• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of Biosystems Engineering
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• v.34 no.2
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• pp.120-126
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• 2009

The purpose of this study was to develop a visibility evaluation system for cabin type combine. Human's field of view was classified into five levels (perceptive, effective, stable gaze, induced, and auxiliary) depending on rotation of human's head and eye. Divider, reaper lever, gearshift, dashboard, and conveying part were considered as major viewpoints of combine. Visibilities of combine was evaluated quantitatively using the viewpoints and the human's field of view levels. The visibility evaluation system for cabin type combine was consisted of a laser pointer, stepping motors to control the direction of view, gyro sensors to measure horizontal and vertical angle, and I/O interface to acquire the signals. Tests were conducted with different postures ('sitting straight', 'sitting with $15^{\circ}$ tilt', 'standing straight', and 'standing with $15^{\circ}$ tilt'). The LSD (least significant difference) multiple comparison tests showed that the visibilities of viewpoints were different significantly as the operator's postures were changed. The results showed that the posture at standing with $15^{\circ}$ tilt provided the best visibility for operators. The divider of the combine was invisible due to blocking with the cabin frame at many postures. The reaper lever showed good visibilities at the postures of sitting or standing with $15^{\circ}$ tilt. The gearshift, the dashboard, and the conveying part had reasonable visibilities at the posture of sitting with $15^{\circ}$ tilt. However, most viewpoints of the combine were out of the stable gaze field of view level. Modifications of the combine design will be required to enhance the visibility during harvesting operation for farmers' safety and convenience.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.293-300
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• 2009

The rotorcraft-based unmanned aerial vehicle(UAV) capable of performing close-range surveillance and reconnaissance has been developed. Trade studies on mission feasibility led to the adoption of a coaxial rotorcraft with twin rotors counter-rotating in one axis and driven by electric motors. A commercial off-the-shelf flight control computer(FCC) and a radio frequency modem were adopted for autonomous navigation. In order to achieve an aerial view, commercial charge-coupled device camera was also integrated into the vehicle. The performance of the completed vehicle was proved with manual flight test, and mission capability was verified through waypoint navigation flight after being equipped with FCC. This paper treats the whole process of design and system integration for development of the coaxial rotorcraft UAV.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.5
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• pp.416-422
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• 2001

The BLDC(Brushless DC) Motor is characterized by linear torque to current and speed to voltage. It has low acoustic noise and fast dynamic response. Moreover, it has high power density with high proportion of torque to inertia in spite of small size drive. However, when armature current is commutated, the current ripple is generated by the motor inductance components in stator windings and back-EMF. This current ripple caused to torque ripple. Therefore, it is difficult to apply the BLDC motor to a precision servo drive system. In this paper, a new current control algorithm using fourier series coefficients is proposed. This proposed algorithm can minimize torque ripple due to the phase current commutation of BLDC motor. Simulation and Experimental results prove the effectiveness at the Proposed algorithm through comparison with the conventional unipolar PWM method.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.6
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• pp.55-62
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• 2006

For the fault diagnosis of three-phase induction motors, we construct a experimental unit and then develop a diagnosis algorithm based on pattern recognition. The experimental unit consists of machinery module for induction motor drive and data acquisition module to obtain the fault signal. As the first step for diagnosis procedure, preprocessing is performed to make the acquired current simplified and normalized. To simplify the data, three-phase current is transformed into the magnitude of Concordia vector. As the next step, feature extraction is performed by kernel principal component analysis(KPCA) and linear discriminant analysis(LDA). Finally, we used the classifier based on radial basis function(RBF) network. To show the effectiveness, the proposed diagnostic system has been intensively tested with the various data acquired under different electrical and mechanical faults with varying load.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.8
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• pp.131-137
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• 2005

