• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.5 no.2
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• pp.56-64
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• 1987

The concept of standard error ellipse and confidence ellipse is vtilized in the detection of displaced station which are uncluded in the observational network. In this paper, the influences on the accuracy of unknown stations according to the varied selection and geometrical conditions of fixed stations were evaluated. And then the displaced stations were detected by error ellipse concept, and the amounts of displacement were determined by coordinate differences between epochs which were calculated by fixed point adjustment and free network adjustment. As a result, it is found that the free network adjustment is more efficient in the detection and displacement calculation of displaced stations.

• Proceeding of EDISON Challenge
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• 2016.11a
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• pp.35-43
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• 2016

본 연구에서는 EDISON의 해석자를 활용하여 선박의 최적 운항 자세 도출과 같은 실용적 문제 해석뿐 만 아니라 자유 수면 및 대칭 경계 조건이 수직한 몰수 익형 주위 유동에 미치는 영향을 분석하는 학술적 연구를 수행하였다. 선박의 자세에 따른 저항 변화를 분석한 결과 0.5m 선수 트림에서 선체 저항이 가장 작은 것으로 나타났으며, 이는 유동 가속에 의한 선수 어깨부의 낮은 압력 및 선미부에서의 압력 회복에 의한 것이다. 반면, 1.0m 선미 트림에서 선체 저항이 가장 큰 것으로 나타났는데, 평형 상태보다 선미부의 압력 회복이 약하기 때문이다. 또한 자유 수면과 대칭 경계 조건이 날개 성능에 미치는 영향을 분석한 결과, 비현실적 대칭경계 조건으로 인해 날개 양력이 13%~16% 크게 나타났으므로 대칭경계조건을 사용할 경우에는 이러한 오차를 감안해야 한다.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.6
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• pp.7-14
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• 1989

A trajectory control method being capable of singularity avoidance is proposed for a robot and positoner (R-P) system. In the proposed method, the damping factor of the Damped Least Square (DLS) method is adjusted by gradients of trajectory following errors so that the singularity avoidance can be achieved while mimimizing the errors. Two numerical examples are given by employing a Rhino robot with five degrees-of-freedom (d.o.f.) and two d.o.f's, where the method of maximizing the manipulagility the DLS method with a fixd damping factor and the proposed method are compared in terms of trajectory following errors, manipulabilities and joint velocities.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.1
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• pp.73.3-74
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• 2016

본 연구에서는 비구면 반사경의 형상오차를 3가지 방법으로 측정, 비교하였다. 실험에 사용한 포물면 반사경의 구경은 108 mm, 유효초점거리는 444.5 mm 이다. 첫 번째로 접촉식 형상측정방식인 FTS(Form TalySurf)를 이용하여 표면 거칠기와 반사경의 최적 곡률 반경(BestFitt Radius) 값을 측정하였다. 두 번째로는 비접촉식 형상측정방식인 UA3P(Ultrahigh Accurate 3-D Profilometer)를 이용하여 반사경의 형상 정밀도를 측정하였다. UA3P를 이용할 경우 반사경의 전체 형상을 측정할 수 있다. 세번째로 Shark-Hartmann 센서를 이용한 광학측정방법으로 반사경의 형상 정밀도를 측정하였다. 측정에 필요한 레이저 광학계는 레이저, 콜리메이터, 핀홀, 카메라 렌즈 및 비구면 광학계를 이용하여 설계하였다. 본 연구에서 도출한 각 측정 방법의 신뢰도를 바탕으로 간섭계 사용에 제약이 있는 자유형상곡면의 반사경 표면의 형상오차 측정에 적용할 계획이다.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.66-72
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• 2004

PID control has been well used for several decades. For PID algorithms, some tuning methods are used for selecting PID parameters and with these selected parameters, PID control system is designed. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that the designed control system meets the some specifications. For 2 DOF PID controller design this paper presents a linear combinational type of performance indices constituting of index for robust performance, which is obtained by h infinity norm of a weighted complementary sensitivity function, including other time domain indices such as error, energy and changing rate of control input. By numerical methods, the optimal 2 DOF PID parameters are obtained. Therefore various types of 2 degree of freedom PID controllers such as I-PD controller are used so that this two degree of freedom PID controllers may give more desirable output characteristics. Simulations are done with MATLAB m file and mdl files.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.5
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• pp.493-497
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• 2010

Real time coordinate conversion of vessel was realized, we developed motion control algorithm of DC Servo Motor. We made servo control circuit and PCB, also We developed the system using 3-axis Gyro Sensor based Servo Motion Controller. For ship's movement simulation, we made the ship simulator of 6 degree of freedom. With a mounted camera on developed simulator, We tested the desired ship's movement, and the desired result of error tolerance was obtained.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.14 no.5
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• pp.486-502
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• 1989

This paper proposes two types of the preview algorithms to predict the velocities and joint positions, and deals with a control approach using the preview algorithms for the precise trajectory control. Specifically, a predictor as the form of discrete time state equations is proposed based on the robot dynamics model linearized by the computed toque method. And another state predictor is proposed by the best line fitting in the least square sense, where present joint velocities and positions and several past positions are employed. Then computer simulations are performed for the SCARA robot with two d.o.f to show the validities of the proposed algorithms.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.5
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• pp.372-379
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• 2017

Software reliability factor during the software development process is elementary. Case of the infinite failure NHPP for identifying software failure, the occurrence rates per fault (hazard function) have the characteristic point that is constant, increases and decreases. In this paper, we propose a reliability model using the chi - square distribution which depends on the degree of freedom that represents the application efficiency of software reliability. Algorithm to estimate the parameters used to the maximum likelihood estimator and bisection method, a model selection based on the mean square error (MSE) and coefficient of determination($R^2$), for the sake of the efficient model, were employed. For the reliability model using the proposed degree of freedom of the chi - square distribution, the failure analysis using the actual failure interval data was applied. Fault data analysis is compared with the intensity function using the degree of freedom of the chi - square distribution. For the insurance about the reliability of a data, the Laplace trend test was employed. In this study, the chi-square distribution model depends on the degree of freedom, is also efficient about reliability because have the coefficient of determination is 90% or more, in the ground of the basic model, can used as a applied model. From this paper, the software development designer must be applied life distribution by the applied basic knowledge of the software to confirm failure modes which may be applied.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.5
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• pp.552-560
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• 2013

In this paper, an optimization algorithm for the block assembly accuracy control assessment is proposed with consideration for the current block assembly process and accuracy control procedure used in the shipbuilding site. The objective function of the proposed algorithm consists of root mean square error of the distances between design and measured data of the other control points with respect to a specific point of the whole control points. The control points are divided into two groups: points on the control line and the other points. The grouped data are used as criteria for determining the combination of 6 degrees of freedom in the registration process when constituting constraints and calculating objective function. The optimization algorithm is developed by using combination of the sampling method and the point to point relation based modified ICP algorithm which has an allowable error check procedure that makes sure that error between design and measured point is under allowable error. According to the results from the application of the proposed algorithm with the design and measured data of two blocks data which are verified and validated by an expert in the shipbuilding site, it implies that the choice of whole control points as target points for the accuracy calculation shows better results than that of the control points on the control line as target points for the accuracy of the calculation and the best optimized result can be acquired from the accuracy calculation with a fixed point on the control line as the reference point of the registration.