• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of Sensor Science and Technology
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• v.26 no.1
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• pp.15-23
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• 2017

In this study, bioelectrical impedance analysis, which has been used to assess an alteration in intracellular fluid (ICF) of the body, was applied to detect intravenous infiltration. The experimental results are described as follows. Firstly, when infiltration occurred, the resistance gradually decreased with time and frequency i.e., the resistance decreased with increasing time, proportional to the amount of infiltrated intravenous (IV) solution. At each frequency, the resistance gradually decreased with time, indicating the IV solution (also blood) accumulated in the extracellular fluid (ECF) (including interstitial fluid). Secondly, the resistance ratio started to increase at infiltration, showing the highest value after 1.4 min of infiltration, and gradually decreased thereafter. Thirdly, the impedance ($Z_C$) of cell membrane decreased significantly (especially at 50 kHz) during infiltration and gradually decreased thereafter. Fourthly, Cole-Cole plot indicated that the positions of (R, $X_C$) shifted toward left owing to infiltration, reflecting the IV solution accumulated in the ECF. The resistance ($R_0$) at zero frequency decreased continuously over time, indicating that it is a vital impedance parameter capable of detecting early infiltration during IV infusion. Finally, the mechanism of the current flowing through the ECF, cell membrane, and ICF in the subcutaneous tissues was analyzed as a function of time before and after infiltration, using an equivalent circuit model of the human cell. In conclusion, it was confirmed that the infiltration could be detected early using these impedance parameters during the infusion of IV solution.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.2
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• pp.133-141
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• 2010

Grounding system insures a reference potential point for electric devices and also provides a low impedance path for fault currents in the earth. The ground impedance as function of frequency is necessary for determining its performance since fault currents could contain a wide range of frequencies. Copper and concrete rod electrodes are the most commonly used grounding electrode in electric distribution systems. In this paper, the ground impedance of copper and concrete rods has been measured by frequency and time domain characteristic tests. An equivalent transfer function model of the ground impedance is identified from the measured values by using ARMA method and evaluated by comparing conventional grounding impedances.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.2
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• pp.9-15
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• 2010

Grounding insures a reference potential point for electric devices and also provides a law resistance path for fault or transient currents in the earth. The grounding impedance as a function of frequency is necessary for determining its performance since fault or transient currents could contain a wide range of frequencies. A concrete rod electrode is one of the commonly used grounding electrodes in electric distribution systems. In this paper, the grounding impedance of concrete rods has been measured in frequency raging from 60[Hz] up to 100[kHz] and an equivalent model of the grounding impedance is identified from the measured values. The grounding impedance under study when a typical lightning surge is injected into the grounding system was simulated numerically and graphically through the use of the EDSA software program.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.8
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• pp.26-32
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• 2009

Grounding insures a reference potential point for electric devices and also provides a law resistance path for fault or transient currents in the earth. The ground impedance as a function of frequency is necessary for determining its performance since fault or transient currents could contain a wide range of frequencies. A copper rod electrode is the most commonly used grounding electrode in electric distribution systems. In this paper, the grounding impedance of copper rods has been measured in frequency raging from 60[Hz] up to 100 [kHz] and an equivalent model of the grounding impedance is identified from the measured values. The grounding impedance under study when a typical lightning surge is injected into the grounding system was simulated numerically and graphically through the use of the EDSA software program.

• The Transactions of the Korean Institute of Power Electronics
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• v.25 no.4
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• pp.251-260
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• 2020

A growing interest has emerged in recycling used automobile batteries into energy storage systems (ESSs) to prevent their harmful effects to the environment from improper disposal and to recycle such resources. To transform used batteries into ESSs, composing battery modules with similar performance by grading them is crucial. Imbalance among battery modules degrades the performance of an entire system. Thus, the selection of modules with similar performance and remaining life is the first prerequisite in the reuse of used batteries. In this study, we develop an instrument to measure the impedance spectrum of a battery module to predict the useful remaining life of the used battery. The developed hardware and software are used to apply the AC perturbation to the used battery module and measure its impedance spectrum. The developed instrument can measure the impedance spectrum of the battery module from 0.1 Hz to 1 kHz and calculate the equivalent circuit parameters through curve fitting. The performance of the developed instrument is verified by comparing the measured impedance spectra with those obtained by a commercial equipment.

