• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1044-1051
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• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.

• Journal of Computational Design and Engineering
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• 제1권4호
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• pp.233-242
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• 2014

A magnetically levitated vehicle (Maglev) system is under commercialization as a new transportation system in Korea. The Maglev is operated by an unmanned automatic control system. Therefore, the plan of train operation should be carefully established and validated in advance. In general, when making a train operation plan, statistically predicted traffic data is used. However, a traffic wave often occurs in real train service, and demand-driven simulation technology is required to review a train operation plan and service quality considering traffic waves. We propose a method and model to simulate Maglev operation considering continuous demand changes. For this purpose, we employed a discrete event model that is suitable for modeling the behavior of railway passenger transportation. We modeled the system hierarchically using discrete event system specification (DEVS) formalism. In addition, through implementation and an experiment using the DEVSim++ simulation environment, we tested the feasibility of the proposed model. Our experimental results also verified that our demand-driven simulation technology can be used for a priori review of train operation plans and strategies.

• 한국기계가공학회지
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• 제10권5호
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• pp.51-57
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• 2011

The lightweight and compact actuator with high power is required to perform motion with multiple degrees of freedom. To reduce the size and inertia of a robot manipulator, the mechanical transmission system is used. The shape memory alloy(SMA) is similar to the muscle-tendon-bone network of a human hand. However, there are some drawback and nonlinearity, such as the hysteresis and the stress dependence. In this paper, the design of the underactuated robot hand is studied. The 3-finger dexterous hand is driven by the SMA actuator using segmental mechanism. This digital approach enables to overcome the nonlinearity of SMA wire. The translational displacement of SMA actuator required to bend a phalanx of the underactuated robot hand is estimated and the bending angle of the underactuated robot hand according to input displacement of SMA actuator is predicted by the multi-body dynamic analysis.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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• pp.23-26
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• 2000

Generally, the wheel-driven mobile robot systems, by their structural property, have nonholonomic constraints. These constraints are not integrable and cannot be written as time derivatives of some functions with respect to the generalized coordinates. Hence, nonlinear approaches are required to solve the problems. In this paper, the trajectory controller of wheeled mobile robot systems is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation, the trajectory controller is applied to differentially driven robot system and car-like mobile robot system on the assumption that the trajectory planner be given.

• Journal of Electrical Engineering and Technology
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• 제3권4호
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• pp.552-558
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• 2008

Optimal design of the direct-driven Permanent Magnet(PM) wind generator, combined with F.E.A(Finite Element Analysis) and Genetic Algorithm(GA), has been performed to maximize the Annual Energy Production(AEP) over the entire wind speed characterized by the statistical model of wind speed distribution. Particularly, the proposed parallel computing via internet web service has contributed to reducing excessive computing times for optimization.

• Journal of Mechanical Science and Technology
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• 제18권5호
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• pp.762-769
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• 2004

An analytical approach is presented to investigate the deformation characteristics of billets in a continuous billet mill using power driven horizontal stands and idle vertical stands. The analysis is validated by comparison to the experimental results in a previously published work. The analytical results have shown that, apart from the problems of slip and buckling of billet, there are some shortcomings involved in this method. Compared to conventional rolling with all driven stands, the roll load for idle vertical stands and the rolling torque for horizontal stands are almost doubled. The billet is severely stressed within the roll-bite of idle vertical stands and the overall rolling power has increased by one third of that for conventional rolling. Theseshortcomings impair the feasibility of industrial application of idle vertical stand rolling method.

• 한국공작기계학회논문집
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• 제18권2호
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• pp.228-233
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• 2009

An ultra-precision stage is used in many industrial areas such as precision machine tools or semiconductor apparatus. These stages used to be driven by piezoelectric actuators in order to obtain ultra precision positioning resolution. Piezoelectric actuator can be moved fast in nanometer resolution. However, it has relatively large non-linear characteristics like hysteresis and creep curve. Although several kinds of control techniques have been developed, controller design method is still complicated. In this paper fuzzy control rules are developed intuitively. In order to verify the performance a series of experiments were conducted and the results were compared with those of the PID controller case.

• 센서학회지
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• 제21권3호
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• pp.172-179
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• 2012

This paper presents the design and analysis of a vibration-driven electromagnetic energy harvester that uses a multi-pole magnet. The physical backgrounds of the vibration electromagnetic energy harvester are reported, and an ANSYS finite element analysis simulation has been used to determine the different alignments of the magnetic pole array with their flux lines and density. The basic working principles for a single and multi-pole magnet are illustrated and the proposed harvester has been presented in a schematic diagram. Mechanical parameters such as input frequency, maximum displacement, number of coil turns, and load resistance have been analyzed to obtain an optimized output power for the harvester through theoretical study. The paper reports a maximum of 1.005 mW of power with a load resistance of $1.9k{\Omega}$ for 5 magnets with 450 coil turns.

• 센서학회지
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• 제20권1호
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• pp.25-29
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• 2011

This paper describes the design and analyses of vibration driven electromagnetic energy harvester with high power generation which is suitable for supplying power generator from human body motion. The proposed harvester consists of magnet, coil, and SM (Soft magnetic Material). In order to generate more induced voltage, the SM to concentrate flux lines from end of magnetic poles was arranged into insert moving magnet. Each model was designed and analyzed by using ANSYS software to simulation. The maximum power is generated when load resistance of $1303\;{\Omega}$ is equal to coil resistance. The generated maximum power of for harvesters with SM is $677.85\;{\mu}W$ and 5.46 times higher than without SM at 6 Hz vibration frequency.

• 설비공학논문집
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• 제17권3호
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• pp.243-249
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• 2005

The present study has been conducted to simulate dynamics of a gas engine-driven heat pump(GHP) for design of control algorithm. The dynamic modeling of a GHP was based on conservation laws of mass and energy. For automatic control of refrigerant pressures, actuators such as engine speed, outdoor fan, coolant three-way valves and liquid injection valve were PI or P controlled. The simulation results showed physical behavior that is realistic enough to apply for control algorithm design.