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최형식,신희영,오지윤,이상섭,Choi, Hyeung-Sik,Shin, Hee-Young,Oh, Ji-Youn,Lee, Sang-Seop 한국전기전자재료학회 2012 전기전자재료학회논문지 Vol.25 No.10
In this paper, a temperature control for LED (light emitting diode) lamp using a cooling fan is studied. An efficient temperature control scheme for the LED lamp using the fan wind at the lowest sound noise is studied. For the study, after measurement of the minimum sound noise of the fan and related temperature of the LED lamp through tests, experiments on temperature control of the LED lamp using the fan with various size of heat sinks was performed. To reduce the fan sound noise, a method of reducing the operation time with optimal size of the heat sink was studied. Also, a control of LED lamps using RF communication was studied.
무고정 조립작업을 위한 협조로봇 매니퓰레이터의 제어에 관한 연구
최형식,Choi, Hyeung-Sik 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.8
This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.
최형식(Hyeung-Sik Choi),오주환(Ju-Hwan Oh),이상준(Sang-Jun Lee),Gyu-Deuk Hwang 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
In this paper, a study on a new biped walking robot was performed. The developed BWR has 25 degree of freedom, 173cm height and 92kg weight. Each leg of the robot is composed of 6 DOF joints. In addition to this, the robot has 5 DOF joints at each arm and has 3 DOF for eye motion. Especially, three pitch joints of the four-bar-link mechanism are actuated by the ball screw which has high strength and high gear ratio. The BWR was designed to walk by adapting small DC motors for the robot actuators with developed motor drivers. Walking algorithms of the robot are generated using force sensors. To track the generated trajectories, the PID control algorithm was applied using a motion controller.The stable walking motion of the BWR is shown through the walking test.
최형식(Hyeung-Sik Choi),조종래(Jong-Rae Jo),우명만(Myoung-Man Woo),서정민(Jung-Min Seo),주영도(Young-Do Ju),강정석(Jung-Suk Kang) 한국해양공학회 2013 韓國海洋工學會誌 Vol.27 No.2
This paper deals with the design method for a small waterproof 4?axis robot arm. An extensive analysis was performed on the torque applied to the robot joint as a result of the payload, as well as the design of the joint actuator capacity. In addition, a study was undertaken on the design of a waterproof joint actuator that works at depths greater than 10 m and the wiring design for a small waterproof connector to avoid obstructing the robot motion. Finally, a finite element method simulation was carried out to analyze the strength of the designed robot arm link, and its stability was verified through a simulation test.