• Journal of Drive and Control
• /
• v.13 no.2
• /
• pp.26-33
• /
• 2016

This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.

• Journal of Biomedical Engineering Research
• /
• v.25 no.5
• /
• pp.343-349
• /
• 2004

Electroglottograph(EGG) is a signal recorded from the vocal cord vibration by measuring electrical impedance across the vocal folds through the neck skin. The purpose of this study was to develop EGG system and to evaluate possibility for the application on speech analysis and laryngeal disease diagnosis. EGG system was composed of two pairs of ring electrodes, tuned amplifier, phase sensitive detector, low pass filter, and auto-gain controller. It was designed to extract electric impedance after detecting by amplitude modulation method with 2.7MHz carrier signal. Extracted signals were transmitted through line-in of PC sound card, sampled and quantized. Closed Quotient(CQ), Speed Quotient(SQ), Speed Index(SI), fundamental frequency of vocal cord vibration(F0), pitch variability of vocal fold vibration (Jitter), and peak-to-peak amplitude variability of vocal fold vibration(Shimmer) were analyzed as EGG parameters. Experimental results were as follows: the faster vocal fold vibration, the higher values in CQ parameter and the lower values in SQ and SI parameters. EGG and speech signals had the same fundamental frequency. CQ, SQ, and SI were significantly different between normal subjects and patients with laryngeal cancer. These results suggest that it is possible to implement portable EGG system to monitor the function of vocal cord and to test functional changes of the glottis.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.62 no.7
• /
• pp.943-949
• /
• 2013

Recently, an electric vehicle (EV) has been become a huge issue in the automotive industry. The EV has many electrical units: electric motors, batteries, converters, etc. The DC distribution power system (DPS) is essential for the EV. The DC DPS offers many advantages. However, multiple loads in the DC DPS may affect the severe instability on the DC bus voltage. Therefore, a voltage bus conditioner (VBC) may use the DC DPS. The VBC is used to mitigate the voltage transient on the bus. Thus, a suitable control technique should be selected for the VBC. In this research, Current controller with fixed switching frequency is designed and applied for the VBC. The DC DPS consist of both a resistor load and a boost converter load. The load variations cause the instability of the DC DPS. This instability is mitigated by the VBC. The simulation results by Matlab simulink and experimental results are presented for validating the proposed VBC and designed control technique.

• Journal of Biosystems Engineering
• /
• v.20 no.3
• /
• pp.226-235
• /
• 1995

An unmanned speed sprayer was developed using a remote control and an inductive cable guidance systems to protect operators and environment from hazardous pesticides. The sprayer consists of a remote control system, an induction system, obstacle detectors, control actuators and an one-chip microcomputer. The sprayer can be operated by the induction guidance and/or remote control. The following summarize characteristics of the developed speed sprayer. 1) Both the remote control and the induction guidance operation were possible with the developed speed sprayer. 2) Sixteen functions of the forwarding, backing, halting, steering, 3-way valve for nozzles and fan operating etc. were utilized on the remote control system. 3) It was concluded that the DTMF method, having less transmitting error, performed better than the FSK method for an agricultural remote controller. A radio station may be necessary. 4) The digital inductive guidance system, consisting of five low-impedance detection coils and a window comparator circuit, performed better than the analog detecting system, guiding route using inductive voltage differential from tow detection coils.

• Journal of Mechanical Science and Technology
• /
• v.17 no.7
• /
• pp.999-1010
• /
• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile 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 autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Journal of Advanced Navigation Technology
• /
• v.16 no.5
• /
• pp.766-772
• /
• 2012

In the present study, wideband microstrip monopole slot antennas which can be applied to the RF4CE Zigbee remote controller are designed. First I-shaped monopole slot antenna which has ${\lambda}g/4$ length at 2.45GHz is designed. In particular, a conducting via is used to connect the microstrip feed line and the ground plane surrounded with the etched slot for the bandwidth improvement. In order to reduce the antenna size, it is changed into L-shaped and T-shaped monopole slot antennas for which improve results of antenna performance are observed. In case of T-shaped monopole slot antenna, impedance bandwidth(VSWR<2) is about 3.32GHz, and also its radiation efficiency and gain is more than 90% and 2.1dBi respectively at whole operating frequency range. In particular, all of proposed monopole slot antennas have the end-fire radiations which has a maximum radiation power toward direction of open ends of monopole slots.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.2
• /
• pp.416-422
• /
• 2017

