• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.612-615
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• 1996

In the continuous casting process, molten metal contacts the mold wall and the molten metal surface is subject to the mold oscillation. The mold oscillation results in the oscillation marks on the surface of solidified steel, which has undesirable effects on the quality of slabs. In order to reduce the oscillation marks by achieving soft contact of molten metal with the mold surface, alternating magnetic field is applied to the surface of molten metal. However, if the magnetic field strength becomes too strong, the melt flow induced by the magnetic field. causes the instability of the molten metal surface, which has also the bad influence on the slab quality. Therefore, it is very important to choose the optimal position of the inductor coil and the optimal level of electric power to minimize the surface defects. In the present work, as a first step toward the optimization problem of the process, numerical studies are performed to investigate the effects of coil position and the electric power level on the meniscus shape and the flow field. As numerical tools, the boundary integral equation method(BIEM) is used for the magnetic field analysis and the finite difference method (FDM) with orthogonal grid generation is used for the flow analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1132-1136
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• 2005

In this paper, adaptive equalizer receiver for a turbo code direct sequence code division multiple access (DSCDMA) by using least mean square (LMS) adaptive algorithm is presented. The proposed adaptive equalizer is using soft output of decision feedback adaptive equalizer (DFE) to examines the output of the equalizer and the Log- maximum a posteriori (Log-MAP) algorithm for the turbo decoding process of the system. The objective of the proposed equalizer is to minimize the bit error rate (BER) of the data due to the disturbances of noise and intersymbol interference (ISI)phenomenon on the channel of the DS-CDMA digital communication system. The computer program simulation results shown that the proposed soft output decision feedback adaptive equalizer provides a good BER than the others one such as conventional adaptive equalizer, infinite impulse response adaptive equalizer.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.143-148
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• 2014

Conventional wireless power transfer methods based on coupled magnetic fields need a complex winding structure on the surface of the energy transfer and shows poor efficiency near metal objects due to the eddy current effect. In this study, to mitigate these problems, we investigate an electric field-coupled power transmission system, which is less prone to metal object problems and EMI. Because of the fundamental physical limit in the size of link capacitances, a half-bridge converter with an impedance matching transformer is proposed and the design procedure is derived to provide a soft-switching scheme. Hardware implementation shows that the proposed scheme with a pair of 10cm by 10cm copper plate can power a 1.4W USB FAN in a separation of 0.2mm by using insulating paper when driven by 227 kHz gate pulse.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.375-384
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• 2020

Today's robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IP-based ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.408-413
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• 2014

In this paper, we propose a fault diagnosis method based on Park's Vector Approach using the Euler's theorem. If we interpreted it as Euler's theorem, it is possible to easily find the phase angle difference between the healthy condition and the fault condition. And, we analyzed the variation of the phase angle and performed the diagnostic method of the induction motor using feature vectors that were obtained by using a Fourier transform. The analysis of time and speed variation of the motor was performed and, as a result, we could find more soft variations than rough variations. In particular, the analysis of the distortion through each phase shows that two-turn and four-turn shorted motors are linearly separable. In this experiment, we know that the maximum breakdown threshold value for determining steady-state fault detection is 49.0788. Simulation and experimental results show the more detectable than conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.7
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• pp.602-610
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• 2000

In communication networks used in safety-critical systems such as control systems in nuclear power plants there exist three types of data traffic : urgent or asynchronous hard real-time data hard real-time periodic data and soft real-time periodic data. it is necessary to allocate a suitable bandwidth to each data traffic in order to meet their real-time constraints. This paper proposes a method to meet the real-time constraints for the three types of data traffic simultaneously under a timer-controlled token bus protocol or the IEEE 802.4 token bus protocol and verifies the validity of the presented method by an example. This paper derives the proper region of the high priority token hold time and the target token rotation time for each station within which the real-time constraints for the three types of data traffic are met, Since the scheduling of the data traffic may reduce the possibility of the abrupt increase of the network load this paper proposes a brief heuristic method to make a scheduling table to satisfy their real-time constraints.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.26-32
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• 2017

Previous shape sensors including bend sensors and optic fiber based sensors are widely used in various applications including goniometer and surgical robots. But theses sensors have large nonlinearity, limited in the range of sensing curvature, and sometimes are expensive. This study suggests a new concept of bend sensor using cable-conduit which consists of the outer sheath and the inner wire. The outer sheath is made of helical coil whose length of the central line changes as the sheath bends. This length change of the central line can be measured with the length change of the inner cable. The modeling and the experimental results show that the output signal of the proposed sensor is linearly related with the bend angle of the sheath with root mean square error of 5.3% of $450^{\circ}$ sensing range. Also the polynomial calibration of the sensor can decrease the root mean square error to 2.1% of the full sensing range.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.270-277
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• 2019

Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.58-64
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• 2019

The paper proposes a stiffness measurement device composed of a measurement part including six indenters and a fixing part including four fixtures. The device is able to make simultaneously measurements of the stiffness of human arm. The six indenters make use of both position and force control schemes sequentially whenever needed. In addition, the loadcells and the digital encoders are attached to the indenters and electric motors, respectively, so that the data can be provided in real time. On the end of the indenter, two-axis potentiometer is attached in order to measure the angle difference between the applied force axis and the axis normal to the skin of human arm, and to convert the force measured on the loadcell into the actual applied force to skin. For this purpose, the mapping between the voltage output and the angle of potentiometer was obtained by fitting it for each axis. Ultimately, the measurement device was able to measure the stiffnesses of six regions of human arm.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.533-541
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• 2005

In this paper, a wind turbine with power splitting transmission, which is realized through a novel three-shaft planetary, is presented. The input shaft of the transmission is driven by the rotor of the wind turbine, the output shaft is connected to the grid via the main generator (asynchronous generator), and the third shaft is driven by a control motor with variable speed. The dynamic models of the sub systems of this wind turbine, e.g. the rotor aerodynamics, the drive train dynamics and the power generation unit dynamics, were given and linearized at an operating point. These sub models were integrated in a multidisciplinary dynamic model, which is suitable for control syntheses to optimize the utilization of wind energy and to reduce the excessive dynamic loads. The important dynamic behaviours were investigated and a wind turbine with a soft main shaft was recommend.