• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2002.07a
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• pp.431-434
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• 2002

This paper reports on the evaluation of weathering resistance, tracking test and salt-fog of various kinds of cycloaliphatic epoxy systems. It was found that UV irradiation induced the loss of hydrophobic level due to the chain scission attack at the surface. It could be seen that samples containing an UV absorbent/antioxidant and a silicone oil additive knave a good performance in weathering ageing, whereas ATH filled ones have high resistance against tracking failure than others. Under salt-fog test, specimens mixed with silicone oil could suppress leakage current development. It was thought that silicone oil mixed into cycloaliphatic epoxy system could lead to lower the surface energy and to retain hydrophobic properties for a long time, which are desirable for outdoor performances.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.555-561
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• 2012

This paper describes the design of a fuzzy adaptive sliding mode controller for tracking control of robotic manipulators. The proposed controller incorporates a modified traditional sliding mode controller to drive the system state to a sliding surface and then keep the system state on this surface, and a fuzzy logic controller to accelerate the reaching phase. The stability of the control system is ensured by using Lyapunov theory. To verify the effectiveness of the proposed controller, computer simulation is conducted for a five-bar planar robotic manipulator. The simulation results show that the proposed controller can improve the reaching time and eliminate chattering of the control system at the same time.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.05a
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• pp.59-63
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• 2000

The conventional tracking testing as IEC-60587 is widely used in surface aging measurement of outside insulator because those testing can carry out very short time in Lab testing. Also IEC-60587 testing is able to offer the standard judgement of relative degradation level of outside HV machine. Therefore it is very useful method compare to previous conventional tracking testing method and effective Lab testing method. But surface discharges(SD) have very complex characteristics of discharge pattern so it is required estimation research to development of precise analysis method. In recent, the study of IIR-camera is carrying out discover of temperature of power equipment through condition diagnosis and system development of degradation diagnosis. In this study, SD occurred from IEC-60587 is measured with partial temperature distribution in real time, the degradation grade of SD is analyzed through produced patterns in IEC-60587 according to applied time.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.11a
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• pp.591-593
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• 2003

Silicone composites for high voltage insulator(HVI SC) were prepared by adding aluminum trihydrate(ATH) treated by surface treatment agent to base silicone compound at the ratio of 100:20, 100:40, 100:60, 100:80, and 100:100, respectively. And also, ATH was treated by various surface treatment agents, such as stearic acid, acryl silane vinyl silane under compounding process. electrical properties were investigated for the various contents of ATH and solace-treatment agents we mlas ured volume resistivity, breakdown and tracking resistance were for HVISC containing ATH treated by viuyl silane.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.417-420
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• 2004

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.223-233
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• 2008

A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design procedure is developed. Therefore, the proposed controller can be simpler than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop system are uniformly ultimately bounded. Finally, the simulation results of a three-link FJ robot are presented to validate the good position tracking performance of the proposed control system.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.6-11
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• 2010

Amount of power generated from solar photovoltaic can vary according to solar flux of sunlight due to nature of solar cell panel, and an angle that the sun and the surface of cell makes brings difference in amount of power generation. Solar flux is decided by location of surface of the Earth that is classified into longitude and latitude, but on the other hand, an angle that the sung and the surface of cell makes can be changed by changing the angle of a solar power generation device at the fixed location. A method of changing the angle of a solar power generation device as a measure for improving practical power generation efficiency. and studies about a solar tracking device for this are in active. This study conducted a research on a solar tracking system for improvement of solar power generation efficiency. A solar tracking system of this study is composed of a sensor part to confirm a location of the sun with a semiconductor photosensor using the photo conductive effect, and it analyzed output signal of a sensor by using microprocessor and it produced a control signal of driving part for tracking the sun. A solar power generator (25W) was produced to analyze performance of a solar tracking system and usefulness of a solar tracking device that was designed and produced in this study was confirmed through experiments.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.197-205
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• 2015

The Diamond Like Carbon(DLC) films for the Electro Optical Tracking System(EOTS) by using Plasma Enhanced Chemical Vapor Deposition(PECVD) method is presented. We achieve that the DLC films can reduce the surface delamination of thermal observation sensor front window due to the high hardness, low friction and chemical inertness which is comparable to a Si film. According to our experiment results, DLC films can be used for various electro optical systems to eliminate surface delamination.

• Korean Journal of Materials Research
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• v.9 no.4
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• pp.409-413
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• 1999

Recently, the polymeric insulators have been accepted in several countries for the outdoor high voltage applications. In comparison with the conventional porcelain, polymeric insulators offer various advantages such as light weight, superior vandal resistance and better contamination performance. The outdoor polymeric insulating materials such as silicone rubber, ethylene propylene diene monomer(EPDM), ethylene vinyl acetate(EVA) and epoxy are aged such as silicone rubber, ethylene propylene diene monomer(EPDM), ethylene vinyl acetate(EVA) and epoxy are aged under the various natural environment with the long-term performance in outdoor. In this paper, the effects of UV-under the various natural environment with the long-term performance in outdoor. In this paper, the effects of UV-ray on the surface of silicone rubber were investigated by using the weather-Ometer. The accelerated aging stresses were simulated by UV radiation, high temperature and humidity as well as water spray. These aging characteristics were examined through contact angle measurements, tracking resistance test, FT-IR and SEM/EDS analysis. The experimental results showed that tracking resistance decreases with increase in the UV-ray irradiation period. But the surface of silicone rubber kept hydrophobicity. It is found that the inorganic filler such as)$ Al(OH_3$ improves tracking resistance and the $Tio_2$is very effective in preventing degradation of silicone rubber surface from UV-ray.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.