• Journal of Drive and Control
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• v.9 no.3
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• pp.16-22
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• 2012

Nowadays, electro hydrostatic actuator (EHA) has shown great advantages over the conventional hydraulic actuators with valve control system. This paper presents a position control for an EHA using a modified back stepping controller. The controller is designed by combining a backstepping technique and adaptation laws via special Lyapunov functions. The control signal consists of an adaptive control signal to compensate for the nonlinearities and a simple robust structure to deal with a bounded disturbance. Experiments are carried out to investigate the effectiveness of the proposed controller.

• Journal of information and communication convergence engineering
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• v.17 no.3
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• pp.221-226
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• 2019

In this work, a transmitter/receiver front-end module (T/R FEM) with an automatic Tx/Rx switching scheme for a 2.4 GHz microwave power transfer is developed for a retro-reflective beamforming scheme. Recently, research on wireless power transfer techniques has moved to wireless charging systems for mobile devices. Retro-reflective beamforming is a good candidate for tracking the spatial position of a mobile device to be charged. In Tx mode, the T/R FEM generates a minimum of 1 W. It also comprises an amplitude and phase monitoring port for transmitting RF power. In Rx mode, it passes an Rx pilot signal from a mobile device to a digital baseband subsystem to recognize the position of the mobile device. The insertion loss of the Rx signal path is 4.5 dB. The Tx and Rx modes are automatically switched by detecting the Tx input power. This T/R FEM is a design example of T/R FEMs for wireless charging systems based on a retro-reflective beamforming scheme.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.491-492
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• 2022

본 연구에서는 실내 공간 정보 획득을 위한 IMU/INS 항법장치에 관한 연구를 위한 선행연구를 수행 하였다. 최근의 GPS를 이용한 내비게이션의 경우 보통 5~10m의 위치 오차가 일어나지만 아파트나 대형시설과 같이 실내, 터널, 공장지대 및 산악 지대등 상당한 지역은 GPS의 사각지대 또는 오차 범위를 벗어난 지역으로 존재하고 있다. 따라서 GPS는 실내에서는 사용이 불가능 하므로 다른 방안이 제시되어야 한다. 현재 고속 연산을 위한 고성능 마이크로프로세서의 발전은 센서 분야에 적용되어 저 전력, 고 정밀, 소형의 IMU/INS, ARS/AHRS 센서가 개발되고 있다. 본 연구에서는 IMU(inertial measurement unit)와 INS(Inertial Navigation System)을 이용하여 IMU자체의 자이로 센서와 가속도 센서를 이용한 GPS의 위성신호가 감지되지 않는 지형에서도 속도의 적분값과 회전방향을 이용하여 위치인식이 가능하도록 정보를 계산하여 자기의 위치를 추적하는 방안을 연구하였다.

• International conference on construction engineering and project management
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• 2024.07a
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• pp.665-671
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• 2024

This research presents a method for Augmented Reality (AR) object superimposition leveraging reinforcement learning techniques to significantly reduce manual input during the exploration of digital information on construction sites. A distinctive feature of this approach is the application of a reinforcement learning neural network, trained with pairs of real and virtual view images, for AR superimposition. This approach enables the precise adjustment of the virtual camera's position and orientation within a virtual scene, aiming to seamlessly integrate AR objects into real-world views. This research initially focuses on simpler scenarios involving 2 and 3 degrees of freedom for orientation and position adjustments. The purpose is to explore the feasibility of the application through those experiments, with the expectation that the results would be interpreted positively. These initial findings highlight the promise of the suggested method in improving AR applications, especially within the construction sector, by enabling more natural and precise merging of virtual and physical objects, without requiring user intervention.

