• Journal of Power Electronics
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• v.19 no.1
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• pp.119-133
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• 2019

Although the dual modulation wave method can solve the low-frequency neutral point potential (NPP) fluctuation problem for three-level neutral point clamped converters, it also increases the switching frequency and limits the zero-sequence voltage. That makes it harmful when dealing with the NPP drift problem if the converter suffers from a long dead time or asymmetric loads. By introducing two degrees of freedom (2-DOF), an NPP control based on a search optimization method can demonstrate its ability to cope with the above mentioned two types of NPP problems. However, the amount of calculations for obtaining an optimal 2-DOF is so large that the method cannot be applied to certain industrial applications with an inexpensive digital signal processor. In this paper, a novel optimal 2-DOF-based NPP control is proposed. The relationships between the NPP and the 2-DOF are analyzed and a method for directly determining the optimal 2-DOF is also discussed. Using a direct calculation method, the amount of calculations is significantly reduced. In addition, the proposed method is able to maintain the strongest control ability for the two types of NPP problems. Finally, some experimental results are given to confirm the validity and feasibility of the proposed method.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1482-1487
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• 2003

This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.79-88
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• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.99-104
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• 2003

A precision displacement measurement system of 3-DOF micro motions is proposed in this paper. The measurement system is composed of two diode lasers, two quadratic PSDs, two beam splitters and a sphere whose surface is highly reflective. In this measurement system, the sphere reflector is mounted on the platform of positioning devices whose 3-DOF translational motions are to be measured, and the sensitive areas of two PSDs are oriented toward the center point of the sphere reflector. Each laser beam emitted from two diode laser sources is reflected at the surface of sphere and arrives at two PSDs. Each PSD serves as a 2-dimensional sensor, providing the information on the 3-dimensional position of the sphere. In this paper, we model the relationship between the outputs of two PSDs and 3-DOF translational motions of the sphere mounted on the object. Based on a deduced measurement model, we perform measurement simulation and evaluate the performance of the proposed measurement system: linearity, sensitivity, and measurement error. The simulation results show that the proposed measurement system can be valid means of precision displacement measurement of 3-dimensional micro motions.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.99-109
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• 2004

This paper proposes precision evaluation method for the positioning error of three-DOF translational parallel mechanism. The proposed method uses conventional CMM as metrology equipment to measure the position of end-effector. In order to obtain accurate measurement data from CMM, the transform relationship between the coordinate system of the parallel mechanism and the CMM coordinate system must be identified. For this purpose, a new coordinate referencing (or coordinate system identification) technique is presented. By using this technique accurate coordinate transformation relationships are efficiently established. According to these coordinate transformation relationships, an equation to calculate error components at any arbitrary position of the end-effector is derived. In addition, mathematical fitting models to represent the position error components in the two-dimensional workspace of the parallel mechanism are also constructed based on response surface methodology. The proposed error evaluation method proves its effectiveness through the experimental results and its application to real three-DOF parallel mechanism.

• ETRI Journal
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• v.29 no.3
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• pp.353-362
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• 2007

In this paper, we propose a novel unsupervised video object extraction algorithm for individual images or image sequences with low depth of field (DOF). Low DOF is a popular photographic technique which enables the representation of the photographer's intention by giving a clear focus only on an object of interest (OOI). We first describe a fast and efficient scheme for extracting OOIs from individual low-DOF images and then extend it to deal with image sequences with low DOF in the next part. The basic algorithm unfolds into three modules. In the first module, a higher-order statistics map, which represents the spatial distribution of the high-frequency components, is obtained from an input low-DOF image. The second module locates the block-based OOI for further processing. Using the block-based OOI, the final OOI is obtained with pixel-level accuracy. We also present an algorithm to extend the extraction scheme to image sequences with low DOF. The proposed system does not require any user assistance to determine the initial OOI. This is possible due to the use of low-DOF images. The experimental results indicate that the proposed algorithm can serve as an effective tool for applications, such as 2D to 3D and photo-realistic video scene generation.

• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.107-117
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• 2016

We develop a new method to globally calibrate the feature points that are derived from the binocular systems at different positions. A three-DOF (degree of freedom) global calibration system is established to move and rotate the 3D calibration board to an arbitrary position. A three-DOF global calibration model is constructed for the binocular systems at different positions. The three-DOF calibration model unifies the 3D coordinates of the feature points from different binocular systems into a unique world coordinate system that is determined by the initial position of the calibration board. Experiments are conducted on the binocular systems at the coaxial and diagonal positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.573 mm, 0.520 mm and 0.528 mm at the coaxial positions. The experimental root-mean-square errors between the true and reconstructed 3D coordinates of the feature points are 0.495 mm, 0.556 mm and 0.627 mm at the diagonal positions. This method provides a global and accurate calibration to unity the measurement points of different binocular vision systems into the same world coordinate system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.2-83
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• 2001

This paper presents a new formulation approach to reduce computational burden of the direct kinematics of 6-dof haptic devices with three sets of a parallel-serial linkage. Their direct kinematics has been formulated through employing the Denavit-Hartenberg notation, which results in complicated formulation procedures and heavy computational burden. For reducing these problems, this paper reconfigures the haptic devices into an equivalent kinematic model of the 3-6 Stewart-Gough Platform that has three connecting joints on the moving platform. Moreover, the direct kinematics of the 3-6 Platform can be effectively formulated by using the proposed Tetrahedron Approach.