• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.10
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.240-243
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• 2003

Sensorless Vector control of the permanent magnet synchronous motor(PMSM) typically requires knowledge of the PMSM structure and parameters, which in some situations are not readily available or may be difficult to obtain. In this paper, by measuring the currents of the PMSM drive, a neural-network-based rotor position and speed estimation method for PMSM is described. Because the proposed estimator treats the estimated motor speed as the weights, it is possible to estimate motor speed to adapt back propagation algorithm with 2 layered neural network. The proposed control algorithm is applied to PMSM drive system. The operating characteristics controlled by neural networks control are examined in detail.

• Journal of Power Electronics
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• v.18 no.2
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• pp.432-444
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• 2018

This paper presents a capacitor voltage balancing topology using a three-level boost converter (TLBC) for a neutral point clamped (NPC) three-level inverter fed surface permanent magnet synchronous motor drive (SPMSM). It enhanced the performance of the drive in terms of its voltage THD and torque pulsation. The main attracting feature of the proposed control is the boosting of the input voltage and at the same time the balancing of the capacitor voltages. This control also reduces the computational complexity. For the purpose of close loop vector control, a software based cost effective resolver to digital converter RDC-less estimation is implemented to calculate the speed and position. The proposed drive is simulated in the MATLAB/SIMULINK environment and an experimental investigation using dSPACE DS1104 validates the proposed drive system at different operating condition.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1022-1032
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• 2000

We propose a sliding mode controller tracking the states of a time-varying reference model. The reference model generates the desired trajectories of the states, and the sliding mode controller regulates robustly the errors between the desired states and the measured states. We apply this controller to the overhead crane. Its reference model generates the trajectories of the damped-out swing angle and the swing angular velocity to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. Also, this model generates the desired trajectories of the position and velocity of the crane. The crane model is identified from the experimental data using an orthogonal function. Kalman filtering is applied to estimate the crane states. The designed controller is simulated on a computer and is tested through a 2-ton industrial overhead crane using the vector-controlled servo motor system. It is verified that, from the simulated and experimental results, the sliding mode controller tracking a time-varying reference model works well.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.353-354
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• 2014

An active vibration control technique of a time-varying cantilever beam is proposed in this study. A simple in-house coil sensor instead of expensive commercial sensors was used to measure the vibrational displacement of the beam. Active band pass filters and artificial neutral net works detect the frequencies, amplitudes, and phases of the main vibration mode. The time constants of the low pass filter representing the positive position feedback controller are updated in real-time, which generates the control voltage input to actuate the piezoelectric actuator and suppress the vibration. An experiment was successfully performed to verify the algorithm for a cantilever beam, which fundamental natural frequency arbitrarily varies between 9 Hz ~ 18 Hz. The present active vibration suppression technique can be applied to variety of structures which undergoes large variation of dynamic characteristics while operating.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.788-793
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• 2015

This paper proposes a path planning algorithm to reduce the inspection time of AOI (Automatic Optical Inspection) machines for SMT (Surface Mount Technology) in-line system. Since the field-of-view of the camera attached at the machine is much less than the entire inspection region of board, the inspection region should be clustered to many groups. The image acquisition time depends on the number of groups, and camera moving time depends on the sequence of visiting the groups. The acquired image is processed while the camera moves to the next position, but it may be delayed if the group includes many components to be inspected. The inspection delay has influence on the overall job time of the machine. In this paper, we newly considers the inspection delay time for path planning of the inspection machine. The unified approach using genetic algorithm is applied to generates the groups and visiting sequence simultaneously. The chromosome, crossover operator, and mutation operator is proposed to develop the genetic algorithm. The experimental results are presented to verify the usefulness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1063-1066
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• 2014

The humanoid robot, DRC-HUBO is developed from the KHR (KAIST Humanoid Robot) series to meet the requirements of the DARPA Robotics Challenge. DARPA Robotics Challenge was a competition to develop semi-autonomous humanoid robot so that dispatched in dangerous environments in place of humans like the Fukushima nuclear accident. In this paper, we introduce DRCH-UBO briefly and a methodology to remove debris blocking an entryway. The methodology includes inverse kinematics for DRC-HUBO and stabilization controller based on ZMP. Proposed inverse kinematics is robust, and pelvis-related tasks improve the manipulability and workspace of the arms. The controller improves the damping characteristic of the system and mitigates the instability during removal of debris. For given position and orientation of the debris, DRC-HUBO generates motion to reach the debris and lift up while stabilizing itself. Many experimental results verify our proposed methodology.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.677-683
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• 2015

This paper proposes a helicopter direction adjustment system using barycenter shift. Most conventional methods for direction adjustment of uniaxial helicopters rely on the angle of inclination of the main rotor. However, the inherent burden of the bearing of the main rotor and serious abrasion of the helicopter using the above methods may results in loss of balance. To decrease abrasion and enhance the barycenter stability, the proposed method was used to shift the barycenter of the helicopter instead of the main rotor for direction adjustment. We set a biaxial ARM on a uniaxial helicopter to adjust the direction of ARM pointing as well as to realize stable direction control when the helicopter loses its balance. The method may enhance the landing safety of helicopters in emergencies. Uniaxial helicopters can be controlled under any environment by adjusting the motor parameters of the ARM which is dependent on the center of mass using neural network. The experiment results show that the helicopter can return to the starting position quickly under the external disturbance.

• Journal of Korean Physical Therapy Science
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• v.16 no.4
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• pp.19-27
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• 2009

Background: The purpose of this study was to examine changes of postural sway and weight distribution after cooling the foot. Methods: Ten men with no history of sensory, neurological and orthopedic disorders were participated in this study. They performed four methods: (1) non-treated feet group(control group); (2) both feet treated group; (3) right foot treated group; and (4) left foot treated group. The feet of them were put into ice box, then they stood more than forty seconds on EMED system with bared feet. Data on the moving length, velocity, and maximum velocity of COP and the weight distributions during thirty seconds only were measured in standing position. Results: (1) The moving length and velocity of COP were significant difference between control group and both feet treated group only(p<0.05). (2) The maximum velocity of COP was significant difference among control group and all experimental groups. (3) The changes of weight distribution were significant difference among control group and right/left foot treated groups. Conclusions: Cooling the foot led to increased postural sway and changed weight distribution patterns.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.1
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• pp.98-106
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• 2007

This paper represent improved on-line turn off angle control schemes for switched reluctance motors based on current control. For the purpose of finding the optimal commutation switching angle point with improved controller, it is utilized turn on and turn off position calculation with inductance vs. current vs. not linkage analysis method. The goal of proposed paper is the maximization of the energy conversion per stroke and torque ripple reduction and obtaining approximately flat-topped current waveform. The proposed control scheme is demonstrated simulation and on a prototype experimental system.