• Smart Structures and Systems
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• v.25 no.4
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• pp.423-432
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• 2020

In this paper, a novel but practical approach named series/parallel multi-sensing technique was proposed to evaluate the bolt looseness in a bolt group. The smart washers (SWs), which were fabricated by embedding a Lead Zirconate Titanate (PZT) transducer into two flat metal rings, were installed to the bolts group. By series connection of SWs, the impedance signals of different bolts can be obtained through only one sweep. Therefore, once the loosening occurred, the shift of different peak frequencies can be used to locate which bolt has loosened. The proposed multi input single output (MISO) damage detection scheme is very suitable for the structural health monitoring (SHM) of joint with a large number of bolts connection. Another notable contribution of this paper is the proposal of 3-dB bandwidth root mean square deviation (3 dB-RMSD) which can quantitatively evaluate the severity of bolt looseness. Compared with the traditional naked-eye observation method, the equivalent circuit based 3-dB bandwidth can accurately define the calculation range of RMSD. An experiment with three bolted connection specimens that installed the SWs was carried out to validate our proposed approach. Experimental result shows that the proposed 3 dB-RMSD based multi-sensing technique can not only identify the loosened bolt but also monitor the severity of bolt looseness.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.464-466
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• 2000

In this paper, the high frequency models of pole-transformers are provided to confirm the feasibility of PLC systems between high and low voltage distribution systems. The impedance of transformers is measured to verify the characteristics of transformers at high frequency from 100[kHz] to 1[MHz] and the equivalent circuits of the transformers were designed based on the measured impedance. The signals transmitted from the primary and the secondary sides of the transformers were measured, respectively. The transmission loss of the transformers was obtained by the measured signals. Numerical analysis using the equivalent circuit is compared to the measured signals. The possibility of communication through pole-transformers is presented by experiments and simulations.

• Journal of Power Electronics
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• v.17 no.1
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• pp.305-313
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• 2017

A novel interference isolation method is proposed by using several designed coils in capacitive power transfer systems as isolation impedances. For each designed coil, its stray parameters such as the inter-turn capacitance, coil resistance and capacitance between the coil and the core, etc. are taken into account. An equivalent circuit model of the designed coil is established. According to this equivalent circuit, the impedance characteristic of the coil is calculated. In addition, the maximum impedance point and the corresponding excitation frequency of the coil are obtained. Based on this analysis, six designed coils are adopted to isolate the interference from power delivery. The proposed method is verified through experiments with a power carrier frequency of 1MHz and a data carrier frequency of 8.7MHz. The power and data are transferred parrallelly with a data carrier attenuation lower than -5dB and a power attenuation on the sensing resistor higher than -45dB.

• Proceedings of the IEEK Conference
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• 2003.07b
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• pp.1125-1128
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• 2003

This paper presents the design method of a Colpitts type oscillator with coplanar waveguide(CPW) structures in the range of Ka-band frequency for transmitter and receiver modules. Series short stubs of CPW patterns provide inductances and capacitances in the range of Ka-band which can be expressed as a CLC-$\pi$ equivalent circuit. The experimentation has employed ro4003 substrates as a CPW substrate which has a dielectric constant of 3.38 and a signal and ground space of 100um. A method of momentum simulation for the CPW patterns has performed with an ADS software tool of Hewlett-Packard Corp. Inductance and capacitance circuits of a Colpitts oscillator was interconnected to a MESFET with CPW bend structures of including the input and output impedance matching circuits of the active transistor. Circuit parameters for impedance matching were determined through the network conversion to the equivalent length of CPW transmission lines by using T-network 1 $\pi$-network conversion circuit. A Colpitts oscillator was fabricated on the substrate of a area of 8.5mm x 17.4mm with a MESFET of Fujitsu FMM5704X and CPW series short stubs. The design suggested the possibility of realizing oscillators on a planar surface for the wireless system of tansmitter and receiver modules in the frequency range of 30GHz