• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.113-124
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• 2020

Most of the work of construction equipment and agricultural machinery is done in off-road conditions. Autonomous driving required in these conditions uses GPS sensors, and PID controllers to control their speed and position. The hydrostatic steering, which is composed of a PSU, hydraulic hoses, and cylinders, rather than a mechanical coupling is used in these equipments. The PSU plays a key role in hydrostatic steering. Precise control of the position under various conditions requires detailed behavioral analysis of the basic components and operation. Two Gerotor PSU is now a commonly used safer option. The components of the PSU can be divided into mechanical and hydraulic actuating elements by its behavior. Since the system is combined by mechanical and hydraulic elements, the modelings are performed using Amesim, which is one of the most effective for the multi-domain dynamic system analysis. To confirm the validity of the model, input torque and pressures are checked with varying steering speed. The opening and the steering speed of normal and newly designed control valve set is investigated with the effect of centering spring force and friction. Finally, simulation results with fully detailed model with two gerotors are analyzed and compared with simple model.

• 한국정밀공학회지
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• 제12권5호
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• pp.57-68
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• 1995

A general procedure for the numerical solution of coupled, nonlinear, differential two-point boundary-value problems, solutions of which are crucial to the controller design, has been developed and demonstrated. A fixed-end-points, free-terminal-time, optimal-control problem, which is derived from Pontryagin's Maximum Principle, is solved by an extension of Davidenko's method, a differential form of Newton's method, for algebraic root finding. By a discretization process like finite differences, the differential equations are converted to a nonlinear algebraic system. Davidenko's method reconverts this into a pseudo-time-dependent set of implicitly coupled ODEs suitable for solution by modern, high-performance solvers. Another important advantage of Davidenko's method related to the time-optimal problem is that the terminal time can be computed by treating this unkown as an additional variable and sup- plying the Hamiltonian at the terminal time as an additional equation. Davidenko's method uas used to produce optimal trajectories of a single-degree-of-freedom problem. This numerical method provides switching times for open-loop control, minimized terminal time and optimal input torque sequences. This numerical technique could easily be adapted to the multi-point boundary-value problems.

• 로봇학회논문지
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• 제18권4호
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• pp.496-504
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• 2023

This paper recognizes the motion intention of the wearer using a muscle stiffness sensor and proposes a control system for a wearable robot based on this. The proposed system recognizes the onset time of the motion using sensor data, determines the assistance mode, and provides assistive torque to the hip flexion/extension motion of the wearer through the generated reference trajectory according to the determined mode. The onset time of motion was detected using the CUSUM algorithm from the muscle stiffness sensor, and by comparing the detection results of the onset time with the EMG sensor and IMU, it verified its applicability as an input device for recognizing the intention of the wearer before motion. In addition, the stability of the proposed method was confirmed by comparing the results detected according to the walking speed of two subjects (1 male and 1 female). Based on these results, the assistance mode (gait assistance mode and muscle strengthening mode) was determined based on the detection results of onset time, and a reference trajectory was generated through cubic spline interpolation according to the determined assistance mode. And, the practicality of the proposed system was also confirmed by applying it to an actual wearable robot.

• 한국전기전자재료학회논문지
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• 제27권5호
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• pp.286-291
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• 2014

In this study, novel ultrasonic rotary motor of hexadecagon shape stator was proposed. Stator of the hexadecagon ultrasonic motor was composed of an elastic ring and ceramics. The elastic ring had sixteen sides and sixteen angular points. Eight ceramics were attached on the outer surface of the eight sides of the ring. When rotor of cylindrical shaft was inserted inside of the ring stator, central lines of the sixteen sides of the stator hold the shaft by the slight pressures(frictions). This slight pressure was a preload of the motor and it could be controlled by radius and thickness of the ring. When two sinusoidal voltages which have 90 degree phase difference were applied to each four ceramics, elliptical displacements of inner surface of the ring were obtained. These elliptical displacements of the inner surface rotated the shaft rotor through the frictions. The proposed hexadecagon ultrasonic motor was designed and analyzed by using the finite element method (FEM), depending on materials of the elastic ring. Based on the FEM results, one model of motor which showed maximum displacement at contact points was chosen and fabricated. And characteristics of the motor were compared with simulated results. When the motor was fabricated with these results, EL20ET0.5CT0.5CW2 model showed 115[rpm] speed about input voltage of 60[Vrms] at 65.6[kHz]. And the maximum torque of 6[gfcm] was obtained. From these results, the hexadecagon shaped ultrasonic motor can be used to actuator for optical device which needs detailed position control. Also it can be used to medical and portable device by reducing size and weight.

• 한국운동역학회지
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• 제15권3호
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• pp.143-152
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• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• Applied Science and Convergence Technology
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• 제24권5호
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• pp.136-141
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• 2015

We studied the compact anode design to develop 100 kW rotating anode X-ray tube with large focal spot 1.2 mm, small focal spot 0.6 mm and tube voltage 150 kV for large hospital digital radiography using computer thermal simulation. The larger thermal radiation effect in a high vacuum can reduce the temperature of anode so the method to increase the surface area of anode is investigated. The anode has the multi-tier shape at the back side of TZM body of anode and also bigger diameter of anode. The number of multi-tiers was varied from 6 to 15 and the diameter of anode was also varied from ${\Phi}74$ to ${\Phi}82$. From ANSYS transient thermal simulation result, we could obtain $1056.4^{\circ}C$ anode maximum temperature when applying 100 kW input power at 0.1 second on target focal track which is less than $1091^{\circ}C$ of the conventional 75 kW X-ray tube with reduced anode weight by 15.5% than the conventional anode. The compact anode of reduced anode weight is able to improve the unwanted noise when the rotor is rotating at high-speed and also reduce the rotational torque which the cost effective stator-coil is possible. It is believed that the anode with 15 ea multi-tiers using ${\Phi}82$ can satisfy with the specification of the anode heat capacity. From the results of this paper, it has been confirmed that the proposed compact anode can be used as the anode of 100 kW rotating anode X-ray tube for digital radiography.