The robot control with safety consideration is required since robots and human work together in the same space more frequently in these days. For safety, robots must have compliance to human force and robust tracking performance with high impednace for the nonhuman disturbances. The novel idea is proposed to achieve the compliance and high impedance with one controller structure. For the compliance, the ISMC(Integral Sliding Mode Control) and HDOB(Human Disturbance Observer) The human force is identified by using the human band pass filter and its output is sent to the sliding surface. The sliding mode dynamic is affected by human disturbance and the compliance for human is achieved. The disturbances besides human frequencies are decoupled by the ISMC and the robust tracking is achieved. The additional LDOB(Low Frequency Disturbance Observer) decreases the maxim nonlinear gain and leads low chattering. The introduction of human disturbance into the sliding mode dynamic is the main novel idea of this paper.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.18 no.6
• /
• pp.37-44
• /
• 2004

This paper represents a new approach for the protective relay of power transmission lines using a Artificial Neural Network(ANN). A different fault m transmission lines need to be detected classified and located accurately and cleared as fast as possible. However, The protection range of the distance relay is always designed on the basis of fixed settings, and unfortunately these approach do not have the ability to adapt dynamically to the system operating condition. ANN is suitable for the adaptive relaying and the detection of complex faults. The backpropagation algerian based multi-layer protection is utilized for the teaming process. It allows to make control to various protection functions. As expected, the simulation result demonstrate that this approach is useful and satisfactory.

• Journal of Advanced Navigation Technology
• /
• v.17 no.6
• /
• pp.646-651
• /
• 2013

In this paper, a small inverted-F antenna with adjustable characteristics is proposed with use of lumped elements, capacitor and resistor. Capacitor is inserted between end of the antenna and ground for size reduction and tuning of resonant frequency. On the other hand, $0{\Omega}$ resistor is replaced as the short line connected to ground. The movement of short point due to use of $0{\Omega}$ resistor results in providing variation of input impedance. Therefore optimum characteristics can be obtained only by proper choice of capacitor and short point without redesign of it's geometry. In order to check the validity, the proposed antenna is designed and fabricated for 2.4 GHz frequency band, and then is applied to a product of Zigbee wireless remote controller. As a result, the size of applied antenna is $8.5{\times}4.5mm^2$ and it is observed that the measured bandwidth and antenna gain are 150 MHz and 2 dBi respectively without redesign of the antenna.

• Journal of IKEEE
• /
• v.18 no.4
• /
• pp.552-558
• /
• 2014

This paper suggests how to design a ZigBee-chip-based communication module to remotely measure radiation level. The suggested communication module consists of two control processors for the chip as generally required to configure a ZigBee system, and one chip module to configure a ZigBee RF device. The ZigBee-chip-based communication module for remote radiation measurement consists of a wireless communication controller; sensor and high-voltage generator; charger and power supply circuit; wired communication part; and RF circuit and antenna. The wireless communication controller is to control wireless communication for ZigBee and to measure radiation level remotely. The sensor and high-voltage generator generates 500 V in two consecutive series to amplify and filter pulses of radiation detected by G-M Tube. The charger and power supply circuit part is to charge lithium-ion battery and supply power to one-chip processors. The wired communication part serves as a RS-485/422 interface to enable USB interface and wired remote communication for interfacing with PC and debugging. RF circuit and antenna applies an RLC passive component for chip antenna to configure BALUN and antenna impedance matching circuit, allowing wireless communication. After configuring the ZigBee-chip-based communication module, tests were conducted to measure radiation level remotely: data were successfully transmitted in 10-meter and 100-meter distances, measuring radiation level in a remote condition. The communication module allows an environment where radiation level can be remotely measured in an economically beneficial way as it not only consumes less electricity but also costs less. By securing linearity of a radiation measuring device and by minimizing the device itself, it is possible to set up an environment where radiation can be measured in a reliable manner, and radiation level is monitored real-time.