly depends on the fixed parameters. To solve this problem, the Adaptive RED (ARED) algorithm is suggested by S. Floyd. But, ARED also uses fixed parameters like target-queue length; it is hard to respond to bursty traffic actively. In this paper, we proposed AQM algorithm based on the variation of current queue length in order to improve adaptability about burst traffic. We measured performance of proposed algorithm through a throughput, marking-drop rate and bias phenomenon. In experimentation, we raised a packet throughput as reduced packet drop rate, and we confirmed to reduce a bias phenomenon about bursty traffic.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.1031-1034
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• 2005

This paper introduces a novel sensor network protocol, R-WSLP(Realtime Wireless Sensor Line Protocol), which has extremely low latency characteristic in large-scale WSN. R-WSLP is proposed to implement realtime forest fire monitoring system. We propose Distributed TDMA method for the multiple channel access and Time Synchronized Forwarding Mechanism instead of routing technique to achieve low latency network. Also, R-WSLP provides extremely low power operation which we accomplished by reducing idle listening. In our experimentation, we get successful results at the forest fire monitoring system with our protocol.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.683-688
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• 2017

The unscented Kalman filter features a direct transforming process involving unscented transformation for removing the linearization process error that may occur in the extended Kalman filter. This paper proposes a reduced-order unscented Kalman filter for the sensorless control of a permanent magnet synchronous motor. The proposed method can reduce the computational load without degrading the accuracy compared to the conventional Kalman filters. Moreover, the proposed method can directly estimate the electrical rotor position and speed without a back-electromotive force. The proposed Kalman filter for the sensorless control of a permanent magnet synchronous motor is verified through the simulation and experimentation. The performance of the proposed method is evaluated over a wide range of operations, such as forward and reverse rotations in low and high speeds including the detuning parameters.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 추계학술대회 논문집
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• pp.95-96
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• 2013

In this paper, an operation algorithm for the fuel cell-battery hybrid power system is proposed. As the output current slope of the fuel cell is normally limited to protect the fuel cells' defection, efficient power distribution algorithm between the fuel cell and battery is very important for the successful hybrid control operation. For the experimentation, a 1kW dc-dc converter with 500W fuel cell stack and 1kWh Li-polymer battery is implemented.

• 대한기계학회논문집
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• 제19권4호
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• pp.887-895
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• 1995

Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by subgoal and sub-subgoal searching methods. The subgoal searching finds the passable ways between obstacles and selects the optimal pathway in order to reduce the moving distanced from start point to given to given goal. On the other hand, the sub-subgoal searching corrects the path given in subgoal searching in the case of which the mobile robot will collide with obstacles. Also, the effectiveness of the established local path planning and local minimum avoiding algorithm are estimated by computer simulation and experimentation in complex environment.

• 동력기계공학회지
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• 제9권2호
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• pp.65-72
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• 2005

A new approach is presented to design a robust sampled-data controller for an experimental flexible beam carrying an unknown payload at its free end. The purpose of this paper is to move the free end of the beam to a desired position in the specified time under vibration suppression. We derive a transfer function nominal model for the beam and quantitative description of model uncertainties based on experimentally obtained frequency response data. Robust controllers are designed by applying the sampled-data $H_{\infty}$ control and ${\mu}m-theory$, in which two types of uncertainties, structured and unstructured uncertainties, are adopted for satisfactory performance in terms of hinge position regulation and vibration damping, besides obviously asymptotic stability. The effectiveness of the proposed method is confirmed through simulation and experimentation.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2009년 춘계학술대회논문집
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• pp.66-69
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• 2009

New design configurations were developed based on the closed ventilation type igloo nozzle in contrast to the conventional open distribution type. To validate the enhanced performance, the prediction of the exhaust flow patterns of the igloo diffuser was carried out by both experimental and computational simulations. CFD provided detailed parametric studies that significantly reduced the amount of experimentation necessary to alter the design of existing the F-15K igloo exhaust diffuser.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.232-234
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• 2006

We proposed a new sustaining driver for AC PDPs with reduced sustain voltage by half, which cope with the demerits of the conventional TERES circuit. In the proposed circuit, the number of active switching elements are smaller than the TERES circuit by two and the energy recovery circuit is added. In this paper, the proposed circuit is implemented with control circuits and its validity is verified by the experimentation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.109-111
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• 2006

This paper deals with a noise and vibration of brushless dc (BLDC) motors due to the asymmetrical overhang of permanent magnet. The asymmetrical overhang of permanent magnet is generating z-axis thrust which is lead to eccentric force and vibration of BLDC motor. The z-axis thrust considering asymmetrical overhang effect of permanent magnet is analyzed by using 3-D FEM and the result is compared to experimentation.