• 한국추진공학회지
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• 제2권2호
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• pp.47-55
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• 1998

중형항공기용 터보팬엔진의 설계점, 탈설계점에 대한 정상상태 및 천이상태 성능해석을 수행하였다. 정상상태 성능해석은 설계점으로 선정한 지상최대추력조건과 탈설계점으로 선정한 최대상승조건과 순항조건에서 수행하였으며 부분부하 성능해석 결과 저압압축기 회전속도 90％RPM에서 가장 연료소모율이 적어 경제적임을 확인하였다. 천이상태 성능해석은 각각의 비행조건에서 연료의 Step증가, Ramp증가, Ramp감소, Step 증가 후 Ramp 감소의 경우에 대하여 수행하였다. 천이상태의 성능해석을 위해서는 압축기와 터빈의 일에 대한 조합이 필요한데, 일의 조합방정식에 포함된 잉여 토오크의 적분에는 Modified Euler Method를 적용하였다. 천이상태 성능해석 결과, 모든 비행조건에서 Step 및 Ramp 증가의 경우 고압압축기의 터빈입구온도가 제한온도를 초과하며, 최대상승조건에서 연료를 Step 또는 5.5초 이내의 Ramp 증가시킬 경우 고압압축기에서 실속이 발생함을 확인하였다.

• 한국항공우주학회지
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• 제48권5호
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• pp.343-354
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• 2020

쌍안정 장치는 서로 다른 두 가지 상태에서 안정성을 갖는 시스템이며, 구동에 있어 에너지 효율 측면에서 이득을 얻을 수 있다. 이러한 쌍안정 장치는 다양한 방법을 통해 구현되며, 전개형 구조물, 스위치 시스템 그리고 파지 로봇 등, 주된 동작이 두 종류로 구분되는 모핑 시스템에 적용될 수 있다. 하지만 기존 장치들의 복잡성과 구조적 제한 때문에, 링크 구조물처럼 회전하는 구조를 포함하는 모핑 시스템을 구현하는 것은 어려움이 존재한다. 본 연구에서는 원통형 영구자석을 이용하여 회전운동에 있어 쌍안정성을 갖는 장치를 구현하는 방법이 제안된다. 원통형 영구자석의 전자석 모델을 도입하여 자기장과 자기력을 도출했으며, 이를 이용하여 원통형 영구자석을 포함하는 두 링크 사이의 힘 관계를 추정했다. 대칭 쌍안정성을 위한 원통형 영구자석의 배열을 선정했으며, 제안하는 쌍안정 장치를 회전 조인트로 연결된 링크 구조물에 적용하여 외부 토크에 대한 안정성을 실험을 통해 확인하였다.

• 한국운동역학회지
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• 제15권1호
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• pp.45-61
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• 2005

Stance is defined as any state in which the total mass of the body is supported by the feet. In order to maintain stance, the sum of gravito-inertial forces acting on the body must be registered by equal and opposite forces at the region of contact between the organism and the support surface. Balance is controlled by applying forces to the surface of support so as to maintain the body's center of mass vertically above the feet. for a muIti-segment organism, there can be a variety of ways in which balance can be controlled, since movements of different body segments can have similar effects on the control of balance. In general, the organism tends to have a body configuration that is aligned with gravito-inertial force when there are no external forces acting on it. If any segments of the body are not aligned with gravito-inertial force vector, a torque on that segment would tend to move the body's center of mass. The maintenance of postural stability is accomplished in humans by a complex neural control system. This requires organizing integrating and acting upon visual, vestibular, and somatosensory input, providing orientation information to the postural control system. The information necessary to control and coordinate movement is provided by the visual sense of eye position with respect to the surrounding surface layout, the vestibular sense of head orientation in the gravito-inertial space, and the somatic sense of body segment position relative to one another and to the support surface. In this study, perception and action capability was examined from various points of view. The underlying assumption of the study was that the change of postural configuration could be effected by organism, environment and task goal.

• 한국철도학회논문집
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• 제13권2호
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• pp.166-172
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• 2010

현재 전기철도에서는 고성능 유도전동기를 사용하고 있어서 열차속도제어를 위해 벡터제어를 이용하고 있다. 또한 최근에 인버터와 제어이론의 개발로 인해 다양한 방법으로 유도전동기 제어가 가능하다. 현재 유도 전동기를 사용하는 철도차량은 교류전동기를 이용한 역행, 역상제동 및 회생제동 등이 가능하다. 따라서 다양한 방법을 적용하기 위해서는 모터블록과 유도전동기의 모델이 필요하다. 유도전동기의 제어 방법으로는 가변 전압운전, 가변주파수 운전을 통하여 유도전동기의 토크와 회전수를 제어한다. 철도차량 추진시스템은 많은 서브시스템을 가지고 있어 속도제어 성능을 해석하기가 매우 복잡하다. 본 논문에서는 유도전동기를 사용하는 철도차량 추진시스템을 대상으로 Matlab/Simulink를 이용한 속도제어 특성을 분석하였고, 일정시간에 부하에 대한 외란입력응답 특성을 해석하였다. 또한 철도차량 추진시스템의 속도제어 특성을 해석하기 위해 전류, 속도, 자속추정기 및 유도전동기 모델을 제시하였다.