• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.947-948
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• 2006

This paper proposes a robust posture stabilization control method for wheeled mobile robots. To solve the robust posture stabilization, we introduce reference generation mode, reference tracking mode, and reference regulation mode. In reference generation mode, a kinematic time-invariant controller is used to generate the reference trajectory which starts from the initial posture of the actual robot to the desired posture. In reference tracking mode, a sliding mode position controller is employed in such a way that the actual robot can follow the reference trajectory in the desired forward or backward moving direction, even in the presence of the disturbances in the dynamics. In reference regulation mode, a sliding mode heading direction controller is used such that the actual robot can maintain the desired posture against the disturbances. In this way, robust posture stabilization can be achieved at almost all global regions.

• 유공압시스템학회논문집
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• 제2권1호
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• pp.15-22
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• 2005

The purpose of this study is to find the effective dynamic characteristics of an improved pneumatic cushion cylinder with a spring type needle valve. The dynamic model represented the peak pressure control method when the pneumatic cushion cylinder is moving forward or backward in the horizontal direction. It was found from the simulation results that the peak pressure in the cushion chamber is affected by the spring, which helps to understand the performance of the pneumatic cushion cylinder and to improve or design a better cushion needle valve component. From the simulation results, the stability of pneumatic cushion cylinder with a spring type needle valve was superior and its cushion capability was also better than that without the spring.

• Journal of Power Electronics
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• 제9권4호
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• pp.517-525
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• 2009

42V electrical power systems are on their way to replacing the present l4V systems in automobiles and 42V/14V dual voltage systems have been proposed to provide backward compatibility with the existing components for the 14V systems. A synchronous buck/boost converter is an attractive topology for 42V/14V dual voltage systems since it offers the possibility of bi-directional operation without additional components. In this paper, transient currents generated during converter startup or changes in operation modes between buck and boost are analyzed and a cost effective solution to remove the transient currents is proposed. The validity of the proposed control strategy is investigated through simulation and experiment with bi-directional converters.

• 한국기계가공학회지
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• 제5권3호
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• pp.17-22
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• 2006

Sunroof is getting widely used in automobiles since it maintains, compare to window, better air circulation as well as less noise while driving in high speed. In this study, we consider an electronic control type spoiler sunroof which slides backward after tilting a rear part of a glass. Installing a wind deflector on the sunroof reduces noise much more effectively. The height of the wind deflector is designed using a boundary theory related to incompressible air layer. The developed wind deflector is investigated experimentally by measuring a wind noise. When the height of the wind deflector is designed by a fixed type, the sunroof maintains a very quiet interior noise over a certain driving speed, nevertheless it produces relatively loud noise in low driving speed.

• 한국막학회:학술대회논문집
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• 한국막학회 2004년도 Proceedings of the second conference of aseanian membrane society
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• pp.179-182
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• 2004

This study reports the extraction behavior of $\alpha$-lactalbumin using bis(2-ethylhexyl) sulfosuccinate sodium (AOT) reverse micelles. Forward extraction of $\alpha$-lactalbumin in the reverse micellar organic phase from aqueous feed solutions was strongly dependent on the AOT concentration and the complete forward extraction of 0.03 mM $\alpha$-lactalbumin was successfully achieved at an AOT concentration of ca. 100 mM. A similar dependency of the forward extraction on the AOT concentration was obtained in isooctane, n-hexane, and n-octane systems. In the backward extraction from the micellar organic phase, the recovery of the protein as high as ca. 90% was obtained with pH control and/or salt addition.

• 한국자동차공학회논문집
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• 제6권6호
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• pp.234-242
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• 1998

It has been demonstrated that the in-cylinder turbulence is enhanced by inclined swirl with a SCV(swirl control valve). The inclined-tumble flow measurement and analysis were performed for various types of intake systems that generated several different combinations of swirl ratio and tumble ratio in the cylinder. Experiments were conducted in a 4-valve optically accessed transparent research engine using a backward-scatter LDV mode under motoring condition at 1,000rpm. The influence of swirl/tumble levels on the characteristics of turbulence was analysed. This study presents experimental results of the inclined-tumble flow structure, including the flow motion phenomena, angular momentum and turbulence intensity.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 B
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• pp.683-685
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• 1993

Semiconductor switches are modelled as binary inductors, as a very low value of inductance during conduction, and infinite value of inductance otherwise. The system matrix is partitioned in such a manner as to permit efficient handling of switch status. The backward Euler method of integration is used for the solution of equation to ensure convergence. The application of thristor switching to induction motor speed control has resulted in a number of unconventional supply systems. In this paper, an analytic method for predicting the steady-state of performance of system is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.4-59
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• 2001

In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.

• 한국멀티미디어학회논문지
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• 제25권6호
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• pp.833-843
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• 2022

Based on the problems of untimely Expressway fire rescue and backward traditional fire rescue methods, an emergency fire fighting and inspection robot riding on expressway guardrail is designed. The overall mechanical structure design of emergency fire fighting and inspection robot riding on expressway guardrail is completed by using three-dimensional design software. The target fire detection is realized by using the target detection algorithm of Yolov5; By selecting a variety of sensors and using the control method of multi algorithm fusion, the basic function of robot on duty early warning is realized, and it has the ability of intelligent fire extinguishing. The BMS battery charging and discharging system is used to detect the real-time power of the robot. The design of the expressway emergency fire fighting and inspection robot provides a new technical means for the development of emergency fire fighting equipment, and improves the reliability and efficiency of expressway emergency fire fighting.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.5-171
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• 2001

Information that is acquired by adhered sensors on a body has been commonly used for the three-dimensional real-time motion capture algorithm. This paper describes realtime motion capture algorithm using computer vision. In a real-time image sequence, human body silhouette is extracted use a background subtraction between background image and the reference image. Then a human standing posture whether forward or backward is estimated by extraction of skin region in the silhoutte. After then, the principal axis is calculated in the torso and the face region is estimated on the principal axis. Feature points, which are essential condition to track the human gesture, are obtained ...