• Journal of Power Electronics
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• v.19 no.6
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• pp.1582-1590
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• 2019

A new method for reducing the common-mode current generated by the voltage variations in a two-inverter air conditioner system by applying a synchronized pulse-width modulation (PWM) strategy is proposed. The PWM signals of the master-mode inverter are generated based on the reference voltage, while those of the slave-mode inverter are output in the opposite direction when the master-mode inverter changes its switching state. However, the slave-mode control results in a mismatch between the reference voltage and the actual output voltage that is modified by synchronized control operation. The proposed method is capable of reducing and controlling this voltage error by performing signal selection in the vector space of the slave-mode inverter, which mitigates the distortion of the phase current. The efficacy of this method in reducing conducted emissions has been validated both theoretically and experimentally.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.4
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• pp.341-349
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• 2004

A parallel operation of Uninterruptible Power Supply(UPS) systems is used to increase power capacity of the system or to secure higher reliability at critical loads. In the conventional parallel operation, the load-sharing control to maintain the current balance is the most important, since the load-sharing is very sensitive to discord between components of each module, amplitude/phase difference, line impedance, output LC filter, and so on. To solve these problems various control algorithms are researching. However, these methods cannot apply to the different ratings of UPS. In the case, master and slave control algorithm for parallel operation is adequate. However, if the UPS ratings are different, the value of passive filters L, C is different, and it affects the sharing of current. This paper presents general problems of conventional parallel operation systems, and control strategy for parallel operation with different ratings. The validity of the proposed control strategy is investigated through simulation and experiment in the parallel operation system with two 3-phase UPS systems.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2226-2230
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• 2005

The Advanced Spent Fuel Conditioning Process (ACP), which is a pre-disposal treatment process for spent fuel is being developed at the Korea Atomic Energy Research Institute (KAERI). The ACP equipment is operated in an intense radiation field as well as in a high temperature. Thus, the equipment is designed in consideration of the remote handling and maintenance. This paper describes a Bridge Transported Bilateral Force-Reflecting Servo-Manipulator (BTSM) system, which is being developed to overcome the limitation of access that is a drawback of the mechanical Master-Slave Manipulators (MSMs), which are mounted on the ACP hot cell wall for the operation and the maintenance of the ACP equipment. The BTSM system was manufactured and temporally installed at the mockup to test its performance. The manufactured BTSM system will be installed at the ACP hot cell on June 2005 after the accomplishment of the performance test. The BTSM system consists of four components: a transporter with a telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. This system will highly increase the volume of coverage for the operation and maintenance of the ACP equipment.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.329-335
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• 2018

In an electric vehicle and Energy Storage System(ESS), a large number of batteries are connected in series or parallel to obtain high voltage and current. The battery management system(BMS) is needed because battery has a characteristic that explode in overcharging and overcurrent situations due to the nature of the battery material and the battery life is dramatically reduced when the battery is overdischarged below the specified voltage. In this paper, we proposed a system that can manage a large amount of batteries through the communication of master-slave type with multiple microcontroller. We confirmed the stable operation of the proposed system through the balancing-charging and storage mode experiments.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.595-597
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• 2005

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN fortheir Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator's unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• Journal of the Ergonomics Society of Korea
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• v.32 no.1
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.388-394
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• 2003

To handle the high level radioactive materials such a spent fuel, the master-slave manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobile attributes such as a relative position, kinematics constraints, and a range of mobility, The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface(LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.2
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• pp.137-142
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• 2015

Teleoperation of a robot arm working in hazardous environments has been studied in the field of defense and security. A master system is an essential part that plays an important role in the teleoperation. We developed a master system, which is an essential part in the teleoperation, so that it can operate the slave robot arm intuitively and has excellent mobility and portability compared to conventional master systems. The master system adopted a Stewart platform to minimize the size and weight, and the legs of the Stewart platform are composed of wires to improve the operation range of the system. The experimental validation of the developed master system is conducted with a commercial IMU, and the experimental results show that the proposed master system can perform reliable and dexterous teleoperation.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2358-2361
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• 2003

In this paper, parallel control method that enables coordinating operations of multiple mini ice storage air conditioner is proposed based on LonWorks system. The proposed parallel control method is a kind of master/slave control method based on LonTalk network communication. In the control method, master controller leading whole system operations is determined by date to avoid the disproportion of outdoor unit operations. In addition to the above, duty shift control method is proposed to avoid redundant operations of outdoor units and to equalize the operation frequencies of them. Through some simulation tests, the proposed parallel control method and the duty shift control method are evaluated and the efficiencies of them are validated by comparing with existing methods.