• 한국소음진동공학회논문집
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• 제22권10호
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• pp.949-958
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• 2012

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

• Journal of Preventive Medicine and Public Health
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• 제52권5호
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• pp.281-291
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• 2019

Objectives: The validity of instruments measuring socioeconomic position (SEP) has been a major area of concern in research on cardiovascular health disparities. The purpose of this systematic review is to identify the current status of the methods used to measure SEP in research on cardiovascular health disparities in Korea and to provide directions for future research. Methods: Relevant articles were obtained through electronic database searches with manual searches of reference lists and no restriction on the date of publication. SEP indicators were categorized into compositional, contextual, composite, and life-course measures. Results: Forty-eight studies published from 2003 to 2018 satisfied the review criteria. Studies utilizing compositional measures mainly relied on a limited number of SEP parameters. In addition, these measures hardly addressed the time-varying and subjective features of SEP. Finding valid contextual measures at the organizational, community, and societal levels that are appropriate to Korea's context remains a challenge, and these are rarely modeled simultaneously. Studies have rarely focused on composite and life-course measures. Conclusions: Future studies should develop and utilize valid compositional and contextual measures and appraise social patterns that vary across time, place, and culture using such measures. Studies should also consider multilevel influences, adding a focus on the interactions between different levels of intertwined SEP factors to advance the design of research. More attention should be given to composite and life-course measures.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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• pp.357-366
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• 2020

This paper addressed a relative navigation method for autonomous rendezvous and docking of cube-satellites using single frequency Differential GPS (DGPS) under the intermittent communication between satellites. Since the ionospheric error of GPS measurement is variable depending on the visible satellites, a few meters error of relative navigation is occurred in the Low-Earth Orbit (LEO) environment. Therefore, it is essential to remove the ionospheric error to perform relative navigation. Besides, an intermittent communication period for receiving GPS measurements of the target satellite is limited for getting information every sampling time. To solve this problem, a method combining range domain DGPS and orbit propagation is proposed in this paper. The proposed method improves the performance of DGPS by using Hatch filter and solves an intermittent communication problem by estimating the relative position and velocity using Hill-Clohessy-Wiltshire Equation. Through the simulation, it is verified that the suggested algorithm provides the relative position error within RMS 0.5 m and the relative velocity error within RMS 3 cm/s. Furthermore, it has the advantage that it is suitable for real-time implementation using single-frequency GPS measurements and is computationally efficient.

• International Journal of Contents
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• 제10권4호
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• pp.48-52
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• 2014

The purpose of this study was to examine 30 logical connectors in the essay writing of Korean university students for comparison with the use in similar types of native English writing. The main questions addressed were as follows: Do Korean EFL students tend to over- or underuse logical connectors? What types of connectors differentiate Korean learners from native use? To answer these questions, EFL learner data were compared with data from native speakers using computerized corpora and linguistic software tools to speed up the initial stage of the linguistic analysis. The analysis revealed that Korean EFL learners tend to overuse logical connectors in the initial position of the sentence, and that they tend to overuse additive connectors such as 'moreover', 'besides', and 'furthermore', whereas they underuse contrastive connectors such as 'yet' and 'instead'. On the basis of the results of this study, some pedagogical implications are made concerning the need for teaching of the semantic, stylistic, and syntactic behavior of logical connectors.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.823-828
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• 2006

In this paper, we addressed the computer interfacing method using the physical component in our living environment especially, a structure that has plane shape. A beamforming is the one of method for spatial location estimate, when appling it to the structure that has plane shapes, it estimates the event of impings location. and this impings event of specific location can be used for input unit of computing system. we expected, this result will contribute to human-computer interfacing research in home network environment.

• 한국소음진동공학회논문집
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• 제19권10호
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.504-510
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• 1991

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.239-242
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• 2002

This paper has been realized PCB insert machine automation system. For the reduction of the install programming time as well as possible, a new technique is addressed. In detail, an image frame is initially divided into one area whose size decreases according to the distance from hole to hole on PCB. Searching center of hole using a threshold method after median filtering. At every moment of mouse click, area is shifted to locate the hole, and detect a center of hole in a new area. Experimental results are demonstrated to verify the superiority of this scheme in detecting position of part by comparing with a man of experience.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2014년도 제46회 동계 정기학술대회 초록집
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• pp.219.2-219.2
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• 2014

Characteristics of Argon metastable density with electron density have been studied by using Laser induced fluorescence (LIF) in ICP. Two different evolutions of measured metastable densities with electron density depending on a measurement position are addressed. The experimental result is explained by using a zero dimensional global model and is due to electron kinetic properties in the positions that can be seen from electron energy probability functions measured by Langmuir probe. The underlying physics on metastable density with electron density and an experimental method of LIF are presented in detail.

• 로봇학회논문지
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• 제11권4호
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.