• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.959-965
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• 2009

To meet the demand increasing passengers in railway vehicles, railway transportation service companies are increasing the numbers of cars per train-set. Two solutions, Variable train-set formations and Multiple train-set operation, are common way to increase the transportation capability. These kind of long distance train-set can effect train-set command and control system, and sometimes the digital signals using train line from master cabin can not reach to the systems located the other extremity slave car. This is so called Voltage Drop. This phenomenon is originated from the electrical power consumption and electrical cable resistance, and cause to the equipments or cars located end of the electrical cable way, malfunction or abnormal operations. This voltage drop happens not only in train lines but also Battery Power Lines. The purpose of this investigation is to design high reliability railway vehicles by clarifying the possibility of happening these events case by case, by analyzing the reasons, and finally by finding the best solutions.

• 전력전자학회논문지
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• 제21권3호
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• pp.200-206
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• 2016

In the microgrid, inverters for energy storage system are generally constructed in a parallel structure because of capacity expandability, convenience of system maintenance, and reliability improvement. Parallel inverters are required to provide stable voltage to the critical load in PCC and to accurately share the current between each inverter. Furthermore, when islanding occurs, the inverters should change its operating mode from grid-connected mode to stand-alone mode. However, during clearing time and control mode change, the conventional control method has a negative impact on the critical load, that is, severe fluctuating voltage. In this study, a parallel operation control method is proposed. This method provides seamless mode transfer for the entire transition period, including clearing time and control mode change, and has accurate current sharing between each inverter. The proposed control method is validated through simulation and experiment.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.689-694
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• 2014

An SPLC (Safety Programmable Logic Controller) must be designed to meet the highest safety standards, IEEE 1E, and should guarantee a level of fault-tolerance and high-reliability that ensures complete error-free operation. In order to satisfy these criteria, I/O modules, communication modules, processor modules and bus modules of the SPLC have been configured in triple or dual modular redundancy. The redundant modules receive the same data to determine the final data by the voting logic. Currently, the processor of each rx module performs the voting by deciding on the final data. It is the intent of this paper to prove the improvement on the current system, and develop a voting system for multiple data on a system bus level. The new system bus protocol is implemented based on a TCN-MVB that is a deterministic network consisting of a master-slave structure. The test result shows that the suggested system is better than the present system in view of its high utilization and improved performance of data exchange and voting.

• 방사성폐기물학회지
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• 제3권3호
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• pp.257-268
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• 2005

본 논문에서는 핫셀에서의 원격 운전 및 유지보수 작업을 위해 개발한 천정이동 서보 조작기시스템에 대해 소개한다. 조작기 시스템은 텔레스코픽형 이송장치, 슬레이브, 마스터, 그리고 제어시스템으로 구성되어 있다. 개발한 시스템에 대해 위치 추종, 하중 취급, 신뢰성, 및 조작성에 대한 테스트를 수행하였으며 이에 대한 테스트 결과를 제시한다. 이러한 테스트 결과를 바탕으로 개선된 시스템 이 설계되었으며 이 개선된 시스템 이 차세대 공정의 실증에 적용될 예정이다.

• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.

• 한국정보통신학회논문지
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• 제11권7호
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• pp.1289-1295
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• 2007

본 논문에서는 유 무선 네트워 킹을 지원하는 TRS 중계기의 전체적인 RF 시스템들을 디지털 방식으로 제어 할 수 있는 고성능 병렬 제어 시스템을 구현하였다. 구현된 시스템은 순 역방향 LPA(Linear Power Amplifier), 순 역방향 LNA(Low Noise Amplifier), 채널카드, 직렬통신(RS-232), 유 무선 TCP/IP 통신의 제어를 담당하는 FPGA(Field Programmable Gate Array) 칩과 전체 시스템의 제어를 관장하는 마스터(Master) 마이크로프로세서, 순 역방향 스펙트럼 분석기(Spectrum Analyzer, SA)를 내장하여 현재 통신되고 있는 채널의 주파수 스펙트럼을 5KHz 단위의 해상도로 관찰할 수 있도록 하는 슬레이브 마이크로프로세서, 각각의 채널카드들을 개별적으로 감시하고 채널카드내의 주파수 합성기(Frequency Synthesizer)를 프로그래밍하기 위한 10개의 채널카드용 마이크로프로세서, 그리고 그 밖의 몇 가지 주변기기들과 회로들로 구성된다. 전체 시스템은 동작의 효율성과 병렬성을 비롯하여 구현의 적합성과 비용을 고려하여 H/W(Hardware) 및 S/W(Software) 부분으로 나누었고, H/W도 FPGA과 마이크로프로세서로 나누어서 최적화를 이루고자 노력하였다.

