• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.34.2-34
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• 2001

There are many control methods guaranteeing the robustness of systems. Among them, H$\infty$ control, sliding mode control and disturbance observer have been used widely. Especially, disturbance observer(DOB) is one of the most popular methods because it is easy to apply and the cost to pay is low due to its simplicity. Conventional DOB utilizes output signal as a feedback signal. But in Optical Disk Drive(ODD) systems, the Position Error Signal(PES) is the only available one. So conventional DOB is not applicable. If we use error signal in stead of output signal, another form of DOB is made. We call it as Error based Disturbance Observer(EDOB). We show in this paper the difference between two systems, namely conventional DOB system and the EDOB system, and also show the effectiveness of EDOB through experiment.

• Journal of Korea Multimedia Society
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• v.11 no.2
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• pp.163-174
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• 2008

The H.264/AVC provides gains in compression efficiency of up to 50% over a wide range of bit rates and video resolutions compared to previous standards. However, to achieve such high coding efficiency, the complexity of H.264/AVC encoder is also increased drastically than previous ones, mainly because of mode decision. In this paper, we propose a three-step mode decision algorithm for fast encoding in H.264/AVC. In the first step, we select skip mode or inter mode by considering the temporal correlation and spatial correlation. In the second step, if the result of the first step is INTER mode, we select one group between two groups for final mode. In the third step, we select final mode by exploiting the pixel values of error macroblock or the modes of adjacent macroblocks. Simulations show that the proposed method reduces the encoding time by 42% on average without any significant PSNR losses.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1152-1160
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• 2007

In this paper we deal with a design of integral sliding mode controller to reject the disturbance force acting on the suspension system in the magnetically levitated system which is propelled by the linear induction motor. The control scheme comprises an integral controller which is designed for achieving zero steady-state error under step disturbances, and a sliding mode controller which is designed for enhancing robustness under plant uncertainties. A proper continuous design signal is introduced to overcome the chattering problem. The disturbance force produced by the linear motor is formularized by using a curve fitting of the experimental raw data. Computer simulations show the effectiveness of the designed integral sliding mode controller to reject the disturbance force.

• Journal of Korea Society of Industrial Information Systems
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• v.22 no.3
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• pp.39-47
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• 2017

The Depth Picture can be Encoded by the Plane Coding Mode that is the Method for Coding Mode by Considering a Part of the Picture as the Plane. In this Paper, we Propose the Method of Determining the Variable-sized Block for Variable Block Coding in the Plane Coding Mode for the Depth Picture. The Depth Picture Can be Encoded in the Plane Coding Through Estimating the Plane Which is Close to Pixels in the Block Using Depth Information. The Variable-sized Block Coding in the Plane Coding can be Applied as Follows. It Calculates the Prediction Error between Predicted Depths by the Plane Estimation and the Measured Depths. If Prediction Error is Below the Threshold, the Block is Encoded by Current Size. Otherwise, it Divides the Block and Repeats Above. If the Block is Divided Below the Minimum Size, the Block is not Encoded by the Plane Coding Mode. The Result of the Simulation of the Proposed Method Shows that the Number of Encoded Block is Reduced to 19% as Compared with the Method Using the Fixed-sized Block in the Depth Picture Composed of one Plane.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.2
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• pp.164-170
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• 2002

Sliding mode control, as a typical method of variable structure control, has the robust characteristics for the uncertainty and the disturbance of the nonlinear system. Because, however, sliding mode control input includes a sign function that Is discontinuous on the predefined switching surface, its applications are primarily limited by the need of alleviation or reduction of chattering. In this paper, we propose a chattering alleviation strategy based on a special nonlinear function and a fuzzy system. By using the proposed control scheme, we can reduce the steady state error. Its tracking performance is as fast as that of conventional method using the fixed boundary layer. Especially, in the proposed method, we can adjust the trade-off between the steady state error and the degree of chattering by regulating the proper range of the output variable of the fuzzy system. To verify the validity of the proposed algorithm, the analysis of the control method using the fixed boundary layer and the computer simulations are shown to compare with them.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.7
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• pp.515-522
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• 2018

An orthogonal frequency division multiplexing with coded direct index modulation(OFDM-CDIM) system that can achieve higher performance and spectral efficiency than previous OFDM systems is proposed. Previous OFDM with index modulation(IM) and OFDM-IM using dual modes systems allocate additional data to indices of respective subcarriers through combining operation with high complexity and then transmit them. However, the proposed system directly allocates the mode selection information to each subcarrier without performing additional operations. Then, the system selects and transmits one symbol in the selected mode. Furthermore, only the data allocated to the index of the subcarrier is encoded, and a good performance improvement effect is obtained with a high code rate. Simulation results show quantitatively that an OFDM-CDIM system using four modes improves bit error rate performance and transmission efficiency in additive white Gaussian noise and Rayleigh fading channel environments compared with a conventional OFDM system using 4-ary quadrature amplitude modulation.

• Journal of Navigation and Port Research
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• v.41 no.3
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• pp.87-92
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• 2017

To enhance the reliability and/or resilience of the PNT service included in the e-Navigation strategy of the IMO, the evaluation of the AIS-TWR method for the asynchronous R-mode for maritime service, which is available even in the absence of the GNSS, is described. For the AIS-TWR, which is capable of ranging through message exchange even without high precision synchronization, the operation scenario and the error factors according to the AIS system specifications are proposed and analyzed. Cramer-Rao Lower Bound is presented for the performance evaluation of the AIS-TWR algorithm. A simulation by AIS-TWR method of two AIS systems in a 3 km static environment shows estimation error of about 41m compared to the real value..

• Journal of the Korean Institute of Telematics and Electronics C
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• v.36C no.3
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• pp.26-34
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• 1999

A new silicon-based IC interconnect transmission line parameter extraction methodology is presented and experimentally examined. Unlike the PCB or MCM interconnects, a dominant energy propagation mode in the silicon-based IC interconnects is not quasi-TEM but slow wave mode(SWM). The transmission line parameters are extracted taking the silicon substrate effect (i.e., slow wave mode) into account. The capacitances are calculated considering silicon substrate surface as a ground. Whereas the inductances are calculated by using an effective dielectric constant. In order to verify the proposed method, test patterns were designed. Experimental data have agreement within 10%. Further, crosstalk noise simulation shows excellent agreements with the measurements which are performed with high-speed time domain measurement ( i.e., TDR/TDT measurements) for test pattern, while RC model or RLC model without silicon substrate effect show about 20~25% underestimation error.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.4
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• pp.185-193
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• 2022

This paper proposes an adaptive sliding mode control with radial basis function neural network(RBFNN) scheme to enhance the performance of position and attitude tracking control of quadrotor UAV. The RBFNN is utilized on the approximation of nonlinear function in the UAV dynmic model and the weights of the RBFNN are adjusted online according to adaptive law from the Lyapunov stability analysis to ensure the state hitting the sliding surface and sliding along it. In order to compensate the network approximation error and eliminate the existing chattering problems, the sliding mode control term is adjusted by adaptive laws, which can enhance the robust performance of the system. The simulation results of the proposed control method confirm the effectiveness of the proposed controller which applied for a nonlinear quadrotor UAV is presented. Form the results, it's shown that the developed control system is achieved satisfactory control performance and robustness.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1103-1111
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• 2014

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.