• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.50 no.7
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• pp.315-322
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• 2001

High speed brushless permanent magnet(PM) machines need a key technology to minimize the iron core losses in stator and the eddy current losses in the retained sleeve and magnets caused by slotting harmonics. Thus, slotless or iron-coreless brushless PM machines have been applied for a very high rotational speed and/or the ripple-free torque. Unfortunately, slotless or coreless PM machines have lower open-circuit field than slotted and/or iron-cored types, which cause to reduce power density. Fortunately, Halbach array can generate the strong magnetic field systems without additional magnetic materials. In this paper, the 4-pole Halbach array is applied to the high speed machine and is compared with the radial magnetized PM array in field system. The iron-/air-cored stator of PM machine is constructed with/without winding slots. Open circuit magnetic fields of each type are presented from the analytical method and finite element method. Consequently, it is confirmed that the Halbach array field system with slotless stator is more suitable to the high speed motor because it has high flux density, sinusoidal flux distribution than others.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.2
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• pp.111-117
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• 1990

This paper investigated the effect of the zero on the right-half-plane on stability in the buck-boost DC-DC converter which is one type of the switching regulator, and the stability region in connection with the output current was shown by evaluating the feed-back gain. From the result it is shown that the stability decreases by the existence of the zero on the right-half-plane. We carried out a compensation by a pole in the feedback circuit and obtained the available stability region in relation to the gain band-width product. These results proved to be the validity by experiment.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.279-288
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• 2004

This paper presents a novel design for a tubular linear brushless permanent-magnet motor. In this design, the magnets in the moving part are oriented in an NS-NS―SN-SN fashion which leads to higher magnetic force near the like-pole region. An analytical methodology to calculate the motor force and to size the actuator was developed. The linear motor is operated in conjunction with a position sensor, three power amplifiers, and a controller to form a complete solution for controlled precision actuation. Real-time digital controllers enhanced the dynamic performance of the motor, and gain scheduling reduced the effects of a nonlinear dead band. In its current state, the motor has a rise time of 30 ms, a settling time of 60 ms, and 25% overshoot to a 5-mm step command. The motor has a maximum speed of 1.5 m/s and acceleration up to 10 g. It has a 10-cm travel range and 26-N maximum pull-out force. The compact size of the motor suggests it could be used in robotic applications requiring moderate force and precision, such as robotic-gripper positioning or actuation. The moving part of the motor can extend significantly beyond its fixed support base. This reaching ability makes it useful in applications requiring a small, direct-drive actuator, which is required to extend into a spatially constrained environment.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.1
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• pp.34.1-34.1
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• 2013

The first generation stars in the universe are not observed as discrete objects by using current observational facilities, but their contributions are redshifted to the near infrared wavelength bands at present universe. Therefore, investigation of background radiation at near infrared is important for the study of the first stars. In this study, we present new observations of spatial fluctuations in sky brightness toward the north ecliptic pole using data from AKARI. Among pointed observation program of AKARI, we used two pointing surveys named Monitor field and NEP wide field at three wavelength bands 2.4, 3.2, and 4.1 ${\mu}m$. To obtain spatial fluctuations from observed images, first of all, we exclude pixels affected by resolved foreground objects and then obtain diffuse map which consists of diffused radiation only. Because the diffuse map contains not only cosmological components but also various foreground components, in order to detect cosmological components, we estimate the contributions of foreground components separately. The results of this study show that there remains excess spatial fluctuation that cannot be explained by known foreground sources. This work is based on observations with AKARI, a JAXA project with the participation of ESA.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.1
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• pp.35.1-35.1
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• 2013

The first generation stars in the universe are not observed as discrete objects by using current observational facilities, but their contributions are redshifted to the near infrared wavelength bands at present universe. Therefore, investigation of background radiation at near infrared is important for the study of the first stars. In this study, we present new observations of spatial fluctuations in sky brightness toward the north ecliptic pole using data from AKARI. Among pointed observation program of AKARI, we used two pointing surveys named Monitor field and NEP wide field at three wavelength bands 2.4, 3.2, and 4.1 ${\mu}$. To obtain spatial fluctuations from observed images, first of all, we exclude pixels affected by resolved foreground objects and then obtain diffuse map which consists of diffused radiation only. Because the diffuse map contains not only cosmological components but also various foreground components, in order to detect cosmological components, we estimate the contributions of foreground components separately. The results of this study show that there remains excess spatial fluctuation that cannot be explained by known foreground sources. This work is based on observations with AKARI, a JAXA project with the participation of ESA.

