• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.407-412
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• 2015

This paper presents the design of a lab-built powered knee prosthesis based on a BLDC motor, a sensored impedance control using a force sensor, and a sensorless impedance control through torque estimation. Firstly, we describe the structure of the lab-built powered knee prosthesis and its limitations. Secondly, we decompose the gait cycle into five stages and apply the position-based impedance control for the powered knee prosthesis. Thirdly, we perform an experiment for the torque estimation and the sensorless impedance control of the prosthesis. The experimental results show that we can use the torque estimation to control the low impedance during the swing phase, although the estimated torque data has a delay compared with the measured torque by a load cell.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.4
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• pp.491-497
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• 2018

Most of the applications for distribution system operation highly rely on the voltage and current managements from the field devices. Voltage from the remote controlled switch contains unacceptably large measurement error due to the nonlinear characteristics of the bushing potential transformer. This paper proposes a new voltage magnitude estimation method by calculating voltage drop using current measurement, line impedance and loads deployment data. Contract demand power and pole transformer capacity managed by NDIS are used as a key element to improve accuracy of the proposed method. Various case studies using Matlab simulation have been performed to verify feasibility of the propose voltage estimation method.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.2
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• pp.159-163
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• 2006

In order to tune the speed controller in the linear servo applications an accurate information of a mover mass including a load mass is always required. This paper suggests the mass estimation method of a permanent magnet linear synchronous motor(PMLSM) 4y using the parameter estimation method of Least-Squares algorithm. First, the deterministic autoregressive moving average(DARMA) model of the mechanical dynamic system is derived. Then the application of the Least-Squares algorithm shows that the mass can be accurately estimated both in the simulation results and in the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.876-881
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• 2003

Reliable attitude estimation during the launch and early orbit phase is a critical issue for a satellite. Typically gyroscopes and other sensors are utilized to estimate the attitude during this phase. It is difficult to estimate the attitude quickly and reliably using gyroscopes because it requires a large computational load and accurate sensor measurements. Furthermore, the gyroscope failure may lead to the loss of the satellite. This paper suggests a simple attitude estimation method of a low earth orbit satellite without using gyroscopes, but only using sun sensors and magnetometers in the sun-acquisition mode. Using Kompsat-I telemetry data, we verified that the suggested algorithm provides attitude estimation within 3 degrees on each axis.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.565-570
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• 2001

Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.

• Journal of Korean Institute of Industrial Engineers
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• v.30 no.2
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• pp.76-83
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• 2004

This study aimed to empirically investigate perceived discomfort depending upon external load, upper limb postures and their holding time. Discomfort was obtained through an experiment, in which external load, wrist flexion/extension, elbow flexion, shoulder flexion and adduction/abduction were used as experimental variables. The subjects were instructed to hold given postures for 60s and to rate their subjective discomfort scores at 5s, 20s, 40s and 60s by using the free modulus method of magnitude estimation. The results showed that while only external load and elbow flexion were statistically significant at the holding time of 5s at ${\alpha}=0.05$ or 0.10, external load and upper limb postures excluding shoulder adduction/abduction significantly affected discomfort ratings at 20s, 40s and 60s at ${\alpha}=0.01$ or 0.05. Discomfort scores were also significantly different between four posture holding times at ${\alpha}=0.01$. The effects of external load and holding time were much larger than those of upper limb postures. Based on the results of this study, it is recommended that external load and holding time as well as working postures betaken into consideration to precisely quantify postural load in industry.

• Journal of KIISE:Computer Systems and Theory
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• v.37 no.4
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• pp.195-204
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• 2010

Due to improved wireless communication technologies, it is possible to provide multimedia streaming service for mobile device clients like PDAs and cellphones. Wireless networks are serviced on low bandwidth channels and mobile devices work on limited hardware specifications. In these conditions, transcoding technologies are needed to adapt the media for streaming services to given mobile environments. To transcode from the source media to the target media for corresponding grades, transcoding servers perform transcoding jobs as exhausting their resources. Since various transcoding loads occur according to the target transconding grades, an effective transcoding load balancing policy is required among transcoding servers. In addition to transcoding process, servers should maintain QoS streams for mobile clients for total serviced times. It requires real-time requirements to support QoS for various mobile clients. In this paper, a new transcoding load distribution method is proposed. The proposed method can be driven for fair load balance between distributed transcoding servers. Based on estimated transcoding time, movie information and target transcoding bit-rate, it provides fair transcoding load distribution and also performs admission control to support QoS streams for mobile clients.

• Structural Engineering and Mechanics
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• v.11 no.1
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• pp.1-16
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• 2001

This paper discusses the elastic stability of unbraced frames under non-proportional loading based on the concept of storey-based buckling. Unlike the case of proportional loading, in which the load pattern is predefined, load patterns for non-proportional loading are unknown, and there may be various load patterns that will correspond to different critical buckling loads of the frame. The problem of determining elastic critical loads of unbraced frames under non-proportional loading is expressed as the minimization and maximization problem with subject to stability constraints and is solved by a linear programming method. The minimum and maximum loads represent the lower and upper bounds of critical loads for unbraced frames and provide realistic estimation of stability capacities of the frame under extreme load cases. The proposed approach of evaluating the stability of unbraced frames under non-proportional loading has taken into account the variability of magnitudes and patterns of loads, therefore, it is recommended for the design practice.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.7-13
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• 1999

The unbalanced heavy-loaded elevation-driving system is composed of link-mechanism, hydraulic cylinder and compensator for the static unbalanced moment of the load. Control and compensation of elevation-driving system is very difficult because these mechanisms imply highly nonlinear properties due to hydraulic fluid characteristics and mechanical rotation of link-mechanism. In this study, through the analysis of the link-mechanism, the optimal design of the link-mechanism is suggested. Also to estimate the control performance of the unbalanced, heavy-loaded servo-controlled system, modeling and simulation of nonlinear system are carried out. To prove the validity of performance estimation program, simulation results are compared with the experimental results. Both results are similar, therefore this program will be helpful to study the improvement of the system control performance.

• Journal of the Korean Institute of Educational Facilities
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• v.24 no.1
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• pp.3-10
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• 2017

This study is to analyze the remodeling method of library in terms of space extension method and urban regeneration by repurposing function in unused facilities through case study. In many case of library extension, horizontal extensions are more frequent than vertical extensions, because there are limits to extend vertically due to high live load estimation by book stacks. Extension schemes was organized by new building extension method in connection with existing buildings, attaching method small scaled mass or linear mass to existing building, connecting method a plurality of existing small buildings, vertical extension method on the top of the structure, underground extension method using special structure. Unused facility remodeling to the library, large scaled buildings can be developed completely to the function of the library through the relocation of the space, while small scaled building needs spatial extension. In the case of spatial extension, existing space that was used for other purposes can be used as a reading room or office, avoiding high live load estimation.