• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Publications of The Korean Astronomical Society
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• v.23 no.2
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• pp.37-45
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• 2008

We present the results of image simulations of 43.1 GHz SiO maser emission toward a Mira variable using the KVN (Korean VLBI Network) and other facilities which can make joint VLBI experiments with the KVN. To test the imaging capability of the KVN we used the image of SiO masers in the simulation obtained by the VLBA, which is considered to be the optimum VLBI facility at present to study SiO masers toward evolved stars. The simulated images of SiO maser emission confirm that coordinate VLBI expriments of KVN with several more stations in Japan or in the neighborhood of Korean Peninsula are necessary to exert the functional benefit of the KVN as the first mm VLBI facility which can perform simultaneous observations at four different frequency bands.

• ETRI Journal
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• v.37 no.1
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• pp.43-53
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• 2015

In this paper, a selective coefficient updating (SCU) approach at each