• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.8
• /
• pp.696-703
• /
• 2005

Since most autonomous mobile robots are powered by a battery, it is important to increase the continuous operating time without recharging. This can be achieved by improving the energy efficiency of a mobile robot, but little research on energy efficiency has been performed. This paper proposes two methods for improving the energy efficiency of an omnidirectional mobile robot.. One method is to realize a continuously variable transmission (CVT) by adopting the mechanism of steerable omnidirectional wheels. The other is the proposed steering algorithm in which wheel arrangement of the mobile robot is continuously adjusted so as to obtain the maximum energy efficiency of the motors during navigation. In addition, new omnidirectional wheels which can be transformed to the conventional wheels depending on the driving conditions are proposed to compensate for less efficient omnidirectional drive mode. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can give better energy efficiency than the omnidirectional drive mode.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.6
• /
• pp.555-562
• /
• 1997

With only the classical PID controller applied to control of a DC motor, good (target) performance characteristic of the controller can be obtained if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are known exactly. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee good performance, which is assumed with precisely known system parameters and operating conditions. In view of this and the robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one world wide asymptotically. Computer simulation and experimental results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing its superiority to the conventional fixed PID controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.275-284
• /
• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.8
• /
• pp.787-793
• /
• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.49 no.4
• /
• pp.61-68
• /
• 2012

In this paper, a closed-loop sensorless stroke control system for a linear compressor has been designed. In order to estimate the piston position accurately, motor parameters are identified as a function of the piston position and the motor current. These parameters are stored in ROM table and used later for the accurate estimation of piston position. The identified motor parameters are approximated to the several surface functions in order to decrease memory size. They can also be divided into 2 or 4 subsections to decrease identification errors. The effect of the order of surface functions and division of subsections on identification errors and computation time is analyzed.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.1 no.1
• /
• pp.32-39
• /
• 2012

With the aid of genetic algorithm (GA), global optimization with multiple geometry parameters is feasible in the design of switched flux permanent magnet (SFPM) machines. To investigate the advantages of global optimization over individual optimization, which has been used extensively for the design of SFPM machines, a comparison between the two approaches is carried out for the case of fixed copper loss and volume. In the case of individual parameter optimization, the sequence in which the individual parameters are optimized is very important. In the global optimization a better design can always be achieved although the corresponding torque density is found to be only slightly better than that of individually optimized with correct design sequence. By using the obtained global optimization results, the performance in machines having two types of stator and rotor pole combinations, i.e. 12/10 and 12/14, are compared, and it is shown that higher torque is exhibited in the 12/14 SFPM machine. Finally, this paper also demonstrates that global optimization, with the restriction of equal pole width, magnet thickness and slot opening, can maximize the torque density without significantly sacrificing other performance, such as cogging torque and overload capability.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.1 no.1
• /
• pp.47-53
• /
• 2012

A novel 6/5 switched reluctance motor (SRM) with short flux path is presented in this paper. The concept of this proposed motor is a novel SR motor with six stator and five rotor poles. The stator is constructed with three independent and physically separate C-core segments, and the rotor is composed of five poles. This motor, with a new selection for the number of stator/rotor poles, achieves a short flux path, which reduces the magnetomotive force required to drive the motor. To verify the performance of the proposed motor, a comparison with conventional SR motors with the same dimensions is executed. The comparison demonstrates that the proposed motor offers better performance in terms of maximum torque production. Furthermore, Finite Element Analysis (FEA) and Matlab/Simulink software are used to predict and simulate the performance of the proposed motor.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.2 no.3
• /
• pp.275-282
• /
• 2013

Applications such as vibration isolation, gravity compensation, pick-and-place machines, etc., would benefit from (long-stroke) cylindrical/tubular permanent magnet (PM) actuators with integrated passive gravity compensation to minimize the power consumption. As an example, in component placing (pick-and-place) machines on printed circuit boards, passive devices allow the powerless counteraction of translator including nozzles or tooling bits. In these applications, an increasing demand is arising for high-speed actuation with high precision and bandwidth capability mainly due to the placement head being at the foundation of the motion chain, hence, a large mass of this device will result in high force/power requirements for the driving mechanism (i.e. an H-bridge with three linear permanent magnet motors placed in an H-configuration). This paper investigates a tubular actuator topology combined with passive gravity compensation. These two functionalities are separately introduced, where the combination is verified using comprehensive three dimensional (3D) finite element analyses.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.2 no.2
• /
• pp.216-224
• /
• 2013

This paper describes dual inverter drive for a fractional-slot concentrated winding permanent magnet synchronous machine (PMSM). PMSMs are widely used in many applications from small servo motors to few megawatts generators thanks to its high efficiency and torque density. Especially, fractional-slot concentrated winding PMSM is very popular in the applications where wide operation range is required because it shows very wide constant power speed ratios. High speed operation, however, requires lots of negative daxis current for reducing back-EMF regardless of output torque. Field weakening current does not contribute to the torque generation in surface mounted PMSM case and causes inverter and copper loss. To reduce the losses from field weakening current, this paper proposes PMSM with split stator and parallel dual inverter drive. Proposed parallel dual inverter drive reduces back-EMF and enables efficient drive at high speed and light load situation. Control strategy of proposed dual inverter system is established through loss analysis and simulation. Proposed concept is verified with practical experiment.

• The Korean Journal of Rehabilitation Nursing
• /
• v.13 no.2
• /
• pp.97-104
• /
• 2010

Purpose: This study was to investigate difficulties in daily activities and tingling from patients having treatment of FOLFOX chemotherapy after colon resection. Method: This study included 103 patients hospitalized for FOLFOX chemotherapy in one of the university affiliated hospital from August 1, 2008 through September 30, 2009. Data were collected using the questionnaire comprised general symptoms, tingling, difficulties in daily activities and coping behavior. Using the SPSS 14.0 program, data analytic methods include Chi-Square test, ANOVA, Scheffe's test. Results: The tingling sensation occurred in hands, feet, mouth, throat. Contacts with cold objects and the number of chemotherapy cycle worsen tingling sensation. Patients experienced difficulties in daily activities such as personal hygiene, kitchen work, eating cold food, sleeping cold, using fine motors like button up, writing, or using knife. The coping behavior included drinking warm water, sleeping warm, using gloves and socks, wearing comfortable shoes, massaging hands and getting help from supporters. Conclusion: An educational guideline for promoting coping behavior to relieve tingling sensation and difficulty in daily living in patients with FOLFOX chemotherapy is needed.