• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.

• International Journal of Automotive Technology
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• v.3 no.4
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• pp.147-155
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• 2002

Mechatronic subsystems are more and more developed in automotive industries. To enhance the local controls performances, a cooperative control between ABS and Suspension systems is proposed. The respective controls are first designed separately with their dedicated models. Then a hybrid hierarchical architecture is developed. The advantage of this architecture is discussed through vehicle performance with simulation results.

• Journal of Power Electronics
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• v.9 no.5
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• pp.726-735
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• 2009

This paper presents a Bidirectional High-Frequency Link (BHFL) inverter that utilizes the Deadbeat controller. The main features of this topology are the reduced size of the inverter and fewer power switches. On the secondary side of the transformer, the active rectifier employs only two power switches, thus reducing switching losses. Using this configuration, the inverter is capable of carrying a bidirectional power flow. The inverter is controlled by a Deadbeat controller, which consists of the inner current loop, outer voltage loop and a feedforward controller. Additional disturbance decoupling networks are employed to improve the system's robustness towards load variations. A 1-kVA prototype inverter has been constructed and the Deadbeat control algorithm is experimentally verified. The experimental results show that the inverter has high efficiency (91%) with low steady state output voltage total harmonics distortion (1.5%).

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.264-269
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• 2005

Advances in sensors, actuators, and computers and developments In information systems offer unprecedented opportunities to implement highly ambitious automation, control and decision strategies. There are also new challenges and demands for control and automation in modern industrial practices. There is a growing need for an active participation from the information systems in industrial, manufacturing and process industry environments because currently there are many control problems. This paper provides pattern recognition to the monitoring system for solvent manufacturing process and shows performance in real-time response with multiple input signals. Data is teamed by a multilayer feedforward network trained by error-backpropagation. The two kinds of test results show that the trained network has the ability to show the current system status with different input data sets.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.426-430
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• 2001

Conventional smart foam is not applicable to active noise control in a duct having flow. Thus, this paper presents a ring-type smart foam as an alternative. The ring-type smart foam consists of polyurethane acoustic foam of lining shape and PVDF film embedded in the foam. The embedded PVDF element acts as an actuator to reduce noise at lower frequencies and the foam absorbs noise at higher frequencies. A feedforward adaptive filtered-x LMS controller is used to minimize the signal from the error microphone. Experiments are executed to reduce broadband and tonal noise.

• Proceedings of the KIPE Conference
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• 2013.07a
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• pp.214-215
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• 2013

본 논문은 계통 연계형 인버터 제어에 있어서 계통 임피던스에 의한 계통전압 왜곡을 분석하고 있다. 특히 계통 연계형 인버터의 설계단계에서는 고려되지 않지만, 실제 시스템 구현 시에는 일반적으로 널리 사용되는 저주파트랜스의 누설 인덕턴스에 의한 영향을 살펴보았다. 계통 임피던스에 의해 계통 전압의 왜곡이 발생하고 이로 인해 저차 고조파 성분의 전류가 계통으로 유입되게 되는데, 본 논문에서는 이 저차 고조파에 대해 분석하고, 이를 감쇄시키는 기법을 소개한다. 제안하는 방법은 1.5kW 전압형 인버터의 시물레이션을 통해 검증하였다.

• Computational Structural Engineering
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• v.10 no.2
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• pp.265-272
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• 1997

The purpose of this paper is to develop Neural Network models for Approximate Structural Analysis (NNASA). As an initial stage, the paper classifies the characteristics and the active role of neural networks in the numerical analysis by comparing neural networks with conventional numerical analysis algorithms. The paper proposed two methods of finding solutions of linear algebraic equations by a modified neural network algorithm, and presents that multilayer feedforward networks are a class of universal approximators by comparing the neural network with regression and interpolation techniques.

• Proceedings of the KIEE Conference
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• summer
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• pp.1214-1216
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• 2004

Conventional Switched Mode Power Supplies(SMPS) with diode-capacitor rectifier have distorted input current waveform with high harmonic contents. Typically, these SMPS have a power factor lower than 0,65. To improve with this problem the power factor correction(PFC) circuit of power supplies has to be introduced. PFC circuit have tendency to be applied in new power supply designs. The input active power factor correction circuits can be implemented using either the two-stage or the single-stage approach. In this paper, the comparative analysis of power factor correction circuit using feedforward control with average current mode single-stage flyback method converter and two-stage converter which is combination of boost and flyback converter. The two prototypes of 50W were designed and tested a laboratory experimental. Also, the comparative analysis is confirmed by simulation and experimental results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1132-1137
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• 2001

The smart foam that is first proposed by Fuller(2) is not applicable to active noise control in a duct having flow. Thus. this paper presents the ring-type smart foam as an alternative. The ring-type smart foam consists of polyurethane acoustic foam of lining shape and PVDF film embedded along the mid-surface of the foam lining. A feedforward adaptive filtered-x LMS controller is used to minimize the signal from the error microphone. To enlarge quiet sound region. two error microphones are used to update system modeling filter (SIMO method). Sound intensity control using the ring-type smart foam is also discussed

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.