• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.1015-1016
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• 2006

The important parameters deciding the fluctuation of Accumulation style surgical operation of ventriculus laser beam are smoothing capacitor, frequency and he characteristics of laser resonator. In this thesis, we control the fluctuation of medical $CO_2C$ laser in realtime by changing Duty-Ratio of IGBT and switching frequency with fixed the smoothing capacitor to improve the fluctuation of laser beam. We detect the light on laser resonator using a CdS photo sensor to improve ripple factor of laser beam and feedback fluctuated signals refined by a band pass filter into the control circuit to stabilize fluctuation actively. There is much to be desired in the realtime controlling technique of the light on Accumulation style surgical operation of ventriculus laser discharge tube in electrical signal. We propose switching control technique with microprocessor and photo sensing technique by controlling switch devices optimum operation and feedback signals detected by a photo sensor into the laser power supply in order to improve ripple factor of the $CO_2$ laser beam.

• Journal of Power Electronics
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• v.13 no.1
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• pp.59-69
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• 2013

An alternative technique to control multilevel inverters with vector approximations has been presented. The innovative control method utilizes specially designed two-dimensional hysteresis comparators to simplify the implementation and improve the resultant waveform. The multistage inverter designed with maximum number of levels is operated in such a way to approximate the reference voltage vector by exploiting the large number of multilevel inverter vectors. A three-stage inverter with the main high voltage stage made of three phase, six-switch and singly-fed inverter is considered for application to the proposed design. The proposed control concept is to maintain a higher voltage stage state as long as it can lead to a target vector. High and medium voltage stages controllers are based on surface hysteresis comparators to hold the switching state or to perform the necessary change to achieve its reference voltage with minimal switching losses. The low voltage stage controller is designed to approximate the target reference voltage to the nearest inverter vector using the nearest integer rounding and adjustment comparators. Model simulation and prototype test results show that the proposed control technique clearly outperforms the previous control methods.

• ETRI Journal
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• v.38 no.5
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• pp.847-857
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• 2016

Broadcasting services such as multi/single channel HDTV and 3DTV/2DTV use a multi-channel encoder that changes the bitrate and composition of the video service depending on the time. However, this type of multi-channel encoder could cause a longer latency owing to the variable bitrate and relatively bigger size of the buffers, which results in the same delay as in 3DTV even for a conventional DTV service. On the other hand, systems built based on separate encoders, each of which is optimized for the target service, might not have such latency problems. Nevertheless, there might be a distortion problem in the image and sound at the time of a switchover between two encoders with different output bitrates and group of picture structures. This paper proposes a system that can realize a seamless video service conversion using two different video encoders optimized for each video service. An overall functional description of the video service change control server, which is a main control block for the proposed system, is also provided. The experiment results confirm the seamless switchover and reduced broadcasting latency of DTV services compared with a broadcasting system composed of a multi-channel encoder system.

• BMB Reports
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• v.38 no.3
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• pp.266-274
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• 2005

High temperature requirement A (HtrA) and its homologues constitute the HtrA familiy proteins, a group of heat shock-induced serine proteases. Bacterial HtrA proteins perform crucial functions with regard to protein quality control in the periplasmic space, functioning as both molecular chaperones and proteases. In contrast to other bacterial quality control proteins, including ClpXP, ClpAP, and HslUV, HtrA proteins contain no regulatory components or ATP binding domains. Thus, they are commonly referred to as ATP-independent chaperone proteases. Whereas the function of ATP-dependent chaperone-proteases is regulated by ATP hydrolysis, HtrA exhibits a PDZ domain and a temperature-dependent switch mechanism, which effects the change in its function from molecular chaperone to protease. This mechanism is also related to substrate recognition and the fine control of its function. Structural and biochemical analyses of the three HtrA proteins, DegP, DegQ, and DegS, have provided us with clues as to the functional regulation of HtrA proteins, as well as their roles in protein quality control at atomic scales. The objective of this brief review is to discuss some of the recent studies which have been conducted regarding the structure and function of these HtrA proteins, and to compare their roles in the context of protein quality control.