• Journal of Power Electronics
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• 제17권1호
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• pp.161-171
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• 2017

To enhance the reliability of two-motor drive systems, this paper proposes an improved direct torque control (DTC) scheme (P-DTC) for five-leg dual-PMSM drive systems. First, the topology of a five-leg dual-PMSM drive system is illustrated. To clarify the analysis of the P-DTC, the standard DTC scheme for three-phase drive systems is presented. The operation of a five-leg dual-PMSM drive system is classified into three situations according to the definitions of the switching-vector unions. Compared with the existing DTC scheme (R-DTC), the P-DTC can minimize the replacement of active switching-vectors to zero switching-vectors. When this replacement cannot be avoided, the P-DTC uses a proposed master-slave selection principle to minimize the system error. Comparing with the R-DTC, the P-DTC has lower torque ripples, a wider speed range and a faster torque increasing response. Experiments have been carried out in the coupling and independent modes, and the effectiveness of the P-DTC is verified by the obtained results.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2000년도 추계종합학술대회
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• pp.284-287
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• 2000

최근 개발되고 있는 의료기기들은 사용자의 상호 복합적인 요구사항을 반영하기 위하여 모듈(Module)화되는 추세이다. 이는 환자의 상태를 관찰, 진단, 처리를 위해 여러 기기들로부터 데이터를 수집하고, 이에 따르는 동작을 제어하기에 가장 효율적인 방법이기 때문이다. 이와 같은 모듈화 경향은 여러 개의 단일 시스템들을 쉽게 통합 관리할 수 있기 때문에 더욱 일반화되고 있다. 본 연구에서는 모듈화된 의료장비들을 하나의 통신 시스템으로 묶어 중앙 집중형 제어를 할 수 있는 통신 프로토콜을 구현하였다. 본 연구에서 구현된 시스템은 모든 기기들을 제어하고 통신을 관장하는 하나의 마스터(Master) 모듈과 각각의 의료기기들에 해당되는 여러 개의 슬레이브(Slave)모듈로 구성된다. 각 모듈간 통신은 데이터의 정확한 송, 수신을 위해 여러 동기 직렬 통신방식 중 SPI(Serial Peripheral Interface)를 사용하였다. 모든 통신은 패킷(Packet)형태로 이루어지고, 통신중 에러를 검출할 수도 있다. 또한, 마스터 모듈은 자동으로 특정 슬레이브 모듈외 연결 및 동작 유무를 알 수 있는 PNP(Plug And Play)기능이 있다. 본 연구에서 구현된 프로토콜온 컴퓨터와 연결하여 데이터 전송 확인을 통해, 1Mbps이상의 빠른 속도에서 정화한 송, 수신이 이루어지며, 인공호흡기와 같은 실시간 데이터의 송, 수신이 이루어져야하는 의료장비에서도 모듈이 수행하는 본래의 일에 방해하지 않고 실시간 통신이 이루어지는 것을 실제 호흡기 시스템에 적용하여 확인하였다. 또한, 중앙 집중형 제어에 의한 다양한 기능을 편리하게 구현할 수 있었다.이다.ure scheme based on KCDSA which is a domestic digital signature scheme and it apply a electronic cash system. In particularly a proposed electronic cash system have an anonymity control ability which trace a user who make use a electronic cash illegally in association with a trusted center.estigation and explain how our tool can be further enhanced.door playground facilities. On the basis of the site investigation the interview and the indoor education program for physically challenged children the author completed an outside play program. Each item in this program was classified as belonging to either a "sense play" program or and "exercise play" program. Finally, the author designed suitable play equipment for physically challenged children corresponding to each item in the exercise

• Journal of international Conference on Electrical Machines and Systems
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• 제1권2호
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• pp.79-84
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• 2012

In this paper, a three-phase high-voltage converter (HVC), in which the main structure of each phase is composed of a cascaded PWM rectifier (CPR) and cascaded inverter (CI), is studied. A high-voltage grid is the input of the HVC. In order to ensure proper operation of the HVC, the control method should achieve output voltage sharing (OVS) among the rectifiers in the CPR, OVS among the inverters in the CI, and high power factor. Master-slave direct-current control (MDCC) is used to control the CPR. The ability of the control system to prevent interference is strong when using MDCC. The CI is controlled by three-loop control, which is composed of an outer common-output-voltage loop, inner current loops and voltage sharing loops. Simulation results show low total harmonic distortion (THD) in the HVC input currents and good OVS in both the CPR and CI.