• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.20 no.2
• /
• pp.121-128
• /
• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• Journal of Mechanical Science and Technology
• /
• v.15 no.5
• /
• pp.580-591
• /
• 2001

This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.

• Journal of IKEEE
• /
• v.4 no.2 s.7
• /
• pp.274-280
• /
• 2000

The fact that error probability is higher in wireless communication environment than the one in a fixed network makes it inappropriate to apply the same DLC (Data Link Control) protocol used in a wireline network to a wireless network. And since the existing DLC protocol for wireless network was optimized for low-rate data service, it is not suitable for a wireless network environment which should support high-speed and multimedia traffic. Therefore it is desperate to have a new DLC protocol for todays wireless mobile communication environment. In this paper, we propose an error control scheme in WATM (Wireless Asynchronous Transfer Mode) environment. which supportsmultiple traffic attributes, high-speed, multimedia data service. In this paper we modified the existing ASR ARQ (Adaptive Selective Repeat Automatic Repeat Request) protocol where cells exceeding maximum allowable delay range are discarded. And adding FEC (Forward Error Correction) for delay-sensitive traffic resulted in smaller increase of transmission delay.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.22 no.9
• /
• pp.2014-2026
• /
• 1997

In this paper, the performances of wireless asynchronous transfer mode (ATM) cell transmission in mobile work are analyzed. We adopt 16Star QAM as amodulation technique in wireless channel and considered Reed-Solomon, convolutional, and concatenated coding to improve the error rate performances, and also proposed the Partial Concatenated Coding (PCC) technique as UEP(unequal error protection) code for efficient transmission of ATM cell in the air interface. We consider Doppler's effect, Rician fading, and diversity technique of maximal-ratio combining (MRC) for mobile channel model. For performance measure, we analyze bit error rate, ATM cell loss probability, ATM cell error probability, and network performances of ATM cell transmission delay and throughput. The numerical results show that the adoption of PCC is a prospective way for the evolution of future wireless ATM network on mobile environment.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.14 no.6
• /
• pp.655-662
• /
• 2003

A rigorous field analysis by the non-decaying mode and the contour graph method is presented for dielectric-rod loaded cylindrical cavity resonators. Resonant frequencies and the lowest order modes for this resonator are calculated. The mode charts are presented to design the resonators. TE mode(transverse electric or H mode, having no Ez), TM mode(transverse magnetic or I mode, having no ㎐) and HEM mode(hybrid electromagnetic mode, having non-zero Ez and ㎐) are analyzed in detail using non-decaying mode method. The mode charts are completed. The validity of the theory is confirmed by experiments. The results were on the whole satisfactory. Experimental measurements show excellent agrement with the numerical results. The average error of TE, TM, and HEM mode is about 0.20 %, 0.14 %, and 0.28 %, respectively.

• Journal of the Ergonomics Society of Korea
• /
• v.22 no.1
• /
• pp.31-42
• /
• 2003

This study describes a modification of the technique for human error analysis in nuclear power plants (NPPs) which adopts advanced Man-Machine Interface (MMI) features based on computerized working environment, such as LCOs. Flat Panels. Large Wall Board, and computerized procedures. Firstly, the state of the art on human error analysis methods and efforts were briefly reviewed. Human error analysis method applied to NPP design has been THERP and ASEP mainly utilizing Swain's HRA handbook, which has not been facilitated enough to put the varied characteristics of MMI into HRA process. The basic concepts on human errors and the system safety approach were revisited, and adopted the process of FMEA with the new definition of Error Segment (ESJ. A modified human error analysis process was suggested. Then, the suggested method was applied to the failure of manual pump actuation through LCD touch screen in loss of feed water event in order to verify the applicability of the proposed method in practices. The example showed that the method become more facilitated to consider the concerns of the introduction of advanced MMI devices, and to integrate human error analysis process not only into HRA/PRA but also into the MMI and interface design. Finally, the possible extensions and further efforts required to obtain the applicability of the suggested method were discussed.

• Interaction and multiscale mechanics
• /
• v.1 no.2
• /
• pp.211-230
• /
• 2008

Owing to the growing size of the eigenvalue problem and the growing number of eigenvalues desired, solution methods of iterative nature are becoming more popular than ever, which however suffer from low efficiency and lack of proper convergence criteria. In this paper, three efficient iterative eigenvalue algorithms are considered, i.e., subspace iteration method, iterative Ritz vector method and iterative Lanczos method based on the cell sparse fast solver and loop-unrolling. They are examined under the mode error criterion, i.e., the ratio of the out-of-balance nodal forces and the maximum elastic nodal point forces. Averagely speaking, the iterative Ritz vector method is the most efficient one among the three. Based on the mode error convergence criteria, the eigenvalue solvers are shown to be more stable than those based on eigenvalues only. Compared with ANSYS's subspace iteration and block Lanczos approaches, the subspace iteration presented here appears to be more efficient, while the Lanczos approach has roughly equal efficiency. The methods proposed are robust and efficient. Large size tests show that the improvement in terms of CPU time and storage is tremendous. Also reported is an aggressive shifting technique for the subspace iteration method, based on the mode error convergence criteria. A backward technique is introduced when the shift is not located in the right region. The efficiency of such a technique was demonstrated in the numerical tests.

• Journal of Broadcast Engineering
• /
• v.16 no.6
• /
• pp.996-1008
• /
• 2011

This paper proposes a PSNR estimation algorithm of H.264/AVC bitstream for hierarchical B-picture structure. The proposed method consists of a modeling method for DCT coefficients for I-pictures and an error estimation method for blocks encoded by skip mode. The modeling method selects an appropriate model between Laplacian and Cauchy model, and the error of skip mode is estimated from MSE values of reference pictures. Experimental results show that the modeling method predicts more accurate PSNR values than Laplacian and Cauchy model and the error estimation method of skip mode enhances PSNR estimation of hierarchical B-picture structure.

• Journal of Biosystems Engineering
• /
• v.38 no.4
• /
• pp.255-263
• /
• 2013

Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.

• Journal of the Institute of Convergence Signal Processing
• /
• v.9 no.3
• /
• pp.179-187
• /
• 2008

In this paper, we carried out the performance evaluation of depolarized fiber optic gyroscope(D-FOG) that was designed and fabricated with the low-cost optical communication single mode fiber and depolarizer. In order to reduce the phase error of D-FOG, the circuit of stabilized current and temperature of the light source was made and the performance was analyzed. The current and the temperature stability of the fabricated stabilization circuit were less than $200{\mu}A$ and $0.0098^{\circ}C$, respectively. Also, the D-FOG's experimental result showed that the value of the dynamic range of rotated rate, the scale factor error with a good linearity, and the zero bias drift were ${\pm}50^{\circ}/s$, 2.8881%, and $19.49^{\circ}/h$, respectively. The results indicated that a low-cost FOG was able to fabricate which was more cost effective than conventional FOG with a high-cost high-birefringent polarization maintaining fiber.