• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.454-459
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• 2004

This paper considers the problem of satellite's orbit control and a solution based in Linear Matrix Inequalities (LMI) is proposed for the case of Low Earth Orbiters (LEO). In particular, the modelling procedure and the algorithm for control law synthesis are tested using as study case the European Gravity Field and Ocean Circulation Explorer satellite (GOCE), to be launched by the European Space Agency (ESA) in the year 2006. The scientific objective of this space mission is the recovering of the Earth gravity field with high accuracy (less than 10${\mu}m$/${\mu}m$) and spatial resolution (better than 100km). In order to meet these scientific requirements, the orbit control must guarantee stringent specifications in terms of environmental disturbances attenuation (atmospheric drag forces) even in presence of high levels of model uncertainty.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.30-35
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• 2003

In the control system analysis and synthesis, the nonminimum phase system has some difficulties due to the undershoot behaviour and the constrained sensitivity function. SISO problems has been widely investigated in the literatures, and it is well known that the undershoot cannot be eliminated by any linear feedback control. However, the undershoot compensation in MIMO system is less studied, and this paper is to deal with the zero property and the nonminimum phase behaviour of the MIMO system. Firstly, some definitions of the zeros will be introduced. Second, some systems including nonminimum phase transmission zeros are exemplified to show that the undershoot behaviour could be eliminated by a linear feedback in MIMO systems.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2625-2628
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• 2003

Phase locked loops are widely used in many applications such as frequency synthesis, clock/data recovery and clock generation. In nearly all the PLL applications, low jitter and fast locking time is required. Without using adaptive loop filter, this paper proposes very simple method for improving locking time and jitter reduction simultaneously in charge pump PLL(CPPLL) using Daul Phase/Frequency Detector(Dual PFD). Based on the proposed scheme, the lock time is improved by 23.1％, and the jitter is reduced by 45.2％ compared with typical CPPLL.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.83-86
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• 2000

본 논문에서는 비정형 단위를 사용한 음성 합성 시스템의 합성음에 대한 자연성을 향상시키기 위한 휴지 구간 추출 및 휴지 지속시간 예측 모델을 제안한다. 제안된 휴지 지속시간 예측 모델은 트리 기반 모델링 기법 중 하나인 CART (Classification And Regression Trees)방법을 이용하였다. 이를 위해 남성 단일 화자가 발성한 6,220개의 어절경계 포함하는 총 400문장의 문 음성 데이터베이스를 구축하였고, 이 데이터베이스로부터 V-fold Cross-Validation 방법에 의해 최적의 트리를 결정하였다. 이 모델을 평가한 결과, 휴지 구간 추출 정확율은 $81\%$로 휴지 구간 존재 추출 정확율은 $83\%, 휴지 구간 비존재 추출 정확율은 $80\%이었고, 실 휴지지속시간과 예측 휴지지속시간과의 다중상관 계수는 0.84로, 오차 범위 20ms 이내에서 의 정 확율은 $88\%$ 이었다. 또한, 휴지지속시간을 예측하여 적용한 합성음을 청취 실험한 결과 자연 음성과 대체적으로 유사하게 나타났다.

• Journal of the Korea Society of Computer and Information
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• v.4 no.1
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• pp.7-14
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• 1999

In this paper, we deals with operator allocation and binding in high-level synthesis. We proposed a new methode to allocation and bind for scheduled operations on each control step after scheduling. Especially, we take account ILP formulation in order to get optimal allocation and binding result. Experiment was done on the HAL DFG model of Differential Equation, to show it's effectiveness.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.9
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• pp.816-823
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• 2000

상위단계 합성에서 데이터 저장을 위한 메모리 할당 문제는 중요하게 다루어지는 영역의 하나이다. 이 논문에서는, 다중포트(multiport)메모리 할당 문제에 대한 새로운 방법을 제안한다. 문제의 복잡도를 줄이기 위해, 기존의 연구들은 요약하면, 두 단계의 과정으로 이루어지고 있다. 첫 번째 단계에서는 변수들을 몇 개씩 묶어서 하나의 메모리를 형성한다. (즉 메모리 최적화 문제를 푼다.) 두 번째 단계에서는 메모리들과 기능모듈들 간의 연결선을 최적화시킨다. (즉, 연결선 최적화 문제를 푼다) 이 경우 심각한 단점은 연결선의 비용을 최소화하는 데는 한계가 있다는 것이다. 다시 말해, 연결선의 비중이 점점 중요하게 되어지는 설계 추세에서 기존의 방법은 다중포트 메모리 사용을 통해 얻을 수 있는 연결선 최소화를 극대화하는데 한계가 있음을 뜻한다. 이를 극복하기 위해, 우리는 새로운 할당 방법을 제시한다. 구체적으로 먼저, 연결선 최소화를 해결하고, 그 다음에, 메모리 최적화를 시도한다. 또한 제안한 알고리즘은 연결선 최소화 과정 동안 다음 단계에서 결정될 메모리 비용도 적절히 고려한다. 우리는 다양한 실험을 통해, 우리의 제안한 방법이 기존의 연구보다 상당히 효율적인 것임을 보인다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.6
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• pp.28-35
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• 1998

Computer simulation technique has been applied on the various engineering fields to reduce cost and development period. On this paper, we introduce a crane analysis program. Using this program, we can predict reaction force of each part or supporting force of truck crane on a personal computer system with out exclusive knowledge of multi-body dynamics. In order to consider the effect of boom flexibility according to each working condition, flexible dynamic theory is applied to the program. Actual crane model is analyzed on special work condition using this program and the results are compared with those of rigid boom model.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Journal of the Korea Computer Graphics Society
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• v.4 no.1
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• pp.21-29
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• 1998

This paper deals with character animation using motion capture. The captured motion requires the editing process to smooth the jerky motion by the sensor noise, or to combine several clip-motion libraries. For this purpose, we describe a simple technique for editing the captured motion using the Kalman filter technique. Our formulation allows the generated motion to satisfy the kinematic constraints of the human model. Furthermore, it provides us with a multi-level control mechanism of the motion resolution by changing the uncertainty of the measurement model and the seamless motion transition.