• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.918-926
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• 2001

In this paper, intelligent control method using neural network as a nonlinear controller is presented. Simulation studies for three link rotary robot are performed. Neural network controller is implemented on DSP board in PC to make real time computing possible. On-line training algorithms for neural network control are proposed. As a test-bed, a large x-y table was build and interface with PC has been implemented. Experiments such as inverted pendulum control and large x-y table position control are performed. The results for different PD controller gains with neural network show excellent position tracking for circular trajectory compared with those for PD controller only. Neural control scheme also works better for controlling inverted pendulum on x-y table.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.2
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• pp.130-135
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• 2009

In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.445-452
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• 2005

The seismic characteristics with Friction Pendulum System have been studied using a shaking table system. In this study, we made two kind of floor system (Type I, Type II) and several seismic tests with and without isolation system were conducted to evaluate floor isolation effectiveness of Friction Pendulum System. Both type have showed large reduction effectiveness in acceleration, response spectra but Type II have showed lower acceleration and lower first mode in response spectra, compared to type I. On the basis of test results and consideration of application, it is found that type II is more suitable for floor model of main control room of Nuclear Power Plant.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.3
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• pp.139-143
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• 2022

In this study, Among the electromagnetic induction power generation (EMG) techniques, the design specifications of the RFPM were set, and a suitable test prototype was manufactured through finite element analysis (FEM, 2D) required for characteristic calculation. In addition, a dedicated testing device (Dynamo-Tester) was designed and manufactured to measure and analyze the test prototype. The test product was measured with a test device and the result is analyzed to suggest a method that can be applied by generating as much output power as possible to charge the battery of the wearable IT device using actual kinetic energy of the human body. As a result of the test, the output power was 1.679W and the efficiency was 79.31% under the conditions of rotation speed of 780.9rpm, torque of 0.264kgf/cm, and load current of 73.6~73.9mA. Therefore, it was analyzed that it was possible to charge the wearable device with the output of the ultra-small RFPM pendulum generator.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.28 no.4
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• pp.361-368
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• 2015

Recently, the earthquake has been increasing a lot, damage of electric power facility has been serious as well. Nowadays, the importance of pipe support system such as Hanger, Brace, Snubber connecting the main structure have been emphasized. These devices can prevent pipe from damage so that reduce the vibration and shock acting on the pipe. For this reason, the FCD(Friction Concave Damper) was developed and has been expected to reduce the vibration on the pipe through the Friction Pendulum System. This paper was described the introduction of self-developed mechanical damper using the friction pendulum principle and the characteristic test was performed to verify the performance of the device. Additionally the test results have been compared with predicted F.A.P(FCD Analysis Program-self developed) results. As a result, reliability of design could be improved.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.407-414
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• 2000

The friction pendulum type seismic isolation system (FPS) has been developed to provide a simple and effective way to achieve earthquake resistance for buildings . The major advantages are: the isolation frequency can be easily achieved by designing a curvature of the surface and does not depend on the supported weight of a structure. The function of carrying vertical load is separated to the function of providing horizontal stiffness. Next the friction provides sufficient energy dissipation to protect the structure from earthquake response and resistance to the weak external disturbances such as wind load and ground vibrations due to traffic. In this paper, the friction coefficients are evaluated from number of experiments on the FPS test specimens. The relations between friction coefficient and the test waveform, velocity, and pressure are reviewed and further works are discussed.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.4
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• pp.188-193
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• 2005

The purpose of this paper is to develop a more precise damper model of the joint for the quantification of the joint mechanical properties. We modified the linear damper model of a knee joint model to nonlinear one. The normalized RMS errors between the simulated and measured joint angle trajectories during passive pendulum test became smaller with the nonlinear damper model than those of the linear one which indicates the nonlinear damper model is better in precision and accuracy. The error between the experimental and simulated knee joint moment also reduced with the nonlinear damper model. The reduction in both the trajectory error and the moment error was significant at the latter part of the pendulum test where the joint angular velocity was small. The nonlinearity of the damper was significantly greater at thin subject group and this indicates the nonlinearity is a useful index of joint mechanical properties.

• Proceedings of the Korean Nuclear Society Conference
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• 2002.05a
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• pp.210.1-210
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• 2002

• Proceedings of the Korean Nuclear Society Conference
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• 2005.05a
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• pp.745-746
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• 2005