• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.330-338
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• 2011

Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odometry.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.3
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.80-87
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• 2002

Liquefied petroleum gas (LPG) is used in spark ignition (SI) engines. Fuel injection rate of an injector is affected by fuel temperature and pressure in LPG liquid injection systems for either a multi-point-injection (MPI) or a direct injection (DI) engine. Even fuel injection conditions are varied, the air-fuel ratio should be accurately controlled to reduce exhaust emissions. In this study, a correction factor fur the fuel injection rate of an injector is derived from density ratio and pressure difference ratio. A compensation method of injected fuel amount is proposed for a fuel injection control system. The experimental results for the LPG liquid injection system in a SI engine show that this system works well fur a full range of engine speed and load condition, and the air-fuel ratio is accurately controlled by the proposed correction factor.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.154-162
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.8
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• pp.130-136
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• 1997

For compensating the error motion of hydrostatic guideways, we introduce a way that the clearance of table is actively controlled corresponding to the amount of error with the variable capillary. The structure and the theoretical design method of active controlled capillary using piezo actuator, named ACC, are proposed in this paper. Basic characteristics such as the maximum controllable range, micro step response and available dynamic bandwidth are tested for confirmation of structural suitability of ACC, and these characteristics are also tested on the table mounted with ACC for verifying the availability. The experimental result showed that by the use of ACC, the error motion within 2.7 .mu. m of a hydrostatic guideway can be compensated with the resolution of 2.7nm, 1/100 contollable range, and the frequency bandwidth of 5.5 Hz. From these results, it is confirmed that the ACC is very effective to improve the motion accuracy of high or ultra precision hydrostatic guideways.

• Transactions of Materials Processing
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• v.26 no.1
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• pp.18-27
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• 2017

A comparative study was performed on strain-compensated Arrhenius-type constitutive models established with two regression methods: polynomial regression and regression Kriging. For measurements at high temperatures, experimental data of 70Cr3Mo steel were adopted from previous research. An Arrhenius-type constitutive model necessitates strain compensation for material constants to account for strain effect. To associate the material constants with strain, we first evaluated them at a set of discrete strains, then capitalized on surrogate modeling to represent the material constants as a function of strain. As a result, disparate flow stress models were formed via the two different regression methods. The constructed constitutive models were examined systematically against measured flow stresses by validation methods. The predicted material constants were found to be quite accurate compared to the actual material constants. However, notable mismatches between measured and predicted flow stresses were revealed by the proposed validation techniques, which carry out validation with not the entire, but a single tensile test case.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.4
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• pp.448-457
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• 1998

A neural network based control algorithm with fuzzy compensation is proposed for the automated adjustment in the production of electronic end-products. The process of adjustment is to tune the variable devices in order to examine the specified performances of the products ready prior to packing. Camcorder is considered as a target product. The required test and adjustment system is developed. The adjustment system consists of a NNC(neural network controller), a sub-NNC, and an auxiliary algorithm utilizing the fuzzy logic. The neural network is trained by means of errors between the outputs of the real system and the network, as well as on the errors between the changing rate of the outputs. Control algorithm is derived to speed up the learning dynamics and to avoid the local minima at higher energy level, and is able to converge to the global minimum at lower energy level. Many unexpected problems in the application of the real system are resolved by the auxiliary algorithms. As the adjustments of multiple items are related to each other, but the significant effect of performance by any specific item is not observed. The experimental result shows that the proposed method performs very effectively and are advantageous in simple architecture, extracting easily the training data without expertise, adapting to the unstable system that the input-output properties of each products are slightly different, with a wide application to other similar adjustment processes.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.675-682
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• 2016

Sudden voltage drops and outages frequently disturb the operation of sensitive loads for domestic, commercial, and industrial use. In some cases, these events may even impair the functioning of relevant equipment. To maintain power under such conditions, a UPS system is usually installed. Once a disturbance happens at the grid side, the line-interactive UPS system takes over the load to prevent an interruption. But, due to magnetic saturation of the transformer, a significant inrush current may occur for the transformer-coupled loads during this transition. The generation of such transient currents may in turn decrease the line voltage and activates over-current protecting devices of the system. In this work, a cost-effective, line-interactive UPS system is proposed that eliminates the inrush current phenomenon associated with transformer-coupled loads. The strategy was implemented by connecting a standard current-regulated voltage source inverter (CRVSI) to the secondary winding of the load transformer. During any transient condition at the grid side, the load current is monitored and regulated to achieve either seamless compensation of the load current or complete transferal of load from grid to the inverter. Experimental results were obtained for a prototype under all possible operating conditions so as to validate the performance of the proposed topology.

• Journal of Advanced Navigation Technology
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• v.12 no.6
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• pp.691-698
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• 2008

We present a novel method for face detection and recognition methods applicable to video retrieval. The person matching efficiency largely depends on how robustly faces are detected in the video frames. Face regions are detected in video frames using viola-jones features boosted with the Adaboost algorithm After face detection, PCA (Principal Component Analysis) follows illumination compensation to extract features that are classified by SVM (Support Vector Machine) for person identification. Experimental result shows that the matching efficiency of the ensembled architecture is quit satisfactory.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.5
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• pp.463-467
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• 2003

This paper describes an AC voltage regulator using AC chopper and auxiliary transformer which is series connected with main input. It has many advantages such as fast voltage control, high efficiency and low THD. A detail study of step down AC voltage regulator is described and two kinds of novel step-up/down voltage regulator for AVR application are proposed. The operation principle and PWM method of the proposed regulator are described. Experimental results show that it can be used as AC voltage regulator for special purpose very efficiently.