:: ICCAS 2015 ::

TA01		[OS] Control Techniques for Mechanical Systems
Time : 09:10~10:40 Room : 101		Chair : Joon Young Choi (Pusan National University, )



09:10~09:25	TA01-1

Robust Backstepping Control Strategy of Limiting DC-link Voltage Fluctuation for DFIG-based WECS Under Harmonically Distorted Grid Voltage
Hyoungwoo Kim, Joon Young Choi(Pusan National University, Korea, Republic of )

A robust backstepping controller with nonlinear damping is designed for a back-to-back pulse width modulation converter in doubly fed induction generator for wind energy conversion systems under harmonically distorted grid voltage. The designed controller achieves the exponential ultimate boundedness of the DC-link voltage fluctuation with an arbitrarily fast decay rate and an arbitrarily small bound in the presence of harmonically distorted grid voltage.



09:25~09:40	TA01-2

Computational Delay and Real-time Performance of Industrial Network
Young-Hun Song(Korea Electrotechnology Research Institute, Korea, Republic of ), Kyung Chang Lee(Pukyong National University, Korea, Republic of ), Suk Lee(Pusan National University, Korea, Republic of ), Hong-Ju Kim(Korea Electrotechnology Research Institute, Korea, Republic of )

Real-time industrial network performance is very critical affected by the jitter. EtherCAT is one of powerful industrial Ethernet base network. The network performance of EtherCAT is dependent on master system. Many Industrial network controllers use embedded OS, and some of them has weakness of real-time performance. This paper shows the network performance of real-time embedded system of computational delay side of view.



09:40~09:55	TA01-3

Development of Hexapod Robot for Machining
Sunghee Choi, Chang Nho Cho, Hong-Ju Kim(KERI, Korea, Republic of )

In nowadays, CNC machines are capable of achieve nanoscale precision. Also, many researches are being conducted in order to further improve the accuracy of the machined parts. On the contrary, we focused on a machining platform with a larger work space. In this study, we propose a hexapod machining robot, which can move to the desired location and perform machining. This robot can be viewed as a combination of a machining platform and hexapod robot. Its hardware design and control algorithms will be introduced in this paper.



09:55~10:10	TA01-4

Emotion Expression of Humanoid Robot by Modification of Biped Walking Pattern
Jong-Wook Kim, Chien Van Dang(Dong-A Univ., Viet Nam)

For effective human-robot interaction, gait patterns need to be appropriately changed depending on the current emotion status of the robot. This paper provides an analysis result of gait experiment data for young male and female subjects in four representative affective walking, i.e., easy, joyful, angry, and sorrow walking. In addition, the way how humanoid robot can express the emotion status during walking is proposed with Matlab simulation in terms of joint coordinate space.



10:10~10:25	TA01-5

Way-point tracking for a Hovering AUV by PID controller
moon joo(Pukyong National Universiry, Korea, Republic of )

In this paper, we suggest a PID controller for tracking the way-points of hovering autonomous underwater vehicle. The PID controller is aimed at tracking arbitrary way-points and the way-points are established as the surveillance pathway for an offshore plant construction. Controllers are composed of a vertical plane controller and a horizontal plane controller. To verify the performance of the suggested controller, we designed a simulator using Matlab/Simulink, and the parameters of HAUV are those of developing HAUV. As the result of simulation, the PID controller chased all the way-points.