• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2277-2279
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• 2000

We consider the design of a state feedback $H_{\infty}$ controller for seismic-excited building with bounded actuators capability. A controller is obtained by minimizing ${\gamma}$($L_2$ gain from the disturbance to measured output) satisfying three LMI's, and this can be easily done by well-known LMI control toolbox. Finally, the usefulness of a proposed technique is illustrated by numerical simulation of a six-story building subjected to the Pacoima earthquake.

• The KSFM Journal of Fluid Machinery
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• v.12 no.2
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• pp.31-38
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• 2009

The valve performance has been evaluated from the theoretical equation based on design information such as packing thrust, spring preload and friction coefficient(${\mu}$). The accuracy of those data can be lower than that of vendor's initial design data. Especially, the friction coefficient can be degraded with time than the original condition and the valve performance calculated using the previous friction coefficient can not be available. Accordingly, this paper is describing a new performance evaluation method of valve based on diagnostic test data which are acquired from a site valve tested in static and dynamic conditions. Especially, this paper provides a new method using friction coefficient(${\mu}$) which is derived from the diagnostic test data acquired in the valve's design basis condition.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.3
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• pp.182-187
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• 2004

In this paper, we propose a PC based distributed controller for a two axis convey table using real-time micro-kernel. PC, Windows program, gives an easy way to implement wealthy GUI and micro-kernel, ${\mu}$C/OS-II, provides a real-time capability to control devices. We built a real-time distributed control system using ${\mu}$C/OS-II kernel which needs to process the tasks for two motors within the desired time to synchronize the motion. We used both semaphore and message mail box for synchronization. Unlike the previous study where we used step motors for the actuator of two axes convey table, we rebuilt the convey table with DC motors and the dedicated position servo which had built in out lab, and then we implemented a realtime distributed control system by putting the micro-kernel into between PC and position servo. Moreover we developed the PC based graphic user interfaces for generating planar drawing image control. Experimental results also presented to show the Proposed control system is useful.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_1
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• pp.231-238
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• 2023

This paper develops the theory for a novel fault-tolerant, permanent magnet biased, 6-active-pole, homopolar magnetic bearing. The Lagrange Multiplier optimization with equality constraints is utilized to calculate the optimal distribution matrices for the failed bearing. some numerical examples of distribution matrices are provided to illustrate the new theory. Simulations show that very much the same dynamic responses (orbits or displacements) are maintained throughout failure events (up to any combination of 3 coils failed for the 6 pole magnetic bearing) while currents and fluxes change significantly. The overall load capacity of the bearing actuator is reduced as coils fail. The same magnetic forces are then preserved up to the load capacity of the failed bearing.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.2 no.2
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• pp.81-89
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• 2001

Space systems are operating in a changing and uncertain space environment and are desired to have autonomous capability for long periods of time without frequent telecommunications from the ground station At the same time. requirements for new set of projects/systems calling for ""autonomous"" operations for long unattended periods of time are emerging. Since, by the nature of space systems, it is desired that they perform their mission flawlessly and also it is of extreme importance to have fault-tolerant sensor/actuator sub-systems for the purpose of validating science measurement data for the mission success. Technology innovations attendant on autonomous data validation and health monitoring are articulated for a growing class of autonomous operations of space systems. The greatest need is on focus research effort to the development of a new class of fault-tolerant space systems such as attitude actuators and sensors as well as validation of measurement data from scientific instruments. The characterization for the next step in evolving the existing control processes to an autonomous posture is to embed intelligence into actively control. modify parameters and select sensor/actuator subsystems based on statistical parameters of the measurement errors in real-time. This research focuses on the identification/demonstration of critical technology innovations that will be applied to Autonomous Spacecraft Health Monitoring/Data Validation Control Systems (ASHMDVCS). Systems (ASHMDVCS).

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.137-146
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• 2009

We present a micromechanical digital-to-analog (DA) variable capacitor using a parallel digital actuator array, capable of accomplishing high-Q tuning. The present DA variable capacitor uses a parallel interconnection of digital actuators, thus achieving a low resistive structure. Based on the criteria for capacitance range ($0.348{\sim}1.932$ pF) and the actuation voltage (25 V), the present parallel DA variable capacitor is estimated to have a quality factor 2.0 times higher than the previous serial-parallel DA variable capacitor. In the experimental study, the parallel DA variable capacitor changes the total capacitance from 2.268 to 3.973 pF (0.5 GHz), 2.384 to 4.197 pF (1.0 GHz), and 2.773 to 4.826 pF (2.5 GHz), thus achieving tuning ratios of 75.2%, 76.1%, and 74.0%, respectively. The capacitance precisions are measured to be $6.16{\pm}4.24$ fF (0.5 GHz), $7.42{\pm}5.48$ fF (1.0 GHz), and $9.56{\pm}5.63$ fF (2.5 GHz). The parallel DA variable capacitor shows the total resistance of $2.97{\pm}0.29\;{\Omega}$ (0.5 GHz), $3.01{\pm}0.42\;{\Omega}$ (1.0 GHz), and $4.32{\pm}0.66\;{\Omega}$ (2.5 GHz), resulting in high quality factors which are measured to be $33.7{\pm}7.8$ (0.5 GHz), $18.5{\pm}4.9$ (1.0 GHz), and $4.3{\pm}1.4$ (2.5 GHz) for large capacitance values ($2.268{\sim}4.826$ pF). We experimentally verify the high-Q tuning capability of the present parallel DA variable capacitor, while achieving high-precision capacitance adjustments.

