• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2013년도 춘계학술발표대회
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• pp.236-239
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• 2013

사람과 휴모노이드 로봇 간의 상호작용에 대한 연구는 로봇 연구의 핵심이다. 본 논문에서는 휴모노이드 로봇인 나오 로봇을 통해 서비스 로봇과 사람 간의 상호작용 방법을 연구한다. 특히 로봇이 사람에게 서비스를 제공함으로써 발생하는 상호작용에 초점을 둔다. 로봇이 서비스를 제공하기 위해서는 모터 프리미티브와 작업을 사전에 정의하는 것이 필요하다. 본 논문에서는 작업을 생성하기 위하여 필요한 모터 프리미티브 데이터를 생성하는 시스템을 제안한다. 본 연구에서 설계한 시스템은 모터 프리미티브를 생성하는 단계까지이며, 향후 연구에서는 작업을 생성하는 하기 위한 기반 시스템으로 활용될 수 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.312.2-312
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• 2002

Theoretical analysis of transient torsional vibration was started from early 1960's for high power synchronous motor application. Especially, its simulation and measuring techniques in marine engineering field have been steadily studied by manufacturers of flexible coupling and designers of four stroke marine diesel engine. In this paper, the simulation method of transient torsional vibration of four stroke marine diesel engine using the Newmark method are introduced. (omitted)

• 한국산학기술학회논문지
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• 제17권11호
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• pp.755-760
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• 2016

근래에는 신재생에너지를 이용한 독립적인 발전기의 수요가 증가하고 있는 추세이며 그 중에서 소형 풍력발전기의 개발 또한 활발하게 이루어지고 있다. 이러한 소형 풍력발전기는 목적에 따라 단순화 및 소형화가 가능하도록 영구자석이 주로 쓰인다. 하지만 영구자석 동기기는 구조적인 원인으로 인하여 코깅토크를 수반하고 이는 소음과 진동의 원인이 된다. 코깅토크는 영구자석이나 코어의 형상에 의해 변하며 적절한 설계기법으로 코깅토크를 저감시킬 수 있다. 본 논문에서는 영구자석의 형상변화를 통해 소형 풍력발전기에 많이 사용되는 표면부착형 영구자석 동기전동기의 코깅토크를 저감시키는 설계기법을 제시하였다. 코깅토크를 줄일 수 있는 영구자석의 형상을 구하는 데에는 확률론적 최적화기법의 일종인 진화론적 최적화기법을 사용했다. 최적화 기법을 적용할 때에 설계변수로는 영구자석의 폭을 조절하는 각도와, 영구자석의 외경을 조절하는 반지름을 설정하였다. 제시된 설계기법을 사용해서 극/슬롯의 조합이 8극/18슬롯이고 출력이 300W급인 풍력발전기를 설계하고 코깅토크와 출력전압 등의 특성을 계산했다. 계산결과에 의하면 초기모델에 비해 최적화모델에서 코깅토크와 토크리플 모두가 감소해서, 본 연구에서 제시한 설계기법이 코깅토크를 줄이는 데에 효과가 있음을 확인하였다.

• 대한의용생체공학회:의공학회지
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• 제36권4호
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• pp.115-122
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• 2015

A standard air flow generator system was developed to generate air flows of various levels simultaneously applied to two different air flow transducer modules. Axes of two identical standard syringes for spirometer calibration were connected with each other and driven by a servo-motor. Linear displacement transducer was also connected to the syringe axis to accurately acquire the volume change signal. The user can select either sinusoidal or square waveform of volume change and manually input any volume as well as maximal flow rate levels ranging 0~3 l and 0~15 l/s, respectively. Various volume and flow levels were input to operate the system, then the volume signal was acquired followed by numerical differentiation to obtain the air flow signal. The measured volumes and maximal air flow rates were compared with the user input data. The relative errors between the user-input and the measured stroke volumes were all within 0.5%, demonstrating very accurate driving of the system. In case of the maximal flow rate, relatively large error was observed when the syringe was driven very fast within a very short time duration. However, except for these few data, most measured flow rates revealed relative errors of approximately 2%. When the measure and user-input stroke volume and maximal flow rate data were analyzed by linear regression analysis, respectively, the correlation coefficients were satisfactorily higher than 0.99 (p < 0.0001). These results demonstrate that the servo-motor controls the syringes with enough accuracy to generate standard air flows. Therefore, the present system would be very much practical for calibration process as well as performance evaluation and comparison of two different air flow transducer modules.

