• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1036-1043
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• 2014

In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1119-1124
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• 2013

In this paper we propose a novel torque control method for permanent magnet synchronous motors using the SVPWM (Space Vector PWM). The control law is described in the rotating d-q frame and is devised to track a given reference flux with which the reference torque is generated. The key feature of the proposed control is that it provides uniform dynamics with desired closedloop poles independent of the rotating speed and the desired poles can be selected to yield a fast response with only a small amount of torque ripple.

• Journal of international Conference on Electrical Machines and Systems
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• v.1 no.3
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• pp.321-329
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• 2012

Providing variable load for testing a motor in high speed conditions is usually a difficult task. The eddy current brake can be used in application of load testing of motors. This paper deals with construction of a novel claw pole eddy current brake which is employed as a load for a DC counter rotating motor (CRM). These kinds of motors have two inner and outer shafts that rotate in opposite directions simultaneously, which are particularly suitable for under water propulsion systems. The prototype 45KW eddy current brake consists of two parts. One of them is installed on the inner shaft of the 60KW DC CRM and the other one is installed on its outer shaft. The simulation and experimental results with prototype brakes are also analyzed by using MATLAB/Simulink and the operational characteristic of the brake is demonstrated as a function of the motor speed and current of the magnetic poles.

• Polymer(Korea)
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• v.37 no.5
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• pp.613-617
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• 2013

The effects of nano size kenaf cellulose fiber on mechanical property of polypropylene (PP) composite were investigated. The addition of nano-kenaf in place of natural kenaf showed higher tensile strength, flexural strength, impact strength, and heat deflection temperature compared to the natural kenaf filled PP composite, while it shows lower melt flow index, elongation%, and flexural modulus. These seemed to be due to the increased surface area of nano-kenaf fiber contacting PP matrix and reduced impurities such as volatile extractives on the fiber surface.

• Journal of Ocean Engineering and Technology
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• v.20 no.4 s.71
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• pp.37-42
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• 2006

This paper is concerned with experimental investigation of steering performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9 m(L)x0.75 m(B)x0.4 m(H) and weight of 167 kg was constructed with a pair of driving chain links, driven by two AC-servo motors. The tracks were configured with detachable grousers with variable span. A deep seabed was simulated by means of a bentonite-water mixture in a soil bin of 6.0 m(L)x3.7 m(B)x0.7 m(H). The turning radii of vehicle and driving torques of motors were measured with respect to experiment variables: steering ratio, driving speed, grouser chevron angle, grouser span, and grouser height. L8 orthogonal table is adopted for DOE (Design of experiment). The effects of experiment variables on steering performance are evaluated.

• Journal of Drive and Control
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• v.15 no.2
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• pp.22-31
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• 2018

This study deals with verifying the design feasibility, of an independently driving hydraulic system for disaster response purposes, through an analytical approach. The development target is a system in which four traveling motors are driven independently, and must be easy to operate even under conditions in which different loads are applied to the traveling motors. In order to be suitable for complex work, the hydraulic system was designed using the main control valve with a pressure compensation function. If we can develop an analytical model that reflects the specifications and functions of the parts through the analysis program, we can verify the validity of the design before we make the prototype. The purpose of this study therefore, is to verify the feasibility of designing an independent drive hydraulic system through the development of an analysis model from the viewpoint of complex work. The analysis program uses Simulation X.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.47-56
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• 2005

A new improved robust variable structure tracking controller is presented to provide an accurately prescribed tracking performance for brushless direct drive(BLDD) servo motors(SM) under uncertainties and load variations. A special integral sliding surface suggested for removing the reaching phase problems can define its ideal sliding mode and virtual ideal sliding trajectory from an initial position of SM. The tracking error caused by the nonzero value of the sliding surface is derived. A corresponding continuous control input with the disturbance observer is suggested to track a predetermined virtual ideal sliding trajectory within a prescribed value under all the uncertainties and load variations. The usefulness of the proposed algorithm is demonstrated through the comparative simulations for a BLDD SM under load variations.

• Journal of Hydrogen and New Energy
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• v.21 no.3
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• pp.149-157
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• 2010

The electromagnetic characteristics of FCEVs (fuel cell electric vehicles) are much different from the existing combustion engine cars as well as hybrid, plug-in-hybrid, and pure electric vehicles due to the high voltage/current generated by a fuel cell stack which uses a compressed hydrogen gas reacted with oxygen. To operate fuel cell stack efficiently, BOP (Balance of Plant) is essential. BOP systems are used many not only for motors in water pump, air blower, and hydrogen recycling pump but also inverters for these motors. Since these systems or components are connected by high voltage cables, EMC (Electromagnetic compatibility) analysis for high voltage/current cable is the most important element to prevent the possible electric functional safety errors. In this paper, electromagnetic fields of high current/voltage cable for FCEVs is studied. From numerical analysis results, time harmonic magnetic field strength of high current/voltage cable have difference of 20～28 dB according to phase. EMI result considered ground effect of FECV at 10 m shows difference of 14.5 dB at 30 MHz and 2.8 dB at 230 MHz compared with general cable.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.06a
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• pp.324-324
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• 2008

Piezoelectric ceramics is an active element that makes stator to vibrate to generate rotational force in ultrasonic motors. In drive of ultrasonic motors, many factors that affect to the resonance characteristics of piezoelectric ceramics exist. For example, those factors are bonding condition with elastic body, the magnitude of electric field, the normal force for frictional drive and the emission of heat due to vibration and friction and so on. Therefore, it is important to research the inclination of property variation of piezoelectric ceramics in circumstance that has complex elements. In this paper, we focused and analyzed the resonance characteristics of ultrasonic motor due to the magnitude of the driving voltage and normal force.

• Journal of Electrical Engineering and Technology
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• v.8 no.2
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• pp.295-303
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• 2013

This paper reports an investigation of pulse width modulation (PWM) techniques for two-phase brushless DC (BLDC) motors fed by a two-phase eight-switch inverter in a fan application. The three-phase BLDC motor is widely applied in industry; however, a lower-cost two-phase BLDC motor and drive circuit has been greatly in demand in recent years. In this paper, we introduce a mathematical model of the two-phase BLDC motor with sinusoidal back electromotive forces (EMFs) based on traditional three-phase BLDC motors. To simplify the drive algorithm and speed up its application, we analyze the principle of block commutation for a two-phase BLDC motor drive in the 180-electrical-degree conduction mode, and we further propose five PWM schemes to improve the commutation performance of the two-phase BLDC drive. The effectiveness of the proposed PWM methods is verified through experiments.