• Journal of Mechanical Science and Technology
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• v.19 no.5
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• pp.1194-1205
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• 2005

The common-rail injection systems, as a new diesel injection system for passenger car, have more degrees of freedom in controlling both the injection timing and injection rate with the high pressure. In this study, a piezo-driven injector was applied to a high pressure common-rail type fuel injection system for the control capability of the high pressure injector's needle and firstly examined the piezo-electric characteristics of a piezo-driven injector. Also in order to analyze the effect of injector's needle response driven by different driving method on the injection, we investigated the diesel spray characteristics in a constant volume chamber pressurized by nitrogen gas for two injectors, a solenoid-driven injector and a piezo-driven injector, both equipped with the same injection nozzle with sac type and 5-injection hole. The experimental method for spray visualization was based on back-light photography technique by utilizing a high speed framing camera. The macroscopic spray propagation was geometrically measured and characterized in term of the spray tip penetration, spray cone angle and spray tip speed. For the evaluation of the needle response of the above two injectors, we indirectly estimated the needle's behavior with an accelerometer and injection rate measurement employing Bosch's method was conducted. The experimental results show that the spray tip penetrations of piezo­driven injector were longer, on the whole, than that of the solenoid-driven injector. Besides we found that the piezo-driven injector have a higher injection flow rate by a fast needle response and it was possible to control the injection rate slope in piezo-driven injector by altering the induced current.

• Structural Engineering and Mechanics
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• v.77 no.2
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• pp.167-177
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• 2021

Due to various benefits such as unlimited degrees of freedom, environment adaptability, and safety for humans, engineers have used soft materials with hyperelastic behavior in various industrial, medical, rescue, and other sectors. One of the applications of these materials in the fabrication of bending soft actuators (SA) is that they have eliminated many problems in the actuators such as production cost, mechanical complexity, and design algorithm. However, SA has complexities, such as predicting and monitoring behavior despite the many benefits. The first part of this paper deals with the prediction of SA behavior through mathematical models such as Ogden and Darijani, and its comparison with the results of experiments. At first, by examining different geometric models, the cubic structure was selected as the optimal structure in the investigated models. This geometrical structure at the same pressure showed the most significant bending in the simulation. The simulation results were then compared with experimental, and the final gripper model was designed and manufactured using a 3D printer with silicone rubber as for the polymer part. This geometrical structure is capable of bending up to a 90-degree angle at 70 kPa in less than 2 seconds. The second section is dedicated to monitoring the bending behavior created by the strain sensors with different sensitivity and stretchability. In the fabrication of the sensors, silicon is used as a soft material with hyperelastic behavior and carbon fiber as a conductive material in the soft material substrate. The SA designed in this paper is capable of deforming up to 1000 cycles without changing its characteristics and capable of moving objects weigh up to 1200 g. This SA has the capability of being used in soft robots and artificial hand making for high-speed objects harvesting.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.6
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• pp.50-55
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• 2011

The fluid power products are widely used in current industrial area such as automation of products and equipment assembly, high-tech machine tool, aircraft, train, and etc. As the development of industry is in progress, the development of the fluid power products is demanding and it is required in every industrial area. This research proposed a pneumatic system to evaluate displacement accuracy of the pneumatic actuator without external load and to analyze capability of integration of the valve system. The pneumatic system consisted of a combination of pneumatic actuator, four two-port valves, two three-port valves, two pressure valve, a check valve, two proximity sensors, and a program logic controller (PLC). The position controller is based on the PLC connected with the proximity sensors. The maximum air pressure applied for tests was $49.05N/cm^2$ and the displacement accuracy of a stroke was measured using a dial gauge. The supply- and discharge-side of air pressure and the length of the stroke of the pneumatic cylinder were varied The test of the position control of the pneumatic cylinder was carried out 50 times at each supply- and discharge-side air pressure of 24.53/34.34, 29.43/39.24, 34.34/44.15, and $39.24/49.05N/cm^2$ and replicated three times. The accuracy of the displacement of the pneumatic cylinder stroke increased as the supply- and discharge-side of air pressure increased with the stroke length of 133mm. Also the displacement accuracy increased as the stroke length increased with the fixed supply- and discharge-side of air pressure of the pneumatic cylinder as 34.34 and $44.15N/cm^2$, respectively. The most accurate displacement of the pneumatic cylinder was obtained at the supplyand discharge-side of air pressure of 39.24 and $49.05N/cm^2$, respectively, and strokes of 170 and 190mm.