• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• Journal of the Korean Society for Precision Engineering
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• v.7 no.4
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1370-1376
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• 2015

Generally, an autotransformer(AT) feeding system consists of double tracks, up and down, with the trolley wire and feeder wire of the up and down tracks connected in the sectioning post(SP). Consequently, load current or fault current flows on two tracks based on catenary impedance characteristics, making it difficult to estimate catenary impedance accurately. This paper presents a technique for the estimation of catenary impedance using boosting current compensation based on the current division characteristics of an AT feeding system to improve the operation performance of impedance relay. To verify the technique, we model an AT feeding system through a power analysis program (PSCAD/EMTDC) and simulate various operation and fault conditions. Through the simulation, we confirmed that the proposed technique has estimated catenary impedance with a similar degree of accuracy to the actual catenary impedance

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1229-1236
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• 2004

The specimen materials used in this research are isotropic epoxy resins. The static photoelastic experiment was applied to them. And then the specimens used in photoelastic experiment were fractured under static load. The static photoelastic experimental hybrid method was introduced and its validity had been assured. Crack propagation criterion used the stress components, which are considered the higher order terms, obtained from the static photoelastic experimental hybrid method was introduced and it was applied to the minimum strain energy density criterion, the maximum tangential stress criterion and mode mixity. Comparing the actual initial angle of crack propagation with the theoretical initial angle of crack propagation obtained from the above failure criterions, the validities of the above two criterions are assured and the optimal distance (r) from the crack-tip is 0.01mm in order to get the initial angle of crack propagation of isotropic epoxy resin.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.6
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• pp.887-893
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• 2010

Modelling methods of 3 phase induction motors dependant on a lot of parameters give much drawbacks and difficulties when making engine room simulators due to computation burden and the time required for acquiring detailed technical data corresponding to actual induction motors. This paper suggests a practical method by a equivalent circuit with minimized parameters and some formulas to configure induction motors which requires only data on the name plates of motors, while it revealed satisfactory modelling performances on the resultant curves which are plotted for the torque, load current and power consume according to slip variation.

• 한국전산유체공학회:학술대회논문집
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• 2007.04a
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• pp.64-67
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• 2007

In the present study, the wind pressure transients on platform screen door in side platforms caused by passing trains have been investigated numerically. The transient compressible 3-D full Navier-Stokes solution is obtained with actual operational condition of subway train and the moving mesh technique is adopted considering the train movement. To achieve more accurate analysis, the entrance and exit tunnel of platform are included in a computational domain and detailed shape of train is also modeled Numerical analyses were conducted on five operational condition which are different velocity variation of subway train, existence of stationary train and passing each other trains. The results show that pressure load on platform screen door is maximized when the two trains are passing each other. It is also seen from the computational results that the maximum pressure variation was found to be satisfactory to various foreign standards.

• 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.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.499-502
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• 2003

This paper presents the voltage source type half bridge lossless auxiliary inductor snubber assisted series capacitor compensated resonant high frequency inverter for induction heated fixing roller in copy machines. This high-frequency inverter treated here can completely achieve zero current soft switching (ZCS) commutation for wide power regulation range under its constant frequency pulse density modulation (PDM) scheme. Its transient and steady-state operating principle is originally presented fur a constant frequency PDM control strategy under a ZCS operation commutation, together with its output effective power regulation characteristics-based on the PDM strategy. The experimental operating performances of this ZCS-PDM high frequency inverter using IGBTs are illustrated as compared with computer simulation ones. Its power losses and actual efficiency are evaluated and discussed on the basis of simulation and experimental results.

• Journal of Construction Engineering and Project Management
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• v.5 no.4
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• pp.16-22
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• 2015

This paper presents an automated computer vision-based system to update BIM data by leveraging multi-modal visual data collected from existing buildings under inspection. Currently, visual inspections are conducted for building envelopes or mechanical systems, and auditors analyze energy-related contextual information to examine if their performance is maintained as expected by the design. By translating 3D surface thermal profiles into energy performance metrics such as actual R-values at point-level and by mapping such properties to the associated BIM elements using XML Document Object Model (DOM), the proposed method shortens the energy performance modeling gap between the architectural information in the as-designed BIM and the as-is building condition, which improve the reliability of building energy analysis. Several case studies were conducted to experimentally evaluate their impact on BIM-based energy analysis to calculate energy load. The experimental results on existing buildings show that (1) the point-level thermography-based thermal resistance measurement can be automatically matched with the associated BIM elements; and (2) their corresponding thermal properties are automatically updated in gbXML schema. This paper provides practitioners with insight to uncover the fundamentals of how multi-modal visual data can be used to improve the accuracy of building energy modeling for retrofit analysis. Open research challenges and lessons learned from real-world case studies are discussed in detail.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.50 no.5
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• pp.238-245
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• 2001

During an AC motor's start-up accelerating period, a large amount of current is required to reach to the rating speed. This is called in-rush current. This peak in-rush current can be more than about several times the operating or steady-state current in the full load rating of the motor. In-rush current is present in both and electronic ballasts. The main area of concern is the tripping of circuit breaker and fuses which can affect electrical system components From this, we can see that the electrical power controllers will be rather concerned, since they have to supply the actual current necessary to start the motor. This paper presents a new method to reducing in-rush current and energy saving of the single-phase induction motor used in air-conditioner. It can be obtained that proposed system is low cost and small size as compared with other controller. Experiments are focused on a capacitor starting single-phase induction motor. The optimal power saving and in-rush current limiting by phase angle control are verified by experimental results. Also, auxiliary winding was controlled by electronic starting switch.