• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.677-682
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• 2023

A large number of motors and sensors are used to drive a humanoid robot. In order to solve the wiring problem that occurs when connecting multiple actuators, a controller based on a communication network has been used, and CAN, which is advantageous in terms of cost and a highly reliable communication protocol, was mainly used. In terms of the structure of the controller, a torque control type structure that is easy to implement an advanced algorithm into the upper controller is preferred. In this case, the low communication bandwidth of CAN becomes a problem, and in order to obtain sufficient communication bandwidth, a communication network is configured by separating into a plurality of CAN networks. In this study, a stability analysis on transmission time delay is performed for a multi-motor control system in which high-speed FlexRay and low-speed CAN communication networks are hierarchically connected in order to obtain a high communication bandwidth, and sensor information and driving signals are delivered within the allowed transmission time. The proposed hierarchical network-based control system is expected to improve control performance because it can implement multiple motor control systems with a single network.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.6
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• pp.563-569
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• 2006

In this paper, the system to control the PWM inverter-induction motor drive system including ac current sensors, voltage sensors, and an encoder through the network is developed. Although the network-based control for an induction motor drive system is becoming increasingly important at factory automations, there will inevitably be time delay from the sensors to the motor control system, which may cause the instability. The algorithm to minimize the efforts for network induced time delay of sensor data is proposed, using both the synchronous signal and the method for estimating sensor data. The experiments with DSP are carried out in order to verify proposed algorithms.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.9
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• pp.76-81
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• 2006

This paper deals with a fuel metering unit (referred to as FMU) for air breathing engine. The proposed FMU consists of a constant pressure drop valve and a metering valve, both of which are controlled by servovalve. Linear analysis derived from a nonlinear mathematical model of FMU is carried out to find major parameters on the system performance. Numerical results using established model of FMU were in good agreement with the experimental results. It is also shown that the system stability is improved by reducing the constant pressure drop at metering valve and applying the triangular orifice to constant-pressure-drop valve through the simulation and experiments.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.395.2-395.2
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• 2014

백색유기발광소자는 낮은 구동전압, 낮은 소비전력, 높은 명암비, 넓은 시야각과 높은 박막 특성으로 친환경 에너지와 관련해 주목을 받고 있어 연구가 활발하게 진행되고 있다. 백색 유기발광소자는 주로 R-G-B 영역의 발광층을 적층하여 제작한다. 하지만 전압의 변화에 따라 재결합 영역이 변화되면서, 색 안정성이 불안정한 문제점을 가지고 있다. 본 연구에서는 높은 색 안정성을 나타내는 백색 유기발광소자를 제작하기 위해 저분자와 고분자 혼합 발광층 구조를 사용하였다. 두 가지 이상의 고분자 혼합물을 스핀코팅하여 박막을 형성한 후, 열처리에 의한 상분리 현상을 이용하여 선택적으로 한가지 고분자 물질을 제거하여 적색 다공성 고분자 발광층을 형성하였다. 적색 다공성 고분자 발광층 위에 저분자 발광물질을 적층하여 홀주입을 향상하여 청색 발광층을 형성한다. 적색 다공성 고분자 발광층 물질과 혼합되는 고분자 물질의 혼합 비율과 혼합 층 두께에 따른 적색 고분자 다공성 박막의 변화를 원자힘 현미경을 통하여 관찰하였다. 혼합된 두 고분자 물질의 분자량의 차이에 의한 응집도의 차이로 인하여 혼합물 박막의 두께가 얇아지면서 미세구조의 경사도가 높아지고, 적색 다공성 고분자 발광층의 미세구조의 형태는 두 가지 고분자 혼합물의 혼합 비율의 변화에 따라 미세구조의 밀도가 높아진다. 본 연구 결과는 저분자와 고분자 혼합 발광층 구조를 사용하는 백색 유기발광소자의 색 안정성과 효율 향상에 대한 기초자료로 활용할 수 있다.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.692-699
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• 2008

This paper describes optimal operation method using recognition of walker's will for a robotic walker. Recently, walking aid system has been required according to the increase of elder and handicapped person. However, most of walking aid system don't have actuator for its movement. Unfortunately, standard frames have weakness for the movement to upward/download direction of slope. So, active type walking aids are interested, but it is not easy to control. In this paper, we adapt user's will system that can recognize walking direction and speed. First, FSR(Force Sensing Register) is applied to measure user's will to walk. And then, fuzzy algorithm is used for determining optimal wheel velocity and direction of the walking aid. From the result, walking aid can move smoothly and safely following the user's will. The walking aid can help user to walk more optimally. Here, all the processes are verified experimentally in the real world.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.4
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• pp.107-113
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• 2008

We investigated the electro-optical characteristics of an ICP(Inductively Coupled Plasma) light source depending on driving temperature, and length of discharge tube. An electro-optical stability of a sample at operating was measured to see a steady state of a sample. In this results, we can see that a stability of power loss and luminous flux of a sample at operating of upper 70[min] was 1.45[%1 and 0.36[%]. We measured the optical characteristics of a sample in a thermal chamber operated at a specific temperature divided into 5 steps. While luminance increased with temperature increasing, the decrement of luminance a eared at u or $46.7[^{\circ}C]$. According to Parchen's and Boyle-Charles' law, we can speculate that a pressure was increased and a higher voltage was needed but a ballaster having a rating power can't support a higher voltage corresponding to a pressure change, 0.02[Torr] at $46.7[^{\circ}C]$. Moreover, we measured an a lied power and current of samples depending to a various length of a discharge tube.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.1
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• pp.46-55
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• 2006

This paper presents the control method for the hybrid actuator comprising a DC motor and an MR brake. Generally, a DC motor as an active actuator has a small power to weight ratio and goes unstable with higher force control gain due to its saturation limit. In order to cope with this instability and make the transparency higher, this paper proposes a hybrid actuator which consists of a DC motor and an MR brake as a passive actuator and its force control method based on network theory. A DC motor actively produces the output corresponding to the signs of the input currents. On the other hand, an MR brake passively resists against the external load independent of the sign changes of the input currents. This characteristics is widely known as 'passive' This paper suggests a force control method based on passivity concept in network theory for the hybrid actuator and verified its performance and stability through the experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.887-888
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• 2013

• Proceedings of the Korean Nuclear Society Conference
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• 2001.10a
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• pp.351.2-351
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• 2001

• Journal of Adhesion and Interface
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• v.20 no.4
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• pp.162-168
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• 2019