• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.193-199
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• 2014

In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.558-560
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• 2004

Studies on the controlled switching method have been done to prevent the power system surges which cause the insulation deterioration and electro magnetic compatibility (EMC) problems during closing and opening of a circuit breaker. The controlled switching method controls the closing and tripping time in coincidence with the voltage or current to suppress switching surge. It is used to switch condenser bank, no load transformer, and shunt reactor. In this study, basic concept of the controlled switching is introduced, and also the test is performed to find parameters of the controlled switching in a 24kV vacuum circuit. And then, the control device hardware using TMS320C31 DSP has been designed and manufactured. It has been found that the application of IT technology to a circuit breaker is very effective to depress the switching surge.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.983-990
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• 2008

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.185-188
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• 2000

본 연구에서는 화자의 음성신호를 이용하여 추출된 공간정보를 통해 화자의 위치를 실시간으로 추적하는 시스템을 제안하고 실시간 구현하였다. 기존의 대표적인 화자 위치 추출 알고리듬인 CPSP(Cross Power Spectrum Phase)는 실내환경에서 심각하게 일어나는 반향신호에 취약한 단점을 갖고 있으므로 구현된 시스템에서는 위치 추적 성능 개선을 위하여 반향신호에 강인한 hybrid window 알고리듬을 제안하여 적용하였다. Hybrid window 알고리듬은 실내 환경에 적합한 hybrid window를 설계하여 수신된 음성신호에 적용함으로써 반향신호에 의한 상호 상관관계를 줄이고 직접 경로에 의한 신호들의 상관관계를 높임으로써 보다 정확한 시간 지연 추정을 가능하게 한다. 제안된 시스템의 성능분석을 위해 DSP를 이용해 실시간 구현된 하드웨어를 이용해 기존의 CPSP 알고리듬과 제안된 hybrid window를 적용한 시스템을 실제 환경에서의 실험하였고 제안한 알고리듬을 적용한 시스템이 $22\%$ 이상 성공적으로 화자의 위치를 추적하였다.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.1
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• pp.6-12
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• 2006

A popular method used by primary protection for power transformer is current ratio differential relaying (RDR) with 2nd harmonic restraints. In modern power transformer due to the use of low-loss amorphous material, the 2nd harmonic component during inrush is significantly reduced. The higher the capacitance of the high voltage status and underground distribution, the more the differential current includes the 2nd harmonic component during internal fault. Thus the conventional method may not operate properly. This paper proposes an advanced relaying algorithm and the prototype IED hardware design and it's real-time experimental results. To evaluate performance of the proposed algorithm, the study is well constructed power system model including power transformer utilizing the EMTP software and the testing is made through simulation of various cases. The proposed relaying that is well constructed using DSP chip and microprocessor etc. has been developed and the prototype IED has been verified through on-line testing. The results show that an advanced relaying based prototype IED never mis-operated and correctly identified all the faults and that inrushes that are applied.

• Aerospace Engineering and Technology
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• v.7 no.2
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• pp.11-20
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• 2008

The current air-to-ground communication between aircraft pilots and ground controllers is done by voice communication and text-based data communication. International Civil Aviation Organization (ICAO) suggested the digital data communication techniques to improve accuracy and effectiveness of the current air-to-ground communication. As one of them, VDL M2, a VHF band digital data communication link, is expected to substitute the voice communication and text-based ACARS data communication. In this paper, the software design and implementation of the VDL M2 system developed by Korea Aerospace Research Institute.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.737-742
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• 2007

The method of the reducing duct noise can be classified by passive and active control techniques. However, passive control has a limited effect of noise reduction at low frequencies (below 500Hz) and is limited by the space. On the other hand, active control can overcome these passive control limitations. The active control technique mostly uses the Least-Mean-Square (LMS) algorithm, because the LMS algorithm can easily obtain the complex transfer function in real-time particularly when the Filtered-X LMS (FXLMS) algorithm is applied to an active noise control (ANC) system. However, the convergence performance of the LMS algorithm decreases slightly so it may delay the convergence time when the FXLMS algorithm is applied to the active control of duct noise. Thus the Co-FXLMS algorithm was developed to improve the control performance in order to solve this problem. The Co-FXLMS algorithm is realized by using an estimate of the cross correlation between the adaptation error and the filtered input signal to control the step size. In this paper, the performance of the Co-FXLMS algorithm is presented in comparison with the FXLMS algorithm. Simulation results show that active noise control using Co-FXLMS is effective in reducing duct noise.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1349-1352
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• 2005

This paper is to investigate a defect for thermal barrier coating layers by acoustic emission method in 4-point bending test. The two-layer thermal barrier coating is composed of $150\mu{m}\;CoNiCrAlY\;bond\;coating\;by\;vacuum\;plasma\;spray(VPS)\;process\;and\;250\mu{m}\;ZrO_2-8wt%Y_2O_3$ ceramic coating layer by air plasma spray(APS) process on Inconel-718. The specimen prepared by cyclic thermal test(500, 1000, 2000cycle) at $1050^{\circ}C$ The AE monitoring system is composed of PICO type sensor, a wide band pre-amplifier(40dB), PC and AE DSP(16/32 PAC) board. The AE event, amplitude, Cumulative energy and count of coating specimens is evaluated according to cyclic thermal test.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.16 no.5
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• pp.112-118
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• 2002

The adaptive m filters is more effective than m filters when acoustic feedback exists, in which cause an order of a FIR filter must be very large if some of poles of the ideal control filter are near the unit circle. But the IIR filters may have stability problems especially when the adaptive algorithm is not converged. In this paper, a stabilizing procedure for adaptive IIR filters is proposed. In the beginning of the ANC system, it improve a stability by pulling the poles of the IIR filter to the center of the unit circle, and it returns the poles to their original positions after the filter converge. Computer simulations and experiments are performed to show the effectiveness of proposed schemes.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.183-186
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• 2004

본 논문에서는 수중 초음파 통신용 QPSK 버스트 수신기를 DSP시스템을 이용하여 구현하기위한 시스템 설계에 대하여 논한다. 본 논문에서 고려하는 시스템은 25kHz의 반송주파수를 사용하고, 심벌율은 5kHz이며, 데이터 전송율은 10,000bps이다. 송신기에서 심벌정보를 전송하기 위해 펄스성형필터를 거친 신호를 디지털 믹서기를 이용하여 디지털 영역에서 반송주파수 대역으로 신호를 변조한 후 200kHz로 샘플링하는 D/A변환기를 이용하여 전송 아날로그 신호를 생성한다. 수신기에서는 수신 신호를 디지털로 처리하기 위하여 100kHz로 free running하는 A/D 변환기를 이용하여 수신 데이터를 얻는다. 수신기에서는 32심벌 길이의 프리앰블을 이용하여 프레임 동기를 찾음과 동시에 개략적인 심벌시간 동기와 위상편이를 추정한다. 추정한 위상편이값은 2차 PLL (phase-looked loop)의 초기값으로 사용하여 위상 추적을 수행하는 전송 시스템이다. 또한, 된 논문에서는 실해역 전송 시험 테이터를 통하여 조류의 변화에 의해 발생하는 Doppler 편이를 보상하기 위하여 PLL이 필수적으로 필요함을 보인다.