• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.481-488
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• 2000

This paper presents a new passive gravity -compensating system for articulated robot manipulators. The system, which consists of linear zero- free -length springs, achieves exact counterbalancing o f the gravitational loads throughout the entire range of the manipulator workspace, A basic concept is to design springs such that the total potential energy of the system including the manipulator and the springs should be maintained constant. A prototype has been developed for a direct-drive five-bar manipulator and its performances have been investigated. Results show that the gravity-induced motor torques have been reduced to less than 5% of those of uncompensated robots. Also, the gravity-compensating system simplifies the position control algorithm while maintaining the trajectory-tracking errors in a satisfactory level. In conclusion, the proposed system efficiently improves the manipulator performances by reducing the driving motor size and the energy consumption as well as by simplifying the control systems.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2001.11a
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• pp.65-72
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• 2001

Power system stabilizer act efficiently to damp the electromechanical oscillations in interconnected power systems. This paper presents an algorithm for the optimal parameter selection of a power system stabilizer in two-area power systems with a series HVDC link. This method is one of the classical techniques by allocating properly pole-zero positions to fit as closely as desired the ideal phase lead between the voltage reference and the generator electrical power and by changing the gain to produce a necessary damping torque over the matched frequency range. Control of HVDC converter and inverter are used a constant current loop. Proper parameters of PI controllers are obtain based on the Root-locus technique in other to have sufficient speed and stability margin to cope with charging reference values and disturbance. The small signal stability arid transient stability studies using the PSS parameters obtained from this method show that a natural oscillation frequency of the studycase system is adequately damped. Also the simulation results using the HVDC converter and inverter parameters obtained from this proposed method show proper current control characteristics. The simulation used in the paper was performed by the Power System Toolbox software program based on MATLAB.

• Journal of the korean Society of Automotive Engineers
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• v.14 no.2
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• pp.34-43
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• 1992

The purpose of this study is to consider the performance and exhaust characteristics in the practical engine according to the cooling water temperature change of engine and to set up the optimum cooling condition and to obtain the optimum operating condition of thermostat in the cooling system. In order to accomplish the purpose of this study, authors have used the following procedure. 1. This study is to investigate the influence of the cooling water temperature on the engine performance and the exhaust gas, authors regulated the cooling water temperature by using the special closing circuit and measured the concentration of exhaust gas by using the exhaust gas measuring system in the exhaust pipe. 2. This study carried out the experiment by regulating the opening degree of throttle valve and engine speed in the dynamometer and by changing the cooling water temperature, at the same time kept air-fuel ratio constant and made the spark ignition time MBT(Minimum spark advance for Best Torque) 3. This study measured the cooling water temperature by using the K-type thermocouple centring around the easy over-heated parts and by installing a special closing circuit. Therefore, in this study, authors intend to examine the influence of the cooling water temperature on the engine performance, exhaust gas and present the basic materials needed in the engine design including the optimum operating time control system for the cooling water temperature.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2006.05a
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• pp.211-214
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• 2006

The outer race of the constant velocity(CV) joint is an important load-supporting automotive part, which transmits torque between the transmission and the wheel. The outer race is difficult to forge, because its shape is very complex and the required dimensional tolerances are very stringent. Therefore, the internet based shape inspection system is developed in this study to provide quick and accurate data through the easy control from users. Proposed system uses mechanical displacement sensors to measure the shape of CV joint that has six inner ball grooves, and commercially available Lab-View program is used to process measured data into the dimensional shape. Developed program provides a simple user interface that enables users real-time access of data measured from industrial production lines. Furthermore, it can exchange measured data via the internet between users and forging system operators. A java applet helped the system connection via internet. A data, IP access, is transmitted to the packet by TCP/IP. Our proposed system has many advantages over current measuring systems including fast and efficient data processing by real-time control, and system flexibility.

• Journal of Power Electronics
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• v.16 no.1
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• pp.205-216
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• 2016

The manufacturing sector resorts to automation to increase production and homogeneity of products during mass production, without increasing scarce, expensive, and unreliable manpower. Automation in the form of multiple robotic arms that handle materials in all directions in different stages of the process is proven to be the best way to increase production. This paper thoroughly investigates robotic single-arm movements, that is, 360° vertical rotation, with the help of a brushless DC motor, controlled by a fuzzy proportional-integral-derivative (PID) controller. This paper also deals with the design and performance of the fuzzy-based PID controller used to control vertical movement against the limited scope of conventional PID feedback controller and how the torque of the arm is affected by the fuzzy PID controller in the four quadrants to ensure constant speed and accident-free operation despite the influence of gravitational force. The design was simulated through MATLAB/SIMULINK and integrated with dSPACE DS1104-based hardware to verify the dynamic behaviors of the arm.

