• Journal of the Korean Society for Aviation and Aeronautics
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• v.23 no.4
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• pp.22-29
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• 2015

Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.

• Applied Microscopy
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• v.7 no.1
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• pp.1-12
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• 1977

Ultrastructural changes of Entamoeba histolytica, a concomitant strain YS-9, which was treated in the immune serum was examined. The amoebae in the serum became immobilized state from about 30 minutes of the treatment and recovered at about 60-90 minutes. In the cells of control group, helix structures were scattered throughout the cytoplasm. The particles comprising the helix structure averaged 20 nm in diameter. At the beginning stage of the immobilization, helical aggregates(chromatoid body) which associated with vacuoles appeared abundantly in the cytoplasm, but gradually tended to aggregate along peripheral region of the cell, specially in intactly immobilized state. Each parallel array of aggregates measured about 45 nm in width. When the cells became remobilize, pseudopodia appeared again, but helical aggregates disappeared and numerous helix structures were observed in the cell periphery. Distribution of glycogen particles showed no change, and acid phosphatase activities were seen in both the immobilized and the control group. The reaction was markedly noticed in the vacuoles.

• Proceeding of EDISON Challenge
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• 2015.03a
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• pp.324-329
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• 2015

First-principles investigations on the hybrid one dementional hexagonal hybrboron-nitride nano ribbons (BNNRs) with a armchair graphene nano-ribbons(AGRNRs), are presented. Electronics properties of the mixed armchair BNC nano-ribbon (BNCNRs) structure show control of a band gap on all cases at the special K-point. And we have studied, the band gap is direct in all cases. The band gap of mixed ABNCNRs could be divided into three groups (${\Delta}3p$, ${\Delta}3p+1$ and ${\Delta}3p+2$) and decrease with the increase of the width. Also these results show similar to the AGNRs case. Different from the band gap value ordering of AGNRs (${\Delta}3p+1$ > ${\Delta}3p$ > ${\Delta}3p+2$), the ordering of ABNCNRs is ${\Delta}3p$ > ${\Delta}3p+1$ > ${\Delta}3p+2$. The discrepancy may come from the differences between the edges of AGRNRs and the boundaries of hybrid BNCNRs. In addition, the bandgap of ABNCNRs are much smaller than those of the corresponding AGNRs. Our results show that the origin of band gap for BNCNRs with armchair shaped edges arises from both quantum confinement effect of the edges. These results similar to thecase of AGNRs. These properties of hybrid BN/C nano-ribbon structure may offer suitable bandgap to develop nnanoscale electronics and solar cell beyond individual GNRs and BNNRs.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.925-926
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• 2006

This paper presents a sensorless speed control of an interior permanent magnet synchronous motor using an adaptive integral binary observer and fuzzy logic controller. In view of composition with a main loop regulator and an auxiliary loop regulator, the binary observer has a property of the chattering alleviation in the constant boundary layer. However, the steady state estimation accuracy and robustness are dependent upon the width of the constant boundary. In order to improve the steady state performance of the binary observer, the binary observer is formed by adding extra integral dynamics to the switching hyperplane equation. Also, because the conventional fixed gain PI controller are very sensitive to step change of command speed, parameter variations and load disturbance, the fuzzy logic controller is used to compensate a fixed gain PI controller. Therefore, a gain PI is fixed and the IPMSM is drived at another speed region. The effectiveness of the proposed the adaptive integral observer and the fuzzy logic controller are confirmed by experimental results.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.667-672
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• 2009

In case of high-levelled platform in the urban railway system, a certain width of gap is inevitably formed between the train and the platform, and the gap gets wider when it is concerned with curved portion of the tracks at platform. This gap greatly contributes to decrease of passengers' safety while boarding and alighting a train. In particular, it endangers children's safety. Gap filler system is often fitted out to minimize gap and to overcome this safety problem at platform. However, as existing gap fillers are in most case structurally complex and organized to be powered from separate supply unit, there are a range of non-favorable points from the viewpoint of cost, installation and maintenance. In addition, existing gap fillers are due to cause disruptions in operation of train, with failures such as malfunctioning of control system. In this study, the authors will review on the gap filler applicable to the platforms of various height types, which neither requires any modifications of the train nor causes any operational disruptions. The proposed gap filler system here is a by-stage retractile type and based on the idea of interlocking it with train doors open-close mechanism, without any additional power supply unit or control system.

• Transactions of Materials Processing
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• v.27 no.1
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• pp.18-27
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• 2018

As one of the functional metal parts in steam turbine diaphragm assembly, the hollow-partitioned turbine nozzle (stator) has large and thick geometries, as well as an asymmetric configuration. Therefore it is hard to support a metal blank in the die cavity. To ease this situation and control posture and position of metal blank (workpiece), a blank support structure is newly introduced. The blank support structure is basically composed of enlarged arms from the blank, guide pins and linear bearings. It can help to control the intermediate blank without a critical sliding phenomenon. The operation mechanism of this blank support structure, during thick plate forming for the hollow-partitioned turbine nozzle stator, is first evaluated. A series of FEM-based numerical simulations, with respect to the width of the guide arm as geometric design parameters, are carried out to investigate its applicable range. As the results, it is observed the blank support structure for this thick plate forming can guide the workpiece to have stable posture during the plate forming process.

• Journal of Biomedical Engineering Research
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• v.36 no.6
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• pp.271-275
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• 2015

The aim of this study was to develop a multi-nozzle based bioprinting system for fabrication of three-dimensional (3D) biological structure. In this study, a thermoplastic biomaterial that has relatively high mechanical stability, polycaprolactone (PCL) was used to make the 3D structure. A multi-nozzle bioprinting system was designed to dispense thermoplastic biomaterial and hydrogel simultaneously. The system that consists of 3-axes of x-y-z motion control stage and a compartment for injection syringe control mounted on the stage has been developed. Also, it has 1-axis actuator for position change of nozzle. The controllability of the printed line width with PCL was tested as a representative performance index.

• Journal of the Korean Applied Science and Technology
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• v.18 no.3
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• pp.191-196
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• 2001

Organic semiconductors based on vacuum-deposited films of fused-ring polycyclic aromatic hydrocarbon have great potential to be utilized as an active layer for electronic and optoelectronic devices. In this study, pentacene thin films and electrode materials were deposited by Organic Molecular Beam Deposition (OMBD) and vacuum evaporation respectively. For the gate dielectric layer, photoacryl (OPTMER PC403 from JSR Co.) was spin-coated and cured at $220^{\circ}C$. Electrical characteristics of the device were investigated, where the channel length and width was 50 ${\mu}m$ and 5 mm. It was found that field effect mobility was 0.039 $cm^{2}V^{-1}s^{-1}$, threshold voltage was -8 V, and on/off current ratio was $10^{6}$. Further details will be discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.53-58
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• 2016

Various jumping robot platforms have been developed to carry out missions such as rescues, explorations, or inspections of dangerous environments. We suggested a jumping robot platform using energy conversion of the elastic body like the bar of a pole vault, which is the main part in which elastic force occurs. The compliant link was optimized by an optimization method based on Taguchi methodology, and the robot's leaping ability was improved. Among the parameters, the length, width, and thickness of the link were selected as design variables first while the others were fixed. The level of the design variables was settled, and an orthogonal array about its combination was made. In the experiment, dynamic simulations were conducted using the DAFUL program, and response table and sensitivity analyses were performed. We found optimized values through a level average analysis and sensitivity analysis. As a result, the maximum leaping height of the optimized robot increased by more than 6.2% compared to the initial one, and these data will be used to design a new robot.