• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.829-834
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• 2004

This research is to development advanced health(condition) monitoring system of superconducting motors. Development of advanced condition monitoring systems offers the prospect of improved performance, assessment, and operation, simplified design, enhanced safety, and reduced overall cost of advanced and next generation superconducting motor. For advanced and next generation superconducting motor design, the opportunity exists to develop and implement real-time and continuous monitoring systems by integrating wireless and computational technique. Generally, condition monitoring and control of temperature is essential for managing the superconducting motor components, rotor and structures. In this research, development of advanced monitoring in low temperature and high speed operating environments offers the potential to greatly improve the control of harsh environments. In conventional method, slip rings have been used to acquire data from these sensors. However, the increase of sensors leads to vibration of the rotation axis and noise signals due to kinematics contact. In this study, the wireless data acquisition technique was employed to develop more stable monitoring system adequate for high speed rotating system.

• 한국정보통신설비학회:학술대회논문집
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• 2003.08a
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• pp.81-84
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• 2003

부분방전시험은 고전압 고정자 권선의 절연상태를 검사, 평가 할 수 있는 중요한 수단이다. 전동기와 발전기에서 일어나는 절연 악화의 징후로써 부분방전이 발생되며 이러한 부분방전 신호를 검출하기 위한 센서로 SSC(Stator Slot Couple)를 사용한다. 하지만 현재 사용되고 있는 대부분의 SSC의 경우 설계에 있어 특성 임피던스가 실제구조에서 정확히 고려되지 않는 경향이 있다. 실제로 고정자 슬롯에 부착된 마이크로스트립 센서의 특성 임피던스는 정확히 50옴으로 정합 되지 않으며 이것은 센서의 성능에 중요한 영향을 미치게 된다. 그러므로 본 논문에서는 부분방전 센서의 성능을 개선시키기 위해 결합 전송선로(Coupled transmission line)를 이용한 임피던스 정합회로를 제안하고자 한다. 제안된 센서의 성능을 입증하기 위하여 고정자 슬롯에 설치된 기존의 SSC와 임피던스 정합회로를 부착한 센서를 시뮬레이션 한 후 비교 분석하였다. 결과적으로 제안된 정합 회로는 광대역 임피던스 정합 특성을 가지며 임피던스 부정합때문에 일어나는 기존 SSC의 성능 악화를 개선할 수 있었다.

• 한국정보통신설비학회:학술대회논문집
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• 2004.08a
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• pp.6-10
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• 2004

회전기기의 운전 상태에서 on-line 부분 방전시험은 고정자 권선의 절연상태를 검사, 평가 할 수 있는 중요한 수단으로서 이러한 부분방전시험을 통하여 회전기기 시스템의 사고예방을 위한 진단을 할 수 있다. 기존의 비접촉식 센서인 SSC는 부분방전 측정을 위하여 권선의 웨지 아래에 설치하는 방식으로 개발되어 [1], 설치가 불편하고 Global VPI 방식으로 제작된 소형 회전기에는 설치할 수 없는 단점이 있다. 본 논문에서는 소형 회전기에 사용가능한 저, 고주파용 부분방전 센서를 제안하였다. 웨지 위에 설치 가능한 SSC 형태의 마이크로스트립 센서 및 전송선로 이론을 이용한 2선 평행 전송선로 센서는 값이 싸고 소형 회전기에 설치할 수 있을 정도의 크기를 지니며, 기본적으로 센서의 구조가 고주파 웨이브가이드로서 고주파용 센서로 적합하다. 또한 저주파 신호를 검출하기 위한 센서로 로고우스키 코일 형태의 U 타입 센서는 와전류를 검출하는 센서로서 슬롯 외부에 설치 되어야 한다. 이러한 U 타입 센서와 마이크로스트립 센서 또는 2선 평행 전송선로를 동시에 설치할 경우 저, 고주파를 효과적으로 검출할 수 있다.

• Proceedings of the KIEE Conference
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• 2004.04a
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• pp.49-51
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• 2004

