• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.398-402
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• 1996

This paper addresses the design and the gait control of quadruped walking robot. First, we concern the mechanical and electronical(control system) hardware of walking robot, and the second is the results of experiments. The walking robot is the most suitable form to substitute fot human being. So walking robot is worthy of research. The quadruped walking robot and control system is the simplest type of walking robot, therefore we designed a small seale robot for realization of static gait. The robot is designed commpactly and its legs are constructed parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. The upper level controller plans the walking path and commands the low level controllers to follow the planned path. The main function of low level cotrollers is control of motors. Total number of motors is twealve and they operate four legs. And robot is ordered to walk and realize static wave gait.

• Transactions of the Korean Society of Mechanical Engineers
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• v.5 no.4
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• pp.274-283
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• 1981

An inexpensive and very simple microcomputer-aided measurement system has been designed for on-line experiments, which perform simultaneously data acquisition, data recorditing, calculations with the data, and positioning of necessary sensors. Interfacting between the microcomputer and the data acquisition board which consists of A/D converter, analog multiplexer, and sample-and-holder, etc. has been done through IEEE-488 interface port and parallel user port both provided by the PET computer's main logic board. Data and control signals are transfered between devices without handshaking. By utilizing BASIC commands PEEK, POKE, SYS, USR which are offered by PET microcomputer, it is possible to link machine code subroutines into the main BASIC program. This facilitates ease of data transfer, programming, and speedy execution of the program. In addition, an X-Y scanning table has been concected to the system in order to automatically position measuring sensors along a pre-determined path of interest.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.632-637
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• 1992

Recently many dynamics control algorithms using robot dynamic equation have been proposed. One of them, Kawato's feedback error learning scheme requires neither an accurate model nor parameter estimation and makes the robot motion closer to the desired trajectory by repeating operation. In this paper, the feedback error learning algorithm is implemented to control a robot system, 5 DOF revolute type movemaster. For this purpose, an actuator dynamic model is constructed considering equivalent robot dynamics model with respect to actuator as well as friction model. The command input acquired from the actuator dynamic model is the sum of products of unknown parameters and known functions. To compute the control algorithm, a parallel processing computer, transputer, is used and real-time computing is achieved. The experiment is done for the three major link of movemaster and its result is presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.144-150
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• 2000

In this paper, we introduce a modified six-degrees-of-freedom parallel-link manipulator, which will be applied to the human vibration experiments. We analyze the inverse kinematics and workspace of this manipulator and comprehend the characteristics of kinematics analyzed. Additionally, solutions of forward kinematics are obtained through the iterative Newton-Raphson method known as one of the most used numerical analysis. Finally, dynamic equation of the manipulator is derived in closed form through the Newton-Euler approach, which will be used for the development of control software.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1311-1318
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• 2015

This paper introduces a novel topology and an effective control strategy for a shunt hybrid power filter (SHPF) to simultaneously compensate harmonic currents and reactive power. The proposed SHPF topology is composed of an LC passive filter tuned to the 7^th harmonic frequency and a small-rated active filter connected in parallel with the inductor L_pf of the LC passive filter. Together with the SHPF topology, we also propose a control strategy, which consists of a proportional-integral (PI) controller for DC-link voltage regulation and a PI plus repetitive current controller, in order to compensate both the harmonic current and the reactive power without the need for additional hardware. Thanks to the effectiveness of the proposed control scheme, the supply current is sufficiently compensated to be sinusoidal and in-phase with the supply voltage, regardless of the distorted and phase lagging of the load current. The effectiveness of the proposed SHPF topology and control strategy is verified by simulated and experimental results.

• The KIPS Transactions:PartA
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• v.12A no.5 s.95
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• pp.421-426
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• 2005

In a large scale parallel computation, some processor or communication link failure results in a waste of huge amount of CPU hours. However, MPI in its current specification gives the user no possibility to handle such a problem. In this paper, we propose an application-level fault tolerant linear system solver by using an MPMD-type asynchronous iteration, purely on the basis of the MPI standard without using any non-standard fault-tolerant MPI library.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.50 no.3
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• pp.130-140
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• 2001

This paper presents the performance of a parallel active power filter(PT) system in unbalanced load condition. The unbalanced load leads to negative sequence of current, and makes 120Hz ripple in the DC-link voltage forcing large capacitance and increases the rating of APF. thus, the separation of negative sequence is performed in synchronous reference frame and controlled to flow into supply network. The validity of the scheme is investigated through simulation and the experimental results for a prototype active power filter system rated at 10kVA.

• Proceedings of the KIPE Conference
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• 2018.07a
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• pp.352-353
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• 2018

본 논문은 250kW급 에너지저장장치(ESS)를 이용한 배전계통 일체형 전력변환 장치의 병렬운전 및 부분운전 방식을 제안한다. 제안하는 ESS의 기능은 배전선로에 4식 PCS로 1MW급 계통 연계형 병렬운전, 4식의 ESS 중 1식 이상의 고장에 대해서 모든 ESS가 정지하는 것이 아닌 고장 시료만 정지하는 부분 운전 방식의 운영 사례에 대한 고찰이다. 나아가 병렬운전과 부분운전으로 수용가 부문에서 상업 가정 전력 최적소비 방안을 도출한다. 제안하는 구조는 DC Link를 공유하지 않는 일체형 모형으로 내부 순환전류 회피 가능하다. 본 구조는 시뮬레이션, Prototype, 현장 시험으로 기 성능을 검증하였다.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.6
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• pp.525-529
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• 2016

In the case of a motor system that converts electrical energy into mechanical energy, the region of the motor and that of the generator coexists. In the case of an escalator, the ascending escalator is operated by the motor, whereas the descending escalator is operated by the generator according to the load. To evaluate the proposed method, this study reduces the power of the ascending escalator up to approximately 35% by sharing the regeneration power of the descending escalator. The loss of transfer power nearly exists in the case of the proposed method. Furthermore, the lifetime of the DC link condenser can be extended because it is connected in parallel, thus leading to a twofold increase in capacity.