• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.160-168
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• 2010

In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.11 no.3
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• pp.53-64
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• 2007

Considering a sinusoidally varying blood pressure In left ventricle in Cho - Kensey's Windkessel model, we expressed the impedance elements in terms of the phase differences among the pressure and flow rates in the artery and the peripherical tubes. The relationships were further simplified for the real human cardiac system. We expect that the results would give some valuable information for examination and treatment in oriental medicine as well as in western medicine.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.72-78
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• 2021

This paper presents a robust impedance control of high-DOF robot based on disturbance observer(DOB). A novel DOB is derived by considering the residual disturbance caused by the difference between actual disturbance and disturbance decoupling input which utilizes the estimated disturbance. It focuses on the elimination of the residual disturbance and improvement of the control performance as well as the good estimation of disturbances. In the control of high-DOF robot, numerical dynamic model, which is conducted by a software based on dynamics, is utilized because the analytical model of high-DOF robot is difficult to be obtained. The simulation of high-DOF robot with numerical dynamic model is provided to verify the performance of the proposed controller.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.849-856
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• 2009

Truncal obesity associated with insulin resistance and metabolic syndrome increase the likelihood of hypertension, various cardiovascular diseases, hyperlipidemia and coronary heart diseases. International Diabetes Federation (IDF) experts recognized that it is necessary to develop the simple diagnostic tool which is applicable to diagnose truncal obesity worldwide, and proposed the method using a waist circumference but there is a limit to estimate subcutaneous fat distribution. However, waist line is also influenced by total fat capacity less than the intra abdominal fat. The more having severe obesity, the more correlation coefficient between waist line and intra abdominal fat is low. Therefore, this thesis defines a new abdominal impedance measurement position and impedance-index to analysis central obesity. This proposes the new model to estimate abdominal obesity using the abdominal impedance-index and CT images acquired fro 160 Korean subjects. The proposed model shows that the abdominal fat distribution has a higher correlation than waist line. (Adj R2=0.809, 0.667 and 0.687 with abdominal fat area, visceral fat area and subcutaneous fat area respectively).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1513-1519
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• 2000

This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.

• Wind and Structures
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• v.24 no.4
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• pp.385-403
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• 2017

In recent years, the wind energy has played an increasingly important role in national energy sector of many countries. To harvest more electric power, the wind turbine (WT) tower structure becomes physically larger, which may cause more risks during long-term operation. Associated with the great development of WT projects, the number of accidents related to large-scaled WT has also been increased. Therefore, a structural health monitoring (SHM) system for WT structures is needed to ensure their safety and serviceability during operational time. The objective of this study is to develop a hybrid damage detection method for WT tower structures by measuring vibration and impedance responses. To achieve the objective, the following approaches are implemented. Firstly, a hybrid damage detection scheme which combines vibration-based and impedance-based methods is proposed as a sequential process in three stages. Secondly, a series of vibration and impedance tests are conducted on a lab-scaled model of the WT structure in which a set of bolt-loosening cases is simulated for the segmental joints. Finally, the feasibility of the proposed hybrid damage detection method is experimentally evaluated via its performance during the damage detection process in the tested model.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.3
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• pp.73-79
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• 2012

A counterpoise is commonly employed in grounding systems installing near the ground surface of low resistivity soils and radial-type counterpoises are used in the limited space. Recently some studies on the evaluation of ground impedance of paralleling ground electrodes have carried out, but the data for providing the frequency-dependent ground impedances considering potential interferences are not yet sufficient. In order to provide the information about the design of grounding systems for surge protection, the simulations of the frequency-dependent ground impedance of various shaped counterpoises are carried out by using the distributed parameter circuit model including the effect of potential interferences. This paper presents the theoretical simulations and actual experiments of the frequency-dependent ground impedance of paralleling and 3 or 4-arms star counterpoises. The accuracy of the simulation methodology is examined by the comparison with the measured results, and the results show a good agreement between the simulation and the experiment.

• Structural Monitoring and Maintenance
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• v.10 no.1
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• pp.43-62
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• 2023

Damage monitoring is a prerequisite step to ensure the safety and performance of concrete structures. Smart aggregate (SA) technique has been proven for its advantage to detect early-stage internal cracks in concrete. In this study, a 1-D CNN-based method is developed for autonomously classifying the damage feature in a concrete anchorage zone using the raw impedance signatures of the embedded SA sensor. Firstly, an overview of the developed method is presented. The fundamental theory of the SA technique is outlined. Also, a 1-D CNN classification model using the impedance signals is constructed. Secondly, the experiment on the SA-embedded concrete anchorage zone is carried out, and the impedance signals of the SA sensor are recorded under different applied force levels. Finally, the feasibility of the developed 1-D CNN model is examined to classify concrete damage features via noise-contaminated signals. The results show that the developed method can accurately classify the damaged features in the concrete anchorage zone.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.3
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• pp.339-353
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• 2014

A straightforward method for optimal determining of a high frequency inductor's parasitic capacitance is presented. The proposed estimation method is based on measuring the inductor's impedance samples over a limited frequency range bordering on the resonance point considering k-dB deviation from the maximum impedance. An optimized solution to k could be obtained by minimizing the root mean squared error between the measured and the estimated impedance values. The model used to provide the estimations is a parallel RLC circuit valid at resonance frequency which will be transferred to the real model considering the mentioned interval of frequencies. A straightforward algorithm is suggested and programmed using MATLAB which does not require a wide knowledge of design parameters and could be implemented using a spectrum analyzer. The inputs are the measured impedance samples as a function of frequency along with the diameter of the conductors. The suggested algorithm practically provides the estimated parameters of a real inductance model at different frequencies, with or without design information. The suggested work is different from designing a high frequency inductor; it is rather concentration of determining the parameters of an available real inductor that could be easily done by a recipe provided to a technician.

• Journal of Electrochemical Science and Technology
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• v.11 no.1
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• pp.1-13
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• 2020

As research on secondary batteries becomes important, interest in analytical methods to examine the condition of secondary batteries is also increasing. Among these methods, the electrochemical impedance spectroscopy (EIS) method is one of the most attractive diagnostic techniques due to its convenience, quickness, accuracy, and low cost. However, since the obtained spectra are complicated signals representing several impedance elements, it is necessary to understand the whole electrochemical environment for a meaningful analysis. Based on the understanding of the whole system, the circuit elements constituting the cell can be obtained through construction of a physically sound circuit model. Therefore, this mini-review will explain how to construct a physically sound circuit model according to the characteristics of the battery cell system and then introduce the relationship between the obtained resistances of the bulk (R_b), charge transfer reaction (R_ct), interface layer (R_SEI), diffusion process (W) and battery characteristics, such as the state of charge (SOC), temperature, and state of health (SOH).