• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.8
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• pp.741-751
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• 2011

Vibrations caused by automobile engine are absorbed mostly by a passive-type engine mount. However, user specifications for automobile vibrations require more stringent conditions and higher standard. Hence, active-type engine mounts have been developed to cope with such specifications. In this study, the active vibration absorber which can be attached to the sub-frame of automobile is used for the suppression of vibrations caused by engine. The active vibration absorbing system consists of sensor, actuator and controller where a control algorithm is implemented using DSP. The vibration caused by engine reveals harmonic disturbances varying with engine revolution. Therefore, the control algorithm should be able to cope with harmonic disturbances. In this study, the modified higher harmonic control technique which can selectively suppress harmonic disturbance is considered. Experimental results on automobile show that the proposed active vibration absorbing system is effective in suppressing vibrations caused by engine.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.1-7
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• 2008

This paper presents electromagnetic interference(EMI) suppression method applied on the direct current(DC) motor driver for power tail gate control. EMI noise is generated by the fast switching of power devices connected to electric loads. It has become a matter of concern because of the vast increase in the number and sophistication of electronic system in automotive environment. The proposed EMI reduction method is based on the principle of reducing the transient speed of power devices by changing the parameters of the driver circuit related to the power MOSFET. In this paper, power losses were calculated by loss equations and thermal simulation was used to evaluate the effect on printed circuit board. Based on these results, the DC motor driver was fabricated and tested. The proposed method can help to design a DC motor driver which allows it to obtain an acceptable compromise between power losses and EMI.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2126-2128
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• 2001

This paper suggests that the immune network algorithm based on fuzzy set can effectively be used in tuning of a PID controller for multivariable process or nonlinear process. The artificial immune network always has a new parallel decentralized processing mechanism for various situations, since antibodies communicate to each other among different species of antibodies/B-cells through the stimulation and suppression chains among antibodies that from a large-scaled network. In addition to that, the structure of the network is not fixed, but varies continuously. On the other hand, a number of tuning technologies have been considered for the tuning of a PID controller. As a less common method, the fuzzy and neural network or its combined techniques are applied. However, in the case of the latter, yet, it is not applied in the practical field, in the former, a higher experience and technology is required during tuning procedure. Along with these, this paper used the fuzzy set in order that the stimulation and suppression relationship between antibody and antigen can be more adaptable controlled against the external condition, including noise or disturbance of plant. The immune network based on fuzzy set suggested here is applied for the PID controller tuning of multivariable process with two inputs and one output and is simulated.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.10A
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• pp.969-979
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• 2002

This paper proposes an novel method of minimizing Interference which causes data decision error in digital wireless communications. In this method, in order to suppress ISI which is caused by the phase difference between the transmitted and received signal phases, the transmitted and received signals are always kept orthogonal by compensating the transmitted signal for detecting the phase noise and the delay of the received signal was implemented by MOS circuits. To delay the phase of the signal, additive white Gaussian noise (AWGN) environment was used. The phase and delay of the signal transmitted through AWGN channel were compensated in the modulator of the transmitter and the compensated signal was demodulated using quasi-direct conversion receiver and QPSK demodulator. ISI suppression was achieved by keeping the orthogonality between the compensated transmitted signal and the receive signal. The error probability of data decision was compared. By simulation the proposed system was proved to be effective in minimizing the ISI.

• Journal of electromagnetic engineering and science
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• v.18 no.3
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• pp.188-198
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• 2018

In this study, we propose an approach for the design and satisfy the requirements of the fabrication of a small, lightweight, reliable, and stable ultra-wideband receiver for millimeter-wave bands and the contents of the approach. In this paper, we designed and fabricated a stable receiver with having low noise figure, flat gain characteristics, and low noise characteristics, suitable for millimeter-wave bands. The method uses the chip-and-wire process for the assembly and operation of a bare MMIC device. In order to compensate for the mismatch between the components used in the receiver, an amplifier, mixer, multiplier, and filter suitable for wideband frequency characteristics were designed and applied to the receiver. To improve the low frequency and narrow bandwidth of existing products, mathematical modeling of the wideband receiver was performed and based on this spurious signals generated from complex local oscillation signals were designed so as not to affect the RF path. In the ultra-wideband receiver, the gain was between 22.2 dB and 28.5 dB at Band A (input frequency, 18-26 GHz) with a flatness of approximately 6.3 dB, while the gain was between 21.9 dB and 26.0 dB at Band B (input frequency, 26-40 GHz) with a flatness of approximately 4.1 dB. The measured value of the noise figure at Band A was 7.92 dB and the maximum value of noise figure, measured at Band B was 8.58 dB. The leakage signal of the local oscillator (LO) was -97.3 dBm and -90 dBm at the 33 GHz and 44 GHz path, respectively. Measurement was made at the 15 GHz IF output of band A (LO, 33 GHz) and the suppression characteristic obtained through the measurement was approximately 30 dBc.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1700-1703
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• 1997

The flexibility of the manipulator inevitably inducess the vibration at the end effector. For the increase in speed and accuracy at the end tip, in this work, position and vibration control of a flexible manipuator with a separate voice coil type actrator for vibration suppression, is studied. The flexible manipulator with a tip mass is modeled an Euler-Bernoulli beam. An H.inf. controller is designed in order to make the controlled system robust against unmodeled higher-order mode vibration of the manipulator, output sensor noise, and etc. Simulations and experiments show that the modeling of the system is valid and that robust vibration control of the flexible manipulator is efficiently achieved.

• Journal of KSNVE
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• v.5 no.2
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• pp.183-195
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• 1995

The mathematical model of the gear reductioner which consists which consists of the geared rotor-bearing system containing case is developed, assuming as the lumped parameter system. Constraints for vibration suppresion as well as strength of gear teeth, and shaft and kinematic conditions in gear pairs are considered. To find the design parameters satisfing the proposed constraints, a direct search method modified by the technique of Taguchi's experimental scheduling is used. One and two stepped gear reductioners are designed so that the criticl speeds due to the gear transmission error are moved out of the operating speed range.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.5
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• pp.1028-1033
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• 2014

We investigate the OFDM-based wireless LAN systems operating in the 60 GHz frequency band as part of the fourth-generation (4G) systems. The 60 GHz band is of much interest since this is the band in which a massive amount of spectral space has been allocated worldwide for dense wireless local communications. This paper gives an overview of 60 GHz band channel characteristics and an effect on phase noise. The performance of OFDM system is severely degraded by the local oscillator phase noise, which causes both common phase error and inter-carrier interference. In this paper, we apply phase noise suppression (PNS) algorithm that is easy for implementation to OFDM based 60 GHz wireless LAN system and analyze the SER performance. In case of using the PNS algorithm, SER performance is improved about 6 dB, 7.5 dB, respectively in 16, 64-QAM.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.5
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• pp.152-161
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• 2017

The CBTC(Communication based Train Control) system employed on 2.4GHz ISM band adopt the IEEE802.11.x standard. Therefor communication time delay, distortion and data losses will be produced. To overcome these problems, CPSK(Continuous Phase shift keying) modulated DS/SS(Direct Sequence Spread Spectrum) transmitter with 908MHz carrier frequency is proposed. Through the eye diagram and scatter diagram the performance is analysed. And the phase noise characteristic of the local oscillator is measured about 60dBc/Hz, this means that the phase noise performance is very good compared to the signal. Reference frequency suppression of the 2nd local oscillator is 50dB below compared to the signal. Through the polarities of the complementary signal equally probable, the line spectrum of the output spectrum is eliminated. The nonlinear effects which introduce the spectral spreading or spectral regeneration is reduced remarkably.