• 한국유체기계학회 논문집
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• 제16권3호
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• pp.18-25
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• 2013

Recently the requirement of long-term mobile energy source for mobile robot or small-sized unmanned vehicle is highly increased, and the micro turbine generator(MTG) which is known to have high energy and power density is under development. MTG is designed to have air foil bearing and high speed rotor of which operating speed is 400,000rpm. In the development stage of high speed rotor and bearing, stability analysis for the full operational speed range is essential and the dynamic coefficients such as stiffness and damping coefficients of bearing depending on the rotational speed are required for that. Although perturbation method is usually used to identify the dynamic coefficients, it's not easy to give the perturbation to the high speed rotating rotor. In this study, we present the dynamic coefficients measurement system for air foil bearing which consists of electromagnets, gap sensors, high speed motor and controller. This measurement system can exert the sine sweep force to the rotor-bearing, measure the displacement of rotor and get FRF(Frequency response function) of rotor-bearing. The least square estimation method is applied to identify the dynamic coefficients of bearing from the measured frequency response at the different rpm and the identified dynamic coefficients for the wide rotational speed range are presented.

• 대한의용생체공학회:의공학회지
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• 제28권1호
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• pp.153-161
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• 2007

Stroke is the second most significant disease leading to death in Korea. The conventional therapeutic approach is mainly based on physical training, however, it usually provides the limited degree of recovery of the normal brain function. The electric stimulation therapy is a novel and candidate approach with high potential for stroke recovery. The feasibility was validated by preliminary rat experiments in which the motor function was recovered up to 80% of the normal performance level. It is thought to improve the neural plasticity of the nerve tissues around the diseased area in the stroked brain. However, there are not so much research achievements in the electric stimulation for stroke recovery as for the Parkinson's disease or Epilepsy. This study aims at the developments of a wireless variable pulse generator using ZigBee communication for future implantation into human brain. ZigBee is widely used in wireless personal area network (WPAN) and home network applications due to its low power consumption and simplicity. The developed wireless pulse generator controlled by ZigBee can generate various electric stimulations without any distortion. The electric stimulation includes monophasic and biphasic pulse with the variation of shape parameters, which can affect the level of recovery. The developed system can be used for the telerehabilitation of stroke patient by remote control of brain stimulation via ZigBee and internet. Furthermore, the ZigBee connection used in this study provides the potential neural signal transmission method for the Brain-Machine Interface (BMI).

• 전기학회논문지
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• 제64권9호
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• pp.1391-1397
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• 2015

Recently, various researches are conducted in the application of regenerative energy produced during the operation of an electric locomotive. Regenerative energy is produced by a generator in the brake procedure. The generator is operated by kinetic energy of an electric railroad using an electric motor. The process of producing regenerative energy varies with the current type of a railroad and its running condition. The quality of electric power can be improved and electric energy can be utilized effectively, especially in the use of an energy storage system (ESS). Thus, it is necessary to apply ESS into AC section and high speed railway. This study analyses the composition of the regenerative ESS equipment installed in Yong-Jeong sectioning post, operational principle, charge and discharge algorithm and energy efficiency. The analysis shows that CO2 emissions can be reduced about 0.5 ton per a day. In addition, ESS helps saving the energy and the compensation of the voltage drop caused by the operation of high speed train when it is installed at the end of the feeder section. The number of high speed train will be increased continuously related to the electrification rate. Therefore, applying the ESS to high speed railway is expected to solve the instability of the feeder voltage and the equipment capacity problem caused by the high speed trains.

• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.71-85
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• 1993

The Cycloconverter that the author is going to treat in this paper, has strong advantages over the D.C. Link Inverter in points of chattering torque problem and natural commutation. Thus, the Cycloconverter is expected to be well applied to large and low-speed machines which require better speed control at low frequency. But the control circuit of Cycloconverter has two weak points described as follows. 1) Because of its rather complicated control circuit, it is likely to be illoperating due to unexpected noise signals, thus the higher the accuracy and reliability of the circuit is required to be, the more the circuit may cost. 2) Because the load current is not purely sinusoidal, the Cycloconverter may possibly be destroyed in case of inaccurate convert switching resulted from the difficulties in detecting the load current-zero and the current direction at the moment. In this paper, the author first of all intends to design and build a modified VVVF-type Noncirculating Current Cycloconverter to which recently proposed control methods are applied for improving the circuit simplicity, the control performance, and the system reliability. And then, experiments for observing the output waveforms of the Cycloconverter which is controlled by Singled-Board Computer using 8086 16-bit microprocesser are carried out. Finally the author concludes the result of this study as follows. 1) By replacing the conventional analog control circuits such as Reference Wave Generator, Cosine Timing Wave Generator, and Comparator with softwares, a great circuit simplicity is achieved. 2) The output of the designed Cycloconverter changes its frequency very fast without showing discontinuity of its waveform, and this waveform characteristics enables the smooth speed control of Induction Motor. 3) The design control circuit of Cycloconverter can be applied to the systems of 12 or 24 pulses because of its short processing period.

• Journal of Biosystems Engineering
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• 제12권1호
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• pp.45-52
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• 1987

엔진의 점화시기(點火時期)를 제어(制御)하는 데에 마이크로컴퓨터를 이용(利用)하고자 여러 종류(種類)의 제어장치(制御裝置)를 설계(設計) 제작(製作)하여 가동시험한 결과를 요약하면 다음과 같다. 가. 제어장치(制御裝置)의 제작시(製作時) 고압방전(高壓放電)에 의한 잡음(雜音), 서어지, 전자파(電磁波)로부터 디지탈회로와 컴퓨터의 기능(技能)이 교란되는 것을 방지하기 위하여는 고압회로(高壓回路)와 여타 회로와의 분리 및 고압회로의 기생발진 억제와 차폐가 완전하여야 할 것이며, 또한 양질의 점화용(點火用) 도선(導線)을 사용하여야 할 것으로 생각된다. 나. 본 실험의 범위내에서는(컴퓨터시스템) (써어보 기구에 의한 점화신호발생(點火信號發生) 및 제어(制御) - (트랜지스터 스위칭) - (고압회로) 로 구성(構成)시킨 점화시기제어장치가 컴퓨터 등의 기능교란을 일으키지 않고 가장 잘 작동(作動)되었다. 다. 본 실험의 결과(結果)를 기초(基礎)로 마이크로컴퓨터를 이용한 엔진의 최적점화진각제어(最適點火進角制御)에의 응용(應用)이 가능(可能)할 것으로 사료(思料)된다.

• 한국철도학회논문집
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• 제11권5호
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• pp.477-481
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• 2008

본 논문은 저압계통에서 전기화재의 징후인 직렬아크의 검출방법에 대해 기술하였다. 제안한 검출회로는 전원주파수 성분을 80dB 이상 감소시킬 수 있는 저역차단주파수가 3kHz인 고역통과필터와 아크신호만을 검출하기 위한 중심주파수가 4kHz인 대역통과필터로 구성된다. UL1699에 규정된 아크발생장치를 이용하여 비선형부하인 위상제어 백열전구와 고주파발생부하인 인버터 추동 유도전동기에서 직렬아크신호를 모의하여 성능을 평가하였다. 실험 결과로부터 세안한 방식은 비선형부하와 고주파발생하에 대해서도 직렬아크신호를 정확히 구분함으로써 현재 최대 문제인 검출오류를 해결하였음이 확인되었다.