• Journal of Power Electronics
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• 제16권4호
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• pp.1469-1482
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• 2016

In hybrid energy storage systems, supercapacitors are usually connected in series to meet the required voltage levels. Equalizers are effective in prolonging the life of hybrid energy storage systems because they eliminate the voltage imbalance on cells. This study proposes a modularized equalizer, which is based on a combination of a half-bridge inverter, an inductor, and two auxiliary capacitors. The proposed equalizer inherits the advantages of inductor-based equalization systems, but it also offers unique merits, such as low switching losses and an easy-to-use control algorithm. The zero-voltage switching scheme is analyzed, and the power model is established. A fixed-frequency operation strategy is proposed to simplify the control and lower the cost. The switching patterns and conditions for zero-voltage switching are discussed. Simulation results based on PSIM are presented to verify the validity of the proposed equalizer. An equalization test for two supercapacitor cells is performed. An experimental hybrid energy storage system, which consists of batteries and supercapacitors, is established to verify the performance of the proposed equalizer. The analysis, simulation results, and experimental results are in good agreement, thus indicating that the circuit is practical.

• Journal of Power Electronics
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• 제16권4호
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• pp.1375-1386
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• 2016

To decouple the secondary saliencies in sensorless permanent magnet synchronous machine (PMSM) drives, a repetitive control (RC) in the angle domain is proposed. In this paper, the inductance model of a concentrated windings surface-mounted PMSM (cwSPMSM) with strong secondary saliencies is developed. Due to the secondary saliencies, the estimated position contains harmonic disturbances that are periodic relative to the angular position. Through a transformation from the time domain to the angle domain, these varying frequency disturbances can be treated as constant periodic disturbances. The proposed angle-domain RC is plugged into an existing phase-locked loop (PLL) and utilizes the error of the PLL to generate signals to suppress these periodic disturbances. A stability analysis and parameter design guidelines of the RC are addressed in detail. Finally, the proposed method is carried out on a cwSPMSM drive test-bench. The effectiveness and accuracy are verified by experimental results.

• Journal of Electrical Engineering and Technology
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• 제11권1호
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• Journal of Mechanical Science and Technology
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• 제18권6호
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• pp.961-971
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• 2004

Methods for determination of the crack opening stress intensity factor ($K_{op}$) and for estimation of the effective stress intensity factor range ($\Delta{K}_{eff}$) are evaluated for crack growth test data of aluminum alloys. Three methods of determining $K_{op}$, visual measurement, ASTM offset compliance method, and the neural network method proposed by Kang and Song, and three methods of estimating $\Delta{K}_{eff}$, conventional, the 2/PIO and 2/PI methods proposed by Donald and Paris, are compared in a quantitative manner by using evaluation criteria. For all $K_{op}$ determination methods discussed, the 2/PI method of estimating $\Delta{K}_{eff}$ provides good results. The neural network method of determining $K_{op}$ provides good correlation of crack growth data. It is recommended to use 2/PI estimation with the neural $K_{op}$ determination method. The ASTM offset method used in conjunction with 2/PI estimation shows a possibility of successful application. It is desired to improve the ASTM method.

• 로봇학회논문지
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• 제2권4호
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.42-49
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• 2016

This study proposes a non-contact inspective technology based robot vision system for Faulty Inspection of welding States and Parts Shape. The maine focus is real time implementation of the machining parts' automatic inspection by the robotic moving. For this purpose, the automatic test instrument inspects the precision components designator the vision system. pattern Recognition Technologies and Precision Components for vision inspection technology and precision machining of precision parts including the status and appearance distinguish between good and bad. To perform a realization of a real-time automation integration system for the precision parts of manufacturing process, it is designed a robot vision system for the integrated system controller and verified the reliability through experiments. The main contents of this paper, the robot vision technology for noncontact inspection of precision components and machinery parts is useful technology for FA.

• Structural Engineering and Mechanics
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• 제48권5호
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• pp.661-679
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• 2013

In this work, the safety performance of a commercial motorcycle helmet already placed on the market is assessed. The assessed motorcycle helmet is currently homologated by several relevant motorcycle standards. Impacts including translational and rotational motions are accurately simulated through a finite element numerical framework. The developed model was validated against experimental results: firstly, a validation concerning the constitutive model for the expanded polystyrene, the material responsible for energy absorption during impact; secondly, a validation regarding the acceleration measured at the headform's centre of gravity during the linear impacts defined in the ECE R22.05 standard. Both were successfully validated. After model validation, an oblique impact was simulated and the results were compared against head injury thresholds in order to predict the resultant head injuries. From this comparison, it was concluded that brain injuries such as concussion and diffuse axonal injury may occur even with a helmet certified by the majority of the motorcycle helmet standards. Unfortunately, these standards currently do not contemplate rotational components of acceleration. Conclusion points out to a strong recommendation on the necessity of including rotational motion in forthcoming motorcycle helmet standards and improving the current test procedures and head injury criteria used by the standards, to improve the safety between the motorcyclists.

• Nuclear Engineering and Technology
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• 제52권4호
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• pp.811-818
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• 2020

Y-containing CLAM steels were melted via vacuum induction melting and electroslag remelting. In this study, the evolution, microstructure, and mechanical properties of the alloy inclusions (ESR-1 (0 wt.% Y), ESR-2 (0.016 wt.% Y) and ESR-3 (0.042 wt.% Y)) were investigated. Further, the number of inclusions in ESRed steel was observed to obviously decrease, and the distributions were more uniform. The fine Y-Al-O inclusions (1-2 ㎛) were the main inclusions in ESR-2. The addition of Y affected the prior austenite grain size (PAGZ), increasing the tensile strength at test temperature. Low ductile-brittle transition temperature (DBTT) was obtained because of the fine PAGZ and dispersive inclusions. For the ESRed CLAM steel with 0.016 wt.% Y, the yield strengths were 621 MPa at 20 ℃ and 354 MPa at 600 ℃ in air. Further, the uniform elongation and elongation of the ESR-2 alloy were 5.5% and 20.1% at 20 ℃, respectively. Meanwhile, the DBTT tested using full-size Charpy impact specimen (55 cm × 10 cm × 10 cm) was reduced to -83 ℃.

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• 한국정밀공학회지
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• 제28권8호
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• pp.1000-1007
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• 2011

For enlarging the applications of microstereolithography, the use of diverse materials is required. In this study, the material switching system (MSS) for projection microstereolithography apparatus is proposed. The MSS consists of three part; resin level control, resin dispensing control, and vat level control. Curing characteristic of materials used in fabrication has been identified. Through repeated fabrication of test models, the critical fabrication error is investigated and a possible solution to this error is suggested. The developed system can be applied to improve the strength of microstructure and extended to fabricate an array of microstructures with multiple materials.