• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1132-1134
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• 2005

This paper presents a design strategy of Slotless type BLDC motor using the space harmonic field method. The distribution of Back emf and torque are considered by movement of the Permanent Magnet and armature current. The result of magnetic field distribution, back-emf, and torque are in agreement with FEM.

• International Journal of Industrial Entomology and Biomaterials
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• v.1 no.2
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• pp.91-93
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• 2000

Insects have many excellent features and functions in their small bodies, such as hexapod walking, flapping flight, vision systems, sensory hairs, etc, and those characteristics can be thought as good models for many types of robots. Insects also will be good models far micro-machines because of its size. Insect behavior consists of simple reflex acts and programmed behavior, Some robots were made in order to clarify the emergent mechanism of insect behavior, Through some experiments it would be found that even if insect behavior consists of some simple action patterns, it looks intelligent through interactions its sensors and actuators with its complex environment. In the near futures small robots inspired by insects will be used in many fields of our life. I hope that insect-model based robots will play an active part in many fields and that they will make us happy.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• Proceedings of the KIEE Conference
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• 2002.11d
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• pp.240-242
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• 2002

Recently, most machineries have been small size and mobile type. And human body insertion type endoscope and micro robot technology has been developed. Then the motors used in this field are developed in micro size such as about 2mm in diameter. The structure of this motor is similar to a general brushless DC(BLDC) motor but because of small size there is no position sensor such as hall sensor. In this paper, we propose synchronous driving method for micro BLDC motor without position sensor. We design and manufacture this driver and perform experiment to show the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.993-1000
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• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.2
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• pp.149-156
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• 2014

This paper proposes the battery charging algorithm for small-scale wind power generator using three phase PWM converter. it is impossible to control output power of the converter in over wind speed region since back EMF of PMSG is higer than battery voltage. Therefore, battery charging algorithm is proposed to expand battery charging over wind speed region. The suggested method is using the q-axis current for battery charging in the rated wind speed region. In the over wind speed region after it lower back EMF of PMSG using d-axis current it can control output power of the converter. The validity of the proposed algorithm are verified by experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.398-406
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• 2003

In modular fixturing systems, a given part or a subassembly is fixed by placing fixture elements such as locators and clamps adequately on a plate with a lattice of holes. It is known that the minimal number of point contacts to restrict translational and rotational motions on a plane is four and the type of three locators and a clamp(3L/1C) is the minimal future. Brost and Goldberg developed the complete algorithm to automatically synthesize 3L/1C types of fixtures which satisfy the condition of form closure. Due to the nature of the fixture, the clearance between the fixture and the part is extremely small. It is hard to load the part repeatedly and accurately for human as well as for robot. However the condition of loadability has not been taken into account in the B&G algorithm. In this paper, a new method to decide a given fixture to be loadable by using configuration space is proposed. A method to plan for a part to be loaded by using compliance safely even in the presence of control and sensing uncertainty is proposed is well.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.716-721
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• 2004

Several Solid Freeform Fabrication Systems(SFFS) are commercialized in a few companies for rapid prototyping. However, they have many technical problems including the limitation of applicable materials. A new method of speedy prototyping is required for the recent manufacturing environments of multi-item and small quantity production. The objectives of this paper include the development of a novel method of SFFS, the ${CAFL}^{VM}$(Computer Aided Fabrication of Lamination for Various Material), and the manufacture of the various material samples for the certification of the proposed system and the creation of new application areas. For these objectives, the technologies for a highly accurate robot path control, the optimization of support structure, CAD modeling, adaptive slicing was implemented. In this paper, we design an algorithm that the cutting path of a laser beam which is controlled with constant speed. The laser beam is tangentially controlled in order to solve the inaccuracy of a 3D model surface. The designed algorithm for constant-speed path control and tangent-cutting control is implemented and experimented in the ${CAFL}^{VM}$ system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.364-372
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• 2006

In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.