• Journal of Magnetics
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• v.20 no.2
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• pp.186-192
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• 2015

This paper describes the electromagnetic and mechanical characteristics of coaxial magnetic gear (CMG) with a low gear ratio. The analysis models are restricted to a CMG with a gear ratio of less than 2. The electromagnetic characteristics including transmitted torque and iron losses are presented according to the variation of the gear ratio. The pole pairs of high speed rotor are chosen as 6, 8 and 10 by considering the torque capability. As the gear ratio approaches 1, both iron losses on the ferromagnetic materials and eddy current losses on the rotor permanent magnets are increased. The radial and tangential forces on the modulating pieces are calculated using the Maxwell stress tensor. When the maximum force is exerted on the modulating pieces, the mechanical characteristics including stress and deformation are derived by structural analysis. In CMG models with a low gear ratio, the maximum radial force acting on modulating pieces is larger than that in CMG models with a high gear ratio, and the normal stress and normal deformation are increased in a CMG with a low gear ratio. Therefore, modulating pieces should be designed to withstand larger radial forces in CMG with a low gear ratio compared to CMG with a high gear ratio.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1167-1169
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• 1996

As electrical discharge machinery(EDM) is industrial process which is manufactured by discharge energy, by producing discharge, EDM process finished material at the little micrometer air gap. Especially, EDM is used for the characteristic of heat-resisting material, it puts to use air-space industrial element, confusing shaping material such as jet engine, rocket elements. Working performance. is changed by environment of working, discharge current voltage and duration of discharge pulse. Evaluation of performance working is work speed, clearance smoothing of product surface, wasting of pole. In this paper, this machine is compensated by adaptive controller which corrects the weak points of classical machine which is observed and operated working condition by user in hands. The previous purpose is main object in this thesis. The adaptive controller automatically detect abnormal condition and working conditions. To improve performance, surface smoothing and working speed, the adaptive controller uses fuzzy control strategy. To evaluate performance, this controller is implemented by microprocessor i80c196 and is applied real experimental machine.

• Proceedings of the KIEE Conference
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• 2003.07b
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• pp.735-737
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• 2003

A superconducting motor consisting of high temperature superconducting (HTS) rotor and air-core stator is under development in Korea Electrotechnology Research Institute. HTS motor was designed for having the rated power of 100hp at 1800 rpm. HTS field winding is composed of sixteen HTS race track shaped coils wound with stainless steel-reinforced Bi-2223 tape conductor by react and wind fabrication method. Nomex Paper was used for electrical insulation. Each of four magnet pole assemblies was constructed with four double pancake sub-coils, mechanically stacked and electrically in series. Four magnet assemblies were fixed on an aluminum support structure to make effective heat transfer. Critical current (Ic) of HTS field winding was 41A but minimum Ic of sub-coils was 35A at 77K and self field. Joule heat generated in HTS field winding was 2.11W at 77K and 35A.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.6
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• pp.89-95
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• 2009

A new class of electronically commutated brushless motor, the flux-switching motor(FSM) is gradually emerging in power tools and household appliances especially fan and pump application because of green policy. This motor offers advantages of high-power density and relatively high efficiency compare with induction motor, low cost and simple motor structure compare with bldc motor. This paper presents the principle of the FSM and design of the 12/6 pole FSM drive system for fan application. Finally, test results of the prototype motor are provided to verify a validity of the fan application with TMS320F2812 DSP and inverter.