• Journal of Communications and Networks
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• v.6 no.1
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• pp.38-45
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• 2004

The ABR point-to-multipoint connection is now playing a more important role than before. Many consolidation algorithms have been proposed to solve the consolidation noise problem and the slow transient response problem. But few timeout algorithms are proposed to handle the non-responsive branches for the multicast connections. Chen’s algorithm needs exchanging control messages between switches [9]. Besides, it may mistake a responsive branch as a non-responsive branch because of fast changes in source rates, which causes wrong information in BRM cells and may lead to network congestion and data losses in the responsive branch. We propose a simple timeout algorithm which can handle the non-responsive branches without exchanging message between switches. The timeout value for each switch is computed locally. Simulation results show that the proposed timeout algorithm can efficiently handle the non-responsive branches and utilize the available bandwidth within a small period of time. In addition, our algorithm could handle the situation when the source rates change quickly.

• Journal of Satellite, Information and Communications
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• v.12 no.2
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• pp.61-64
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• 2017

A phase shifter is one of the key components that change the phase of an individual antenna in millimeter-wave phased array system. This paper presents a low-loss phase shifter design with two parallel 2-state amplifiers. To get the same gain of $0^{\circ}/180^{\circ}$ each state, delay lines are in the middle of each stage of the 2-Stage amplifiers. Normally, when adding AMPs in parallel, a power combiner/divider such as Wilkinson Power Combiner/Divider is added, but they are directly connected because it can cause added losses in silicon wafer. The measured data shows 12dB gain and 174-degree phase difference at 5GHz.

• International Journal of Safety
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• v.10 no.2
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• pp.10-15
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• 2011

The reconfigurable control systems based on feedback controls are utilized to compensate for damages of actuators in control systems. Such systems have multiple feedback controls and switch them in accordance with the degrees of the failures of the actuators. In order to be able to assess those systems, this paper develops a method to obtain reliabilities of reconfigurable dynamical systems which are interconnected in parallel / series configuration. By calculating reliabilities of interconnected dynamical systems, it is possible to assess many dynamical systems by comparing their reliabilities. Firstly, reliabilities of subsystems are obtained according to the definitions of the failures in terms of robust reliability for each subsystem. Then, the reliability of overall system is calculated from reliabilities of subsystems, using the methodology employed for probabilistic safety assessment. Failure rates of subsystems with feedbacks for reconfiguration change in certain time periods because of the switching of feedback controls. In order to deal with this, combinations of subsystems which compose overall system for each time period are derived by the methodology mentioned above and then integrated to calculate the reliability of overall system for a specific time. An illustrative example shows the validity and details of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.11
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• pp.2128-2135
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• 2009

In this paper, current limiter using a magnetic switching which is based on magnetic flux change in the case of fault is proposed. This current limiter consists of iron-core and three parts of coils. One is the primary coil connected to the power system. Another is the secondary coil wound to the opposite direction of the primary coil's winding. The other is the secondary of the secondary coil which is a movable copper plate winding and located below the secondary coil. In the normal state, the magnetic flux produced in the primary and secondary coils flows to the opposite directions each other and becomes to be canceled out. Therefore the voltages induced between the coils are zero. In the case of a fault, at the moment of a fault occurrence recognition, the switch connected to a secondary coil is opened and the secondary of the secondary coil is pulled out to the outside of the iron-core. Then, magnetic flux becomes to flow through the iron-core. Accordingly, the voltage is induced between the both ends of the primary coil and makes the current reduced. Therefore it is possible to cut off the circuit breaker easily with the proposed current limiter. This paper analyzes the current limiting effects and the detailed results are given.

• Journal of Drive and Control
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• v.15 no.4
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• pp.30-38
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• 2018

Electronic control units (ECUs) are currently popular, and have evolved further towards the high-end application of autonomous vehicles in the automotive industry. Such digital technologies have also become widespread, in agriculture and construction equipment. Likewise, transmission control of high-speed tracked vehicles is based on the transmission control unit (TCU), performing complex gear change control functions, and diagnostic algorithms (a TCU's self-diagnostic and reporting capability of malfunction data through CAN communication). Since all functions of TCU are implemented by embedded-software, it is hardly possible to analyze specifications by reverse engineering. In this paper a real-time transmission simulator adaptable to TCU is presented, for analysis of diagnosis algorithm and standards. Signal simulation circuits are deliberately designed considering electrical characteristics of TCU inputs and various analysis tools, such as analog input auto scan function, and global output enable switch, are implemented in software. Test results from hardware-in-the-loop simulator verify tolerance time for each error, as well as cause of fault, error reset conditions.