• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• ETRI Journal
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• v.41 no.6
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• pp.838-849
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• 2019

We present a permanent magnet-based spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5°) using the proposed control scheme.

• Transactions on Electrical and Electronic Materials
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• v.16 no.2
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• pp.99-102
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• 2015

Thin film transistors (TFTs) with amorphous 2 wt% silicon-doped zinc tin oxide (a-2SZTO) channel layer were fabricated using an RF magnetron sputtering system, and the effect of post-annealing treatment time on the structural and electrical properties of a-2SZTO systems was investigated. It is well known that Si can effectively reduce the generation of oxygen vacancies. However, it is interesting to note that prolonged annealing could have a bad effect on the roughness of a-2SZTO systems, since the roughness of a-2SZTO thin films increases in proportion to the thermal annealing treatment time. Thermal annealing can control the electrical characteristics of amorphous oxide semiconductor (AOS) TFTs. It was observed herein that prolonged annealing treatment can cause bumpy roughness, which led to increase of the contact resistance between the electrode and channel. Thus, it was confirmed that deterioration of the electrical characteristics could occur due to prolonged annealing. The longer annealing time also decreased the field effect mobility. The a-2SZTO TFTs annealed at 500℃ for 2 hours displayed the mobility of 2.17 cm²/Vs. As the electrical characteristics of a-2SZTO annealed at a fixed temperature for long periods were deteriorated, careful optimization of the annealing conditions for a-2SZTO, in terms of time, should be carried out to achieve better performance.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.48-56
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• 2015

In the paper, a smartphone-controlled personal mobility system(PMS) based on a compass sensor is developed. The use of a magnetic compass sensor makes the PMS move according to the heading direction of a smartphone controlled by a rider. The proposed smartphone-controlled PMS allows more intuitive interface than PMS controlled by pushing a button. As well, the magnetic compass sensor makes a role in compensating for the mechanical characteristics of motors mounted on the PMS. For adequate control of the robot, two methods: absolute and relative direction methods based on the magnetic compass sensor and wireless communication are presented. Experimental results show that the PMS is conveniently and effectively controlled by the proposed two methods.

• Journal of Electrical Engineering and Technology
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• v.8 no.5
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• pp.1157-1162
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• 2013

We proposed AlGaN/GaN high-electron-mobility transistors (HEMTs) using thermal oxidation for NiOx passivation. Auger electron spectroscopy, secondary ion mass spectroscopy, and pulsed I-V were used to study oxidation features. The oxidation process diffused Ni and O into the AlGaN barrier and formed NiOx on the surface. The breakdown voltage of the proposed device was 1520 V while that of the conventional device was 300 V. The gate leakage current of the proposed device was 3.5 ${\mu}A/mm$ and that of the conventional device was 1116.7 ${\mu}A/mm$. The conventional device exhibited similar current in the gate-and-drain-pulsed I-V and its drain-pulsed counterpart. The gate-and-drain-pulsed current of the proposed device was about 56 % of the drain-pulsed current. This indicated that the oxidation process may form deep states having a low emission current, which then suppresses the leakage current. Our results suggest that the proposed process is suitable for achieving high breakdown voltages in the GaN-based devices.

• Journal of Mechanical Science and Technology
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• v.14 no.6
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• pp.605-621
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• 2000

A mobile manipulator-a serial connection of a mobile platform and a task robot-is redundant by itself. Using its redundant freedom, a mobile manipulator can move in various modes, i. e., can perform dexterous tasks. In this paper, to improve task execution efficiency utilizing redundancy, optimal configurations of the mobile manipulator are maintained while it is moving to a new task point. Assuming that a task robot can perform the new task by itself, a desired configuration for the task robot can be pre-determined. Therefore, a cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile platform and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile platform is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the tasle that the mobile manipulator performs is optimized. The proposed algorithm is experimentally verified and discussed with a mobile manipulator, PURL-II.

• Journal of the Korea Computer Industry Society
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• v.2 no.11
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• pp.1373-1382
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• 2001

Traditionally, Mobile Teletraffic model consists of two sub-models, i.e. the network traffic model and the traffic source model. In this paper, we present the traffic source model by developing MobCall(Mobile Call Simulator) which analyses various mobile wireless environments based on regional characteristics that the base stations are located. User mobility is presented by regional average vehicle speeds and the transportation share rate. Moreover, the user mobility on subway, which is increasing in urban area, is considered in MobCall. Using MobCall, the accumulated number of calls in residential and commercial regions, the handoff rate with respect to traffic sources of Seoul, the handoff rate on highway, and the handoff rate according to the call duration are presented. MobCall enables the simulation of dynamic handoff buffering and functional entity control of one base station according to the changes in user's calling pattern at the design phase.

• Journal of information and communication convergence engineering
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• v.7 no.4
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• pp.475-479
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• 2009

In ad hoc network, the scarce energy management of the mobile devices has become a critical issue in order to extend the network lifetime. Current research activity for the Minimum Energy Multicast (MEM) problem has been focused on devising efficient centralized greedy algorithms for static ad hoc networks. In this paper, we consider mobile ad hoc networks(MANETs) that could provide the reliable monitoring and control of a variety of environments for remote place. Mobility of MANET would require the topology change frequently compared with a static network. To improve the routing protocol in MANET, energy efficient routing protocol would be required as well as considering the mobility would be needed. In this paper, we propose a new method, the CACH(Context-aware Clustering Hierarchy) algorithm, a hybrid and clustering-based protocol that could analyze the link cost from a source node to a destination node. The proposed analysis could help in defining the optimum depth of hierarchy architecture CACH utilize. The proposed CACH could use localized condition to enable adaptation and robustness for dynamic network topology protocol and this provide that our hierarchy to be resilient. As a result, our simulation results would show that CACH could find energy efficient depth of hierarchy of a cluster.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.4
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• pp.279-290
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• 2013

In this paper, we propose a transmission scheme of MAC protocol that enables secure voice communications by exploiting the wide spectrum and low signal strength characteristics of the ultra wide band technology. In addition, it also supports high level of terminal mobility by deploying mobile ad hoc network schemes. While most of existing UWB MAC protocols are operated as a synchronous mode, the proposed scheme operates in an asynchronous mode for supporting high mobility and sends voice packets without RTS/CTS control packets for efficient voice traffic transmission without retransmission. With simulation program, we prove that the proposed scheme satisfies the required voice quality and packet delivery time.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.5
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• pp.1354-1372
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• 2012

Route establishment in Mobile Ad Hoc Network (MANET) is the key mechanism to a successful connection between a pair of source and destination nodes. An efficient routing protocol constructs routing path with minimal time, less routing overhead and capable of utilizing all possible link connectivity. In general, most on-demand MANET routing protocols operates over symmetrical and bidirectional routing path, which is infeasible due to the inherent heterogeneous properties of wireless devices. Simulation results show that the presence of unidirectional links on a network severely affect the performance of a routing protocol. In this paper, a robust protocol independent scheme is proposed, which enable immediate rediscovery of alternative route for a path blocked by a unidirectional link. The proposed scheme is efficient; route rediscovery is locally computed, which results in significant minimization of multiple route packets flooding. Nodes may exploit route information of immediate neighbors using the local reply broadcast technique, which then redirect the control packets around the unidirectional links, therefore maintaining the end-to-end bidirectional connection. The proposed scheme along with Ad Hoc On-demand Distance Vector (AODV) and AODV-Blacklist routing protocol is investigated over three types of mobility models. Simulation results show that the proposed scheme is extremely reliable under poor network conditions and the route connectivity can be improved by as much as 75%.