고전압 기기의 절연물 내부에서 부분방전 현상이 발생되면 절연파괴로 진전된다. 회전기기가 운전중인 상태에서 on-line 부분방전시험은 고정자 권선의 절연상태를 검사, 평가 할 수 있는 중요한 수단으로서 이러한 부분방전시험을 통하여 회전기기 시스템의 사고예방을 위한 진단을 할 수 있다. 부분방전 펄스는 10MHz $\sim$ 1GHz의 대역폭을 갖는 것으로 알려져 있으며, 이러한 고주파 대역의 전자파 에너지의 효과적인 검출을 위한 센서 중 하나로 웨이브가이드 구조의 고주파 검출센서가 존재한다. 기존의 전자기적 에너지를 검출하는 SSC (Stator Slot Coupler)센서를 한쪽 포트를 가지는 마이크로스트립센서 형태로 사용할 경우 접지면이 도체전체로 씌워져 있고 임피던스 정합을 위한 50옴의 칩저항이 신호라인과 접지사이 루프를 형성하여 기기 운전시 기기의 성능에 영향을 미칠 수 있는 단점을 가지고 있다. 이 단점을 보완하기 위해서 본 논문에서는 회전기내 부분방전 펄스의 전자기적 에너지를 검출할 수 있는 2선 평행 전송선로 라인을 응용한 부분방전 검출 센서를 제안하였고 시뮬레이션을 통해 성능을 입증하였다. 제안된 센서의 성능을 입증하기 위하여 2선 평행 전송선로 타입의 센서와 기존의 SSC (Stator Slot Coupler) 센서를 약간 변형시킨 마이크로 스트립 센서를 고정자 슬롯의 Wedge 부착한 후 두 센서 비교 분석하였다. 결과적으로 제안된 센서는 기존 SSC 타입의 마이크로스트립 센서에 비하여 더 간단한 형상을 가지며 운전 중 기기의 성능에 영향을 덜 미치는 효과를 얻을 수 있었다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.4
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• pp.141-147
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• 2016

A direct PM generator has the effect of reducing the mechanical noise and ease of maintenance by eliminating a number of power transmission components. In addition, wind turbines operating at low speed with the advantages of high output, high efficiency, and small size. The generator was designed as a small direct-drive PM generator that can be applied to a kite even at low wind speeds. The RPM (Revolutions Per Minute) of the reel was measured in two ways using a cadence/speedometer sensor and a tachometer while the actual kite. The RPM derived from the experiment was applied to the simulation on the designed generator. The no-load characteristic analysis for the magnetic fields produced for the permanent magnet generator by a permanent magnet and stator winding currents is achieved using a 2D coordinate system. A commercial electromagnetic analysis program, ANSYS Maxwell, was used to model the electromagnetic dynamics.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.55 no.4
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• pp.189-198
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• 2006

In order to improve the reliability of stator windings for hydro generators, it is necessary to detect the defective point and life assessment of the high voltage windings. Especially the on-line partial discharge (PD) test provides the ability to monitor effects, such as slot discharge, internal discharge, and end-winding discharge without interrupting generators, this method has been proven the major testing technology in high voltage rotating machines nowadays. The purpose of this paper is to describe the method of the on-line PD measurement on stator windings for hydro-generator with 13 [kV] class ceramic coupler (CC), on-line PD measuring system, terminal box, and index parameters. Also, the developed PD measuring system and 13 [kV] class CC were installed Daechung-dam generator #2. It was found that this installed sensor and system had good electrical characteristics to detect PD activity during the operating condition with its detection frequency band is between several and several tens MHz.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.58-65
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• 1999

The spinning machine has been developed for a bus and truck wheel disc which is manufactured by spinning process method. This machine has the mechanical structure with bed, 2-column, cross head, 2-vertical slide, 2-horizontal slide with forming roller, clamp slide and main spindle similar to large size vertical lathe. Main spindle attached the mandrel is rotated about 500rpm drived by 280kW power DC motor, and a rotating black material pressed on the mandrel with the clamp slide is spinformed by 2-forming rollers which are attached inner end of the 2-horizontal slides. The 2-vertical and 2-horizontal slides are actuated by the hydraulic cylinder which is controlled by the servo valve individially, and these servo valves are controlled by control signal of the CNC controller which is computed with position signal feedbacked from the encoder sensor. The developed machine can manufacture wheel disc of various section profile without mandrel change because section profile is easily modified using program editing in the CNC controller processor. The wheel disc manufactured by spinning process method has many advantages that the endurance is increased by 2 times and the weight is decreased by 30% compared with a conventional disc.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.33.2-33.2
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• 2011

The 'NREL Phase VI' model with a 10.06m diameter was tested in the NASA Ames tunnel to make a reference data of the computational models. The test was conducted at the one rotational speed, blade tip speed 38m/s and the Reynolds number of the sectional airfoils in that test was around 1E6. The 1/5 scale down model of the 'NREL Phase VI' model was used in this paper to study the power characteristics in low Reynolds number region, 0.1E6 ~ 0.4E6 which is achievable range for the conventional wind tunnel facilities. The torque generated by the blade was directly measured by using the torque sensor installed in the rotating axis for a given wind speed and rotational speed. The power characteristics below the stall condition, lambda > 4, was presented in this paper. The power coefficient is very low in the condition below the Re. 0.2E6 and rapidly increases as the Re. increases. And it still increases but the variation is not so big in the condition above the Re. 0.3E6. This results shows that to study the performance of the wind turbine blade by using the scaled down model, the Re. should be larger than the 0.3E6.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.