• Journal of Integrative Natural Science
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• v.9 no.2
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• pp.113-120
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• 2016

Monopolar spindle 1 (Mps1) is an attractive cancer target due to its high expression levels in a wide range of cancer cells. Mps1 is a dual specificity kinase. It plays an essential role in mitosis. The high expression od Mps1 was observed in various grades of breast cancers. In the current study, we have developed a CoMFA model of pyridazine derivatives as Mps1 kinase inhibitors. The developed CoMFA model ($q^2=0.797$; ONC=6; $r^2=0.992$) exhibited a good predictive ability. The model was then validated by Leave out five, progressive sampling and bootstrapping and found to be robust. The analysis of the CoMFA contour maps depicted favorable and unfavorable regions to enhance the activity. Bulky positive substitution at $R^3$ position and Negative substitution in $R^1$ position is favored could increase the activity. In contrast, bulky substitution in $R^1$ position is not favored. Our results can be used in designing a potent Mps1 (TTK) inhibitor.

• Journal of Power Electronics
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• v.15 no.3
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• pp.721-729
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• 2015

A sensorless control method was recently investigated in the robot and automation industry. This method can solve problems related to the rise of manufacturing costs and system volume. In a vector control method, the rotor position estimated in the sensorless control method is generally used. This study is based on a conventional full-order flux observer. The proposed full-order flux observer estimates both currents and fluxes. Estimated d- and q-axis currents and fluxes are used to estimate the rotor position. In selecting the gains, the proposed full-order flux observer substitutes gain k for the speed information in the denominator of the gain for fast convergence. Therefore, accurate speed control in a low-speed region can be obtained because gains do not influence the estimation of the rotor position. The stability of the proposed full-order flux observer is confirmed through a root-locus method, and the validity of the proposed observer is experimentally verified using a surface permanent-magnet synchronous motor.

• Journal of Biosystems Engineering
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• v.30 no.3 s.110
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• pp.179-184
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• 2005

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.05a
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• pp.125-129
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• 2006

The analysis of the depth measurement system with multi-sensors (laser, camera, mirror) has been done and the parameter calibration technique has been proposed. In the proposed depth measurement system, the laser beam is reflected to the object by the rotating mirror and again the position of the laser beam is observed through the same mirror by the camera. The depth of the object pointed by the laser beam is computed depending on the pixel position on the CCD. There involved several number of internal and external parameters such as inter-pixel distance, focal length, position and orientation of the system components in the depth measurement error. In this paper, it is shown through the error sensitivity analysis of the parameters that the most important parameters in the sense of error sources are the angle of the laser beam and the inter pixel distance.

• Journal of the Korean Society of Safety
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• v.27 no.3
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• pp.28-35
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• 2012

We investigated the breakdown patterns of silica glass under the various impacts by forensic scientific analysis. The impacts were chosen by thermal and projectiles impact stress. Thermal impacts under the fire were constructed by changing the position of the flame with gas torches. Physical impacts were constructed with the projectiles of slingshots and rifles by changing the size of the projectiles at the surfaces and the initial distance. Also we identified incident angles of the projectiles by analysis of the punching portion at the glass surface. Under the thermal impacts, the breakdown patterns were various by changing the position of the flame. Especially, the configuration of breakdown patterns had radial shape with the position of the flame at the center of the glass sheet. Under the physical impacts by the projectiles, the breakdown patterns had always radial shape.

• Journal of Power Electronics
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• v.16 no.3
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• pp.1190-1199
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• 2016

This study proposes a classification and compensation algorithm of two non-ideal output signals of a resolver to reduce position errors. Practically, a resolver generates position errors because of amplitude imbalance and quadrature imperfection between the two output signals of the resolver. In this study, a digital signal processor system based on a resolver-to-digital converter is used to reconstruct the two output signals of the resolver. The two output signals, "sin" and "cos," can be represented by a unit circle on the xy-plot. The classification and compensation of the errors can be obtained by using the radius and area of the circle made by the resolver signals. The method computes the integration of the areas made by the two resolver output signals to classify and compensate the error. This system cannot be applied during transient response given that the area integration during the transient state causes an error in the proposed method. The proposed method does not need any additional hardware. The experimental results verify the effectiveness of the proposed algorithm.