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1695-1705
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• 2005

Reaction wheels and thrusters are commonly used for the satellite attitude control. Since satellites frequently need fast maneuvers, the minimum time maneuvers have been extensively studied. When the speed of attitude maneuver is restricted due to the wheel torque capacity of low level, the combinational use of wheel and thruster is considered. In this paper, minimum time optimal control performances with reaction wheels and thrusters are studied. We first identify the features of the maneuvers of the satellite with reaction wheels only. It is shown that the time-optimal maneuver for the satellite with four reaction wheels in a pyramid configuration occurs on the fashion of single axis rotation. Pseudo control logic for reaction wheels is successfully adopted for smooth and chattering-free time-optimal maneuvers. Secondly, two different thrusting logics for satellite time-optimal attitude maneuver are compared with each other: constant time-sharing thrusting logic and varying time-sharing thrusting logic. The newly suggested varying time-sharing thrusting logic is found to reduce the maneuvering time dramatically. Finally, the hybrid control with reaction wheels and thrusters are considered. The simulation results show that the simultaneous actuation of reaction wheels and thrusters with varying time-sharing logic reduces the maneuvering time enormously. Spacecraft model is Korea Multi-Purpose Satellite (KOMPSAT)-2 which is being developed in Korea as an agile maneuvering satellite.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.187-194
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• 2009

This study is to improve position accuracy by selecting proper a servo motor and applying FOC(Field Oriented Control) on developing a 3D terrestrial laser scanner. A 3D terrestrial laser scanner under developing has range of scanning of azimuth 360$^\circ$and elevation 270$^\circ$. It is implemented by precise controlling of a azimuth motor and a elevation motor. In the consequence of study, we have known that position accuracy of the motor can be able to be improved with constant torque of the motor by using FOC(Field Oriented Control). The control technic of the motor is possible to apply a 3D terrestrial laser scanner as well as a robotic total station.

• Journal of Advanced Marine Engineering and Technology
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• v.11 no.4
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• pp.59-74
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• 1987

In this dissertation, a complete model of commutatorless static Kramer type slip power recovery system of 3.phi. induction motor has been designed and tested in the laboratory, and the experimental results are compared with the numerical values. The main results of this study are summerized as follows. (1) Maintenance and repair of the mechanical commutator is obviated by adopting a thyristor commutator in place of the mechanical commutator in the conventional Kramer system. (2) The experimental results of developed torque, and stator current are generally coincided with the numerical values obtained by the derived equation, proving their validity. (3) This system is simulated and the following operational characteristics are obtained with suitable design values : (a) The speed control range of 7:1 is obtained when the turn ratio of induction motor is lowered to about 3:1 to 4:1 and the generating constant of auxiliary synchronous motor is increased to 120-175 range. (b) Its efficiency can be increased to 75-85%, the range for static Scherbius system and its power factor takes values in the range of 65-85%, which is twice of the range for static Scherbius system.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1965-1977
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• 2018

This paper proposed a regenerative braking system (RBS) strategy for battery electric vehicles (BEVs) with a hybrid energy storage system (HESS) driven by a brushless DC (BLDC) motor. In the regenerative braking mode of BEV, the BLDC motor works as a generator. Consequently, the DC-link voltage is boosted and regenerative braking energy is transferred to a battery and/or ultracapacitor (UC) using a suitable switching pattern of the three-phase inverter. The energy stored in the HESS through reverse current flow can be exploited to improve acceleration and maintain the batteries from frequent deep discharging during high power mode. In addition, the artificial neural network (ANN)-based RBS control mechanism was utilized to optimize the switching scheme of the vehicular breaking force distribution. Furthermore, constant torque braking can be regulated using a PI controller. Different simulation and experiments were implemented and carried out to verify the performance of the proposed RBS strategy. The UC/battery RBS also contributed to improved vehicle acceleration and extended range BEVs.

• Journal of the Korean Society for Advanced Composite Structures
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• v.3 no.1
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• pp.8-15
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• 2012

The initial clamping forces of high strength bolts depending on different faying surface conditions drop within 1,000 hours regardless of loading, any other external force or loosening of the nut. This study is focused on an expectation model for relaxation of high strength bolt, which is confined to creep on coated faying surfaces after initial clamping. The range of this experiment is limited to estimate the relaxation of bolted joints coated by inorganic zinc primer. The candidate bolts were dacro-coated tension control bolts. The parameters of coated thickness for the faying surface were 96, 168,and $226{\mu}m$ respectively. From experiments, it exhibited that the logarithmic function for creep strain was derived due to the parameter of coating thickness. By using the creep strain, subsequently the quantitative model for estimating long term relaxation of high strength bolt can be taken with the elapsed time. The experimental results showed that the relaxation after the initial clamping of high strength bolt rose to a much higher range from 10% to 18% due to creep of the coating as the coating thickness was increased. This study showed that the clamping force reflecting relaxation after the elapse of constant time can be calculated from the initial clamping force of high strength bolt.