• 제어로봇시스템학회논문지
• /
• 제7권5호
• /
• pp.420-426
• /
• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• 전기학회논문지P
• /
• 제66권4호
• /
• pp.182-187
• /
• 2017

Synchronous generators have been significantly applied in large-scale power plants and its monitoring systems are additionally established to sequentially observe states and outputs. We develop a computer based monitoring device for three-phase synchronous power generators in this paper. First, a test-bed of such generator system is created and then a interface board is constructed to transfer electric signals including the output voltage and the current from generators into a computer system via a data acquisition device. Its RMS(root-mean-square) values are continuously shown on a screen of computer systems and its time-histories graphs are additionally illustrated under a graphic user interface(GUI) mode. Lastly, we carry out real-time experiments using the generator system with the monitoring device to demonstrate its reliability and superiority by comparing results of a generic power analyzer which is well-used in measuring various power systems practically.