In this paper, an application of a decentralized $H_{\infty}$ controller(DHC) to multiple controlled-permanent magnet(CMAG) magnetic levitation(Maglev) systems is presented. The designed DHC using two Riccati equations iteratively has simpler structure and needs less computational loads than conventional centralized $H_{\infty}$ controller. A target plant is a hybrid-type CMAG system with permanent magnet and coil, and its mathematical model is firstly derived to design the DHC. To implement the designed algorithm, a real Maglev vehicle system including digital controller, chopper, sensor, etc., is manufactured. To compare the performances of the DHC method with an observer-based state feedback control(OSFC), the input tracking and disturbance rejection characteristics are experimentally tested. As performance indices(PI), integral of squared error(ISE), integral of absolute error(IAE), integral of time multiplied by absolute error(ITAE) and integral of time multiplied by squared error(ITSE) are used. From the experimental results, it can be seen that the input tracking and disturbance rejection performances of the DHC are better than those of the conventional controller.

Passive suspensions with fixed design constants are very restrictive in the inherent suspension problem, the trade-off between the ride quality and the suspension travel. Active suspensions are used to solve some drawbacks of passive suspensions. In this paper, we propose a controller design for vehicle active suspensions considering variable driving conditions. Our controller estimates the current driving conditions by detecting the road frequencies gotten from Fourier Transform and decides which factor must be emphasized between the ride quality and the suspension travel. In one case of focusing on the ride quality, we use the skyhook control law and in the other case of focusing on the suspension travel, the double skyhook control law is used. The control law modified by various road situations outputs the reference force value the electro-hydraulic actuator in active suspension system must generate. To track the reference force, we adopt the sliding control law which is very useful in controlling the nonlinear system like the electro-hydraulic actuator.

This paper deals with speed-sensorless control of an AC servo motor using Fuzzy-Tuning High Gain Observer(FTHGO). Resolver or encoder can be used to measure a rotor speed, but it has a limit to detect motor speed precisely. To solve this problem, it is studied to measure a speed of an AC servo motor without sensor. In this paper, the gain of an observer to estimate motor speed is properly set up and designed using the fuzzy control theory. It calculates the differentiation of the rotor current of the AC motor and estimates the rotor speed using it. Proposed speed sensorless control is performed using the estimated speed as the control variable. Designed FTHGO is applied to AC servo motor to verify the feasibility of the proposed observer. Feasibility of the FTHGO proposed in this paper is proven comparing the experimental results with/without the speed sensor.

The work in this paper presents development of fuzzy logic-based energy management strategy for a fuel cell hybrid electric vehicle. In order for the fuel cell system to overcome the inherent limitation such as slow response time and low fuel economy especially at the low power region, the battery system has come to compensate for the fuel cell system. This type of hybrid configuration has many advantages, however, the energy management strategy between power sources is essentially required. For the optimal power distribution between the fuel cell system and the battery system, a fuzzy logic-based energy management strategy is proposed. In order to show the validity and the robustness of suggested strategy, some simulations are performed for the standard drive cycles.

In this paper, we propose the audio watermarking algorithm based on the critical band of HAS(human auditory system) without audibly affecting the quality of the watermarked audio and implement the detecting algorithm on the BSS(broadcast synchronizing system) for testing the proposed algorithm. According to the audio quality test, the SNR(signal to noise ratio) of the watermarked audio objectively is 66dB above. In the robustness test, the proposed algorithm can detect the watermark more than $90\%$ from various compression(MP3, AAC), A/D and D/A conversions, sampling rate conversions and especially asynchronizing attacks. The BSS automatically switches the programs between the key station and the local station in broadcasting system. The result of reliability test of implemented system by using the real broadcasting audio has no false positive error during 30 days. Because of detecting once processing per 0.5 second, we can judge that the false positive error does not occur.

The $4{\times}4$ homogeneous transformation matrix is a compact representation of orientation and position of an object in robotics and computer graphics. A coordinate transformation is accomplished through the successive multiplications of homogeneous matrices, each of which represents the orientation and position of each corresponding link. Thus, for real time control applications in robotics or animation in computer graphics, the fast multiplication of homogeneous matrices is quite demanding. In this paper, a parallel-architecture vector processor is designed for this purpose. The processor has several key features. For the accuracy of computation for real application, the operands of the processors are floating point numbers based on the IEEE Standard 754. For the parallelism and reduction of hardware redundancy, the processor takes column vectors of homogeneous matrices as multiplication unit. To further improve the throughput, the processor structure and its control is based on a pipe-lined structure. Since the designed processor can be used as a special purpose coprocessor in robotics and computer graphics, additionally to special matrix/matrix or matrix/vector multiplication, several other useful instructions for various transformation algorithms are included for wide application of the new design. The suggested instruction set will serve as standard in future processor design for Robotics and Computer Graphics. The design is verified using FPGA implementation. Also a comparative performance improvement of the proposed design is studied compared to a uni-processor approach for possibilities of its real time application.

ln general, hospital information system should provide interoperability hat usually and operate independence of other HIS. This study proposes a new HIS paradigm that can be implemented within standard HL7 Interface engine and clinical data repository (CDR). We have developed an alternative architecture relying on agent solutions with distributed queries to heterogeneous databases. This architecture creates a very fine and flexible repository that can handle queries with the bases of standard HL7 messaging structure. Deploying Agent solutions to manipulate autonomy of storage management and sociality for communication with open world is another issue that keeps this system from reinventing existing wheels in medical informatics. This study the first attempt to construct CDR based private clinic. We used the information stored in the clinical patient record system of the internal medicine private hospital which is used rational database. We were searched increasing the 1,000 data entry from 1,000 to 10,000. By the result, experimental CDR showed highly efficient performance more than 6,000. In the future, the CDR can be further extended for clinical information among private hospitals estranged from EHR (Electronic Health Records).

This paper describes the possibility of evaluating and classifying arthritic pathology using the acoustical analysis of knee joint sound. Six normal subjects and 11 patients with knee problems were enrolled. Patients were divided into the 1st patient group which required an orthopeadic surgery and the 2nd patient group of osteoarthritis. During sitting and standing periods, subjects' active knee flexion and extension were monitored. Fundamental frequency, mean amplitude of pitch, jitter and shimmer were analyzed according to the position. The results demonstrate that the values of fundamental frequency, jitter and shimmer of the 2nd patient group were larger than others and changed unstably. The values of the standing position were larger than the sitting position.