• Journal of Auto-vehicle Safety Association
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• v.10 no.1
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• pp.32-37
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• 2018

This paper proposes autonomous speed control strategy for an Electric Vehicle on urban road. SNU campus road is used to reperesent urban road situation. Motor efficiency of driving on campus circulation road can be improved by controlling velocity properly. Given information of campus road, especially slope of road, acceleration is selected from candidate, considering consumed power, human factor and driving time. To apply urban situation, preceding vehicle is also considered. With preceding vehicle, acceleration is defined according to clearance and relative velocity. Acceleration is bounded in normal range. Proposed acceleration control method is activated with proper velocity range for campus circulation road. With acceleration control, motor efficiency becomes better than driving with constant vehicle. To evaluate the performance of proposed acceleration controller, simulation study is conducted via MATLAB.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2464-2466
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• 2000

When linear PI controller is used in speed control of induction motor, there happen some weaks which is very difficult to find optimal control gain at time of changing speed and load. In this paper, Fuzzy system incorporated with PI controller is proposed in order to that defects. PI gain is calculated by theoretical basis and fuzzy control is translated human expert's knowledge and experiences into rules numerically. Also it modifies and compensates PI gains in realtime. As comparing the motor characteristics of proposed fuzzy-PI speed controller to PI speed controller of a Vector controlled induction motor system in the increasing load torque and speed change during start and stop, The simulation results show robust and good performance.

• The Journal of Korean Physical Therapy
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• v.14 no.3
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• pp.334-344
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• 2002

This study was to investigate the effects of the sensory-motor training program childhood body concept and to investigate the difference between the control group and experimental group. Subjects of the study were compared with children whose age varied from three to four years old, where I.Q was over 100. The major things of this study was as follows, First, sensory-motor training program was effective with regards to body concept improvement among the three-, four-year-old children. Second, both the experimental group trained by sensory-motor program and the control group trained by cognitive-perceptual training program were revealed a meaningful performance. But, sensory-motor program offering subcognitive sensory body experiences yielded higher mean gains in scores than a cognitive-perceptual program. Sensory-motor learning is more effective than verbal learning is promoting body concept reflected in the ability to draw human figures.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• Korean Journal of Agricultural Science
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• v.44 no.4
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• pp.595-603
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• 2017

Crop growth and production cost are greatly influenced by management of environmental factors such as ambient temperature, humidity, and $CO_2$, especially in protected horticulture. Opening and closing of greenhouses is the most important operation for control of these ambient environmental factors, and precise and stable operation requires high performance window motors. In this study, a 400 W precise window motor was constructed, and its performance was evaluated for plastic and glass greenhouses. First, the motor was designed and fabricated by benchmarking of an advanced foreign product. Then, the performance was evaluated through vibration, PCB (Process Control Block), and load tests. Vibration tests resulted in averaged vibration displacement and velocity of the developed motor of 0.002 mm and 0.2267m/s, which were statistically significantly different from those of the target motor. Average vibration acceleration ($0.26m/s^2$) of the developed motor was also significantly different from that ($0.51m/s^2$) of the target motor. PCB tests showed 2 - 4 mm deviation from the target values, and confirmed the operating status and precision of the control. Load tests with a 300 kg load also showed acceptable operating status and durability. Current values were $1.31{\pm}0.06A$ and RPMs were in the range of 2.9 - 3.0. Considering the above results, the developed window motor would be competitive to the target foreign product.

• Journal of international Conference on Electrical Machines and Systems
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• v.2 no.1
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• pp.91-96
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• 2013

Recently, it is increased to apply sensorless drive for BLDC (Brushless DC) motor to household electrical appliances, especially in the refrigerators and air conditioners, to reduce the cost and the acoustic noise by the operation and to make their functions more comfortable for human beings. In this paper, low-cost sensorless drive for BLDC motor is implemented by random PWM (Pulse Width Modulation). The experimental results show that the electromagnetic noise was reduced and the sound quality was improved by BLDC motor sensorless random PWM Control.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.139-139
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• 2000

The subject of this paper is the tole operation for unmanned vehicle. The aim is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. Modern, vehicle related researches have been implemented about control, chassis, body and safe쇼 but now is to driving comfort, I.T.S. and human factor, etc. As a result of this fact, unmanned vehicle is main research topic over the world but it is still very expensive and unreasonable. A hierarchical approach is studied in context of motor control system and algorithms for the mid to low level control of tele operation unmanned vehicle described. The real time control and monitoring of longitudinal, lateral, Pitching motion is to be solved by system integration and optimization technique. We show the experimental result about fixed brake range test and acceleration test. And all system is to integrated for driving simulator and unmanned vehicle.

• Journal of Korean Institute of Industrial Engineers
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• v.38 no.1
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• pp.41-45
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• 2012

Until now, most studies of foot moving or driving posture have been performed under laboratory driving conditions. But there are many different things between actual driving conditions and laboratory driving conditions because, in laboratory conditions, it is hard to consider vehicle's noise, vibration and people's psychology state while driving. Thus this study is performed through actual driving conditions. And while driving test, we recorded driver's foots with 2 cameras to investigate foots(left and right) heel point and how human foots move to control the three pedals : accel, brake and footrest.. Through driving test, the results of this study show that the position of driver's heel point isn't related to stature and tends to be generalized.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.8
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• pp.1405-1411
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• 2007

In this paper, a new speed sensorless control based on a fuzzy compensator are proposed for the interior permanent magnet synchronous motor (IPMSM) drives. The conventional proportional plus integrate(PI) control are very sensitive to step change of the command speed, parameter variations and load disturbance. To cope with these problems of the PI control, the estimated speeds are compensated by using the fuzzy logic controller (FLC). In the FLC used by the speed compensator of the IPMSM, the system control parameters are adjusted by the fuzzy rule based system, which is a logical model of the human behavior for process control. The effectiveness of algorithm is confirmed by the experiments.