The purpose of this paper is to evaluate the axial magnetic flux measurement could be used as a tool of the condition monitoring system for the induction motor and to develope the diagnostic algerian for the electric motors. The magnetic leakage flux signal is captured by the flux coil located at the end of motor without the disturbance of the operation. And the signal is analyzed both time and frequency bases to detect the failure of the motor. Specific signature can be described in time and frequency domain for each faults of the motor. The spectrum of the signal was found more useful for the monitoring purpose. The supply voltage imbalance and tin to turn failure of the stator winding could be detected by analysing the specific sidebands of the axial flux and sideband of the rotor bar pass frequency with the high resolution spectrum. The goal of this study verity that the axial flux measurement for the induction motor is a powerful tool for the diagnostic method and develope the algorithm to detect the fault.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.5
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• pp.86-94
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• 2008

In this paper proposed the solar tracking system to use a fuzzy based on PC in of order to increase an output of the PV(Photovoltaic) array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studies. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up, nonlinear altitude and azimuth. In this paper designed a fuzzy controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.2
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• pp.425-431
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• 2011

The harmonic distortion level may be significant in electric propulsion systems, as the main loads usually are variable speed propulsion/thruster drives. Distortion of currents and supply voltage waveforms may lead to: Increased power dissipation(losses) in equipment connected to the network, such as generators, motors, transformers, cables, etc., from the harmonic currents, may cause overheating and deterioration of the insulation, and reduced life time of the equipment. In this paper introduced the canceling method of harmonic currents by a multipulse drive with phase shifting transformer. The simulation results indicated a good speed response to the middle speed range of electric propulsion motor. And also, THD(total harmonic distortion) and torque ripple could be reduced in comparing the 12-pulse drive with 6-pulse drive.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.4
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• pp.291-299
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• 2007

To operate a permanent magnet synchronous motor (PMSM) at a maximum torque per ampere (MTPA) operation point, the exact values of machine parameters such as inductances and back-EMF constant, which are sensitive to motor phase currents and temperature respectively, should be blown. An adaptive estimation method for on-line estimation of the machine parameters is not suitable for practical applications since it has difficulties in estimating exact values and requires complex mathematical calculations. The purpose of this paper is to present a simple MTPA operation point tracking control strategy for vector controlled PMSM drives with slow dynamic loads. The proposed method searches MTPA operation points by modulating current phase angle and observing the variation in command power. The current angle modulation strategy is designed to sense the effect of load variations in the command power. Therefore, the proposed method can track the MTPA operation points of the PMSM regardless of load variations. Computer simulation and experimental study is also presented to show the effectiveness of the proposed method.

• Journal of Power Electronics
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• v.11 no.3
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• pp.294-303
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• 2011

In this paper an effective five-phase induction motor (IM) and its drive methods are proposed. Due to the additional degrees of freedom, the five-phase IM drive presents unique characteristics for enhancing the torque producing capability of the motor. Also the five-phase motor drives possess many other advantages when compared to traditional three-phase motor drives. Some of these advantages include, reducing the amplitude and increasing the frequency of the torque pulsation, reducing the amplitude of the current without increasing the voltage per phase and increasing the reliability. In order to maximize the torque per ampere, the proposed motor has concentrated winding, the produced back electromotive force (EMF) is almost trapezoidal, and the motor is supplied with the combined sinusoidal plus the third harmonic of the currents. For demonstrating the superior performance of the proposed five-phase IM, the motors are also analyzed on the synchronously rotating reference frame. To supply trapezoidal current waveform and to exclude the effect of the $3^{rd}$ harmonic current, a new control stratagem is proposed. The proposed control method is based on direct torque control (DTC) and rotor flux oriented control (RFOC) of the five-phase IM drives. It is able to reduce the acoustical noise, the torque, the flux, the current, and the speed pulsations during the steady state. The DTC transient merits are preserved, while a better quality steady-state performance is produced in the five phase motor drive for a wide speed range. Experimental results clearly demonstrated a more dynamic steady state performance with the proposed control system.