• Proceedings of the KIPE Conference
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• 2014.07a
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• pp.120-121
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• 2014

장거리 이송이 가능한 선형동기 전동기 구조를 제안하고, 수학적 모델링을 하였으며, PI제어기를 포함하는 제어알고리즘을 제안하여, 실험으로 그 결과를 확인하였다. 추진제어기의 출력은 Park's, Clake's Transformation을 이용하여 코일을 구동하는 전류 명령을 발생시켰으며 개별 코일을 독립적으로 구동하는 아날로그 전류제어기를 OP-Amp로 구현하였다. 실험결과는 속도 오차는 4 ~ 10% 이하의 결과를 얻었다.

• Proceedings of the KIPE Conference
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• 2010.07a
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• pp.593-595
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• 2010

• Journal of the Institute of Convergence Signal Processing
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• v.7 no.3
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• pp.130-135
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• 2006

There have been experiments dealing with the possibility of the actualization of the ANC system by means of operating the DSP adaptation filter. This filter is composed of various filters(including X-LMS algorithm, Filter-U algorithm, and Full-Feedback-Filter-U algorithm) that use ventilation fans and loudspeakers as a primary source in a circular duct as an experimental device. In this operation, the ANC system using the X - LMS algorithm was found to be more effective in reducing noise than without such system. When applying the input signal of the DSP board Full Feedback-Filtered-U algorithm system while having in mind that the additionally installed second control signal was gone through feedback and mixed into the detection microphone installed near the ventilation fan when using the first ventilation fan, the system was not emitted, but maintained stable during the operation of the control filter. At this point, noise tended to decrease at a maximum of l0dB compared to other algorithms at the frequency band of 170-250Hz.

• The KIPS Transactions:PartA
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• v.11A no.2
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• pp.129-142
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• 2004

As the Internet gets faster, the demand for high-speed routers that are capable of forwarding more than giga bits of data per second keeps increasing. In the previous research, Bitmap Trie algorithm was developed to rapidly execute LPM(longest prefix matching) process which is Well known as the Severe performance bottleneck. In this paper, we introduce a novel algorithm that drastically enhanced the performance of Bitmap. Trie algorithm by applying three techniques. First, a new table called the Count Table was devised. Owing to this table, we successfully eliminated shift operations that was the main cause of performance degradation in Bitmap Trie algorithm. Second, memory utilization was improved by removing redundant forwarding information from the Transfer Table. Lastly. the range of prefix lookup was diversified to optimize data accesses. On the other hand, the processing delays were classified into three categories according to their causes. They were, then, measured through the execution-driven simulation that provides the higher quality of the results than any other simulation techniques. We tried to assure the reliability of the experimental results by comparing with those that collected from the real system. Finally the Enhanced Bitmap Trie algorithm reduced 82% of time spent in previous algorithm.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.4
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• pp.471-479
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• 2010

A holonomic drive can provide rotational and translational acceleration simultaneously in any direction. For this reason the holonomic drive technology is very desirable in creating motion for any mobile platform and has many promising mobility applications in the field of robotics and automation where manipulability is critical issue especially when the mobile system is operated in obstacle prone environment. In this paper a pragmatic methodology for realizing a holonomic drive system using multiple servo-casters is presented. The steering and driving of each servo-caster is controlled such that they are coordinated with the motions of other servo-casters in order to realize holonomic motion. This paper also proposes algorithms for varying manipulability as operation situation demands.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.251-252
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• 2008

본 연구는 6축 초중량물 핸들링로봇의 제어 성능을 구현하기 위해 전체적이 로봇의 제어에 가장 중요한 요소인 2축과 3축만을 가진 2축으로 된 실험용 로봇을 설계 제작하고 모션 제어기를 직접 설계하여 드라이브를 토크모드로 설정하고 구동실험을 수행하였다. 제어기로는 DSP를 사용하였으며 이는 초중량물을 핸들링하기 위해서는 샘플링주기를 작게 하기 위함이다. 해 연산 실행 속도가 빠른 DSP를 이용하였다. DSP와 AC 서보모터 드라이브 간의 인터페이스를 설계 제작 하였으며, PI제어기 알고리즘을 설계하여 직선보간 알고리즘에 적용함으로써 최종목적인 가반하중이 600Kg급 부하에도 강한 초중량물 핸들링 지능형 6축 로봇의 실현을 위해 원하는 경로를 부하의 영향에 받지 않는 고속 고응답성을 구현할 수 있는 2축 로봇제어에 대만 실험을 수행하였다. 속도, 위치제어에 대한 알고리즘으로는 PID 제어기를 사용하였다. 본 연구의 의의는 초중량물 핸들링 로봇의 제어에 있어서 로봇의 설계 및 제작이 최적화되어 있다면 작은 부하용 로봇의 제어와 크게 다를 바 없음을 보여주는데 있다.

• Journal of the Korea Society of Computer and Information
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• v.10 no.4 s.36
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• pp.87-92
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• 2005

This study showed the possibility of the medical treatment by thermal feedback as the laser medical treatment had given by design of the digital I/O interfaces of the electronic shutter to control the laser beam and the temperature controlled algorithm. The electronic shutter is economical and that is designed to be automatically controlled within the range of an extent temperature by such development of its driving interfaces and the controlled algorithm of the electronic shutter. The possibility of local therapy for the patients by the treatment of the laser beam within an extent temperature controlled, is proposed by improvement of the problems on the current treatment methods such as radiotherapy, high frequency treatment or medical therapy of drug stuffs which even kill the normal cells.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.391-394
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• 2014

In this paper, we introduce a method of determining the absolute position of the rotor for the vector control of Hall sensor type multi-pole BLDC motor using the DSP(TMS320F28335), and implement an algorithm to complement the problems of the conventional method. The switching method of the inverter for providing desired sinusoidal current to each phase of a motor, we adopt Space-Vector pulse width modulation method. In order to increase the speed range, Field-Weakness control method are used. In order to verify the proposed algorithm, we compare the value of Iqe, Ide and phase currents with the values before compensated.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.5
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• pp.574-584
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• 2017

In this paper, the optimizing path finding control method is studied for a Legged-robot. It's named TITAN-VIII. It has a lot of advantages over the wheeled robot in the ability to walk freely on an irregular ground. However, the moving speed on the ground of the Legged-robot is slower than the Wheeled-robot's. Consequently, the purpose of the method is presented in this paper to minimize its time when it walks to a goal. It find the path, our approach is based on an algorithm which is called Dijkstra's algorithm. In the rest of paper, the various posture of the robot is discussed to keep the robot always in the statically stable. Based on above works, the math formulas are presented to determine the joint angles of the robot. After that an algorithm is designed to find and keep robot on the desired trajectory. Experimental results of the proposed method are demonstrated in the last of paper.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.1
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• pp.78-85
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• 2008

Most researches for power management have focused on increasing the utilization of system performance by scaling operating frequency or operating voltage. If operating frequency is changed frequently, it reduces the real system performance. To reduce power consumption, alternative approaches use the limited number of operating frequencies or set the smoothing frequencies during execution to increase the system performance, but they are not suitable for real time applications. To reduce power consumption and increase system performance for real time applications, this paper proposes a new power-aware schedule method by allocating operating frequencies and by setting smoothing frequencies. The algorithm predicts so that frequencies with continuous interval are mapped into discrete operating frequencies. The frequency smoothing reduces overheads of systems caused by changing operating frequencies frequently as well as power consumption caused by the frequency mismatch at a wide frequency interval. The simulation results show that the proposed algorithm reduces the power consumption up to 40% at maximum and 15% on average compared to the CC RT-DVS.