• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.693-697
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• 1989

In this paper, force control for a multi-legged walking robot is investigated. For stable but relatively rapid walking, a simple force control algorithm is proposed in conjunction with the position control system. The proposed control method is tested on an experimental one leg system of two degree of freedom with a force controller using a position controller and a monoboard microcomputer to implement the proposed control algorithm. The experimental results shows that the control algorithm can be applied for walking in a terrain with wide range variation.

• Journal of Electrical Engineering and Technology
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• 제1권1호
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• pp.8-15
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• 2006

Since the power swing depends on the operating time of the relay, the swing's magnitude can be reduced by an autoreclosure relaying system with an optimal reclosing algorithm. This paper proposes a method for stability improvement using optimal reclosure relaying. An optimal reclosure algorithm is applied to identify both temporary and permanent faults, and to predict system stability by applying WAM and high speed communication technology. It provides optimal control by predicting and determining the degree of stability, considering the real time transient stability using EEEAC. For temporary faults, the algorithm determines the system's stability and either recloses optimally for stable systems, or inserts series capacitance before optimal reclosure for unstable systems. It also applies an optimal reclosure algorithm to minimize shock and damage to the power system when reclosure fails due to permanent faults.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.101.6-101
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• 2002

The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, We develop an algorithm that decides the distance and directions between the guide line that is made by a series of magnets and MR sensors of vehicle. LQG/LTR and Controller Design of Lateral Control System for a vehicle is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the controller provides more robustness property for t...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 한국전자통신학회논문지
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• 제5권1호
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• pp.37-43
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• 2010

본 논문에서는 7자유도 매니퓰레이터를 개발에 있어서 각 관절에 2개 이상의 일반적인 모터를 적용하여 중공형 관절을 구현하고, 전장부가 내장된 소형 구조를 설계하였다. 또한 기존의 산업용 로봇의 한계로 지적받고 있는 작업 반경의 한계 및 위험성을 극복할 수 있는 방안을 제시하고 보다 효율적이며, 안전한 매니퓰레이터의 구현 방법을 제시한다.

• Journal of applied mathematics & informatics
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• 제20권1_2호
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• pp.611-621
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• 2006

This paper is to discuss the numerical conformal mapping from the unit disk onto Jordan region, which can be solved by Theodorsen equation. Wegmann's method has been known as the most efficient one for the Theodorsen equation. However, we found divergence through numerical experiments by the iterative method of Wegmann. The divergence occurs especially when some degree of difficulty is high. We analyze the cause of divergence and propose an improved method by applying a low frequency pass filter to Wegmann's method. By this proposed method we can get a stable convergence for all the problems which was unstable with the Wegmann's method.

• 대한기계학회논문집
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• 제18권7호
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• pp.1632-1642
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• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.344-348
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• 1992

This paper describes a procedure to design a hovering flight controller for a model helicopter using LQG theory. Parameters of the model helicopter in hover are obtained using direct measurements and calculations proposed by other research. A feedback co is by using digital LQG theory. First, a full state feedback controller is designed to the discretized system taking desirable transient response and other assumptions into account. Then a full-state estimator is designed and revised until desirable response is obtained while global stability is maintained. Performance of the controller is tested by computer simulations. Experiments have been performed using a 3-degree-of-freedom gimbal that holds the model helicopter, and the controller exhibited stable hover capability.

• 대한전자공학회논문지
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• 제26권8호
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• pp.1167-1177
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• 1989

In this paper, a generalized adaptive law is proposed which uses a rational function type operator for parameter adjustment. To satisfy the passivity condition of the adaptation block, we introduce a constant feedback gain into the adaptation block. This adaptation scheme is applied to the model reference adaptive control of a continuous-time, linear time-invariant, minimum-phase system whose relative degree is 1. We prove the asymptotic stability of the output error of this adaptive system by hyperstability method. It is shown that by digital computer simulations this law can give a better output error transient response in some cases than the conventional gradient adaptive law. And the output error responses for the several types of the proposed adaptation law are examined in the presence of a kind of unmodeled dynamics.

• Korea-Australia Rheology Journal
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• 제14권3호
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• pp.121-128
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• 2002

A series of thermoplastic polymers and their blends were melt-processed with high intensity ultrasonic wave in an intensive mixer. For the effective transfer of ultrasonic energy, an experimental apparatus was specially designed so that polymer melt can directly contact with ultrasonic horn. It was observed that significant variations in the rheological properties of polymers occur due to the unique action of ultrasonic wave without any aid of chemical additives. It was also found that the direct sonication on immiscible polymer blends in melt state reduces the domain sizes considerably and stabilizes the phase morphology of the blends. The degree of compatibilization was strongly affected by viscosity ratio of the components and the morphology was stable after annealing in properly compatibilized blends. It is suggested that ultrasound assisted melt mixing can lead to in-situ copolymer formation between the components and consequently provide an effective route to compatibilize immiscible polymer blends.