• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2007년도 춘계학술대회 논문집
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• pp.295-299
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• 2007

Biped robot requires that an energy source and a control part should be installed on the body to realize active system. So, we choose the DC motor having high torque in compact size in this study. In the DC motor serve system, we choose power amplifier with analog configuration, developed the module combined the controller and the driver. We applied this module to robot actuator and studied the response characteristics in an action and a return. Main controller with serve system, loading PIC micro controller, can be load on the robot with light weight.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.282-288
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• 조명전기설비학회논문지
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• 제19권7호
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• pp.73-80
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• 2005

직립보행로봇은 동적인 시스템 구현을 위해 에너지원과 제어장치부가 로봇에 탑재되어야 한다. 때문에 본 연구에서는 소형에서 높은 기동 토크를 얻을 수 있는 직류전동기를 선택하였다. 직류전동기 서보시스템에는 아날로그 처리방식의 파워앰프를 이용하여, 제어기와 구동기가 일체화된 하나의 모들로 개발하였다. 이를 로봇액추에이터에 적용하고 동작과 복귀시의 응답특성을 연구하였다. 주 제어부는 PIC(Micro controller)를 채용하여 서보시스템과 함께 소형경량으로 로봇에 탑재할 수 있다.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2012년도 춘계학술발표대회 논문집
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• pp.229-233
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• 2012

Proton exchange membrane fuel cell (PEMFC) is the most promising energy source for the robot applications because it has unique advantages such as high energy density, no power drop during operating, and easy to make compact size. However, PEMFC has intrinsic disadvantages which are delay to start up and difficulty to correspond drastic load changes. These disadvantages can be compensated by hybrid operating with a Li-poly battery. This study is focus to build and understand the hybrid system for the robot system. In this study, we build the PEMFC hybrid system using EOS-320 PEMFC stack, Li-poly battery and G-Philos FDX1-250BU dc-dc converter. The hybrid system is accurately monitored by CAN and RS485. The system was studied under two conditions such as non-loaded and loaded operating conditions. The results show that the system has delay to start up without hybrid operating and it can be compensated with the hybrid operating.

• 한국태양에너지학회 논문집
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• 제34권1호
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• pp.91-97
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• 2014

This paper proposes a modeling of fuel cell which replaces dc source during simulation. Fuel cells are electrochemical devices that convert chemical energy in fuels into electrical energy. This system has high efficiency and heat, no environmental chemical pollutions and noise. Proton exchange membrane fuel cells (PEMFC) are commonly used as a residential generator. These fuel cells have different electrical characteristics such as a low voltage and high current compared with solar cells. And there are different behaviors in the V-I curve in the temperature and pressure. Therefore, the modeling of fuel cell should consider wide voltage range and slow current response and the resulting electrical model is applied to boost converter with fuel cell as an input source.

• 한국정밀공학회지
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• 제30권9호
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• pp.969-975
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• 2013

As energy shortage is getting more serious, wind energy source is more promoted around the world. Blade is a key component of wind turbine. Local breakages and/or contamination in the blade bring degradation in aerodynamic efficiency and life-time. However, it is not easy and even dangerous for human workers to access the blade for inspection and maintenance since its size is huge and located at high mountains and rough sea, which are windy places. This paper deals with a novel moving mechanism that efficiently carries human workers or robots to the wind turbine blade. The proposed mechanism utilizes flexible tube with pressurized air that rolls and climbs over the blade surface. So, the tube naturally adapts the changing surface of the blade and acts no harm to it. This paper discusses about its concept, detail design, and advantages. The feasibility of the proposed mechanism is proved through experiments prototype.

• 한국태양에너지학회 논문집
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• 제34권4호
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• pp.123-129
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• 2014

Photovoltaic and fuel cell systems can be used as power source in mobile robots. At this time the photovoltaic system generally generate power in daytime. The starting time of fuel cell is slower than the lithium battery. To compensate for these disadvantages, a battery charge-discharge system is used. Especially the bi-directional converter is used mainly in the charge-discharge method. The controller in a buck converter controls the input voltage of the converter to meet the maximum power point tracking(MPPT) performance. First of all, the simulations of hybrid system for battery charge-discharge system in each step simulated using solar and fuel cell modeling as input source in PSIM. Experiment of the buck and bi-directional converter system is conducted through using photovoltaic/fuel cel simulator(pCube) instead of solar and fuel cell. This hybrid system for battery charge discharge using photovoltaic/fuel cell generates emergency power for the communication system in mobile robot.

• 한국추진공학회지
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• 제12권1호
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• pp.64-70
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• 2008

마이크로 가공기술의 눈부신 발달에 힘입어 다양한 항공우주 시스템을 초소형화 하려는 시도가 있어 왔다. 마이크로 비행체, 나노 위성, 마이크로 로봇 등의 개념들이 등장하였다. 이들 독립 이동식 마이크로 시스템을 구동하는 데에는 기존의 배터리 보다 훨씬 에너지 밀도가 높은 동력원이 필요하다. 그러나 이와 같은 고에너지 동력원이 아직 존재하지 않는다. 이 논문에서는 초소형 동력원 연구의 과거와 현재를 살펴보고, 미래 발전 방향에 대한 제안을 시도하였다.

• 한국태양에너지학회 논문집
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• 제34권4호
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• pp.17-22
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• 2014

The design of a fuel cells stack is important to get optimal output power. This study focuses on the evaluation of fuel cell system for unmaned aerial vehicles (UAVs). Low temperature proton exchange membrane (LTPEM) fuel cells are the most promising energy source for the robot applications because of their unique advantages such as high energy density, cold startup, and quick response during operation. In this paper, a 600 W open cathode LTPEM fuel cell was tested to evaluate the performance and to determine optimal operating conditions. The open cathode design reduces the overall size of the system to meet the requirement for robotic application. The cruise power requirement of 600 W was supported entirely by the fuel cell while the additional power requirements during takeoff was extended using a battery. A peak of power of 900 W is possible for 10 mins with a lithium polymer (LiPo) battery. The system was evaluated under various load cycles as well as start-stop cycles. The system response from no load to full load meets the robot platform requirement. The total weigh of the stack was 2 kg, while the overall system, including the fuel processing system and battery, was 4 kg.

• 한국기계가공학회지
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• 제11권5호
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• pp.35-41
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• 2012

Liquified hydrogen peroxide as a monopropellant is drawing an attention as a power generating energy source for a machine requiring simple and light weight structure. The liquified hydrogen peroxide is attracted due to its outstanding applicability because it doesn't require an oxidizer and discharge a hazardous product. For the further industrial applications, however, a feasibility study should be carried out carefully in the aspect of the specific power density. In this study, a prototype of vane motor driven by the liquified hydrogen peroxide with high density of upper 95% was developed and its performance characteristic such as a specific power density was estimated via measuring pressure and rotation speed of the vane motor. The specific power density obtained by numerical simulation using FSI analysis supported by experimental results was up to $0.02kW/kg_{f}$, which reaches at the level of the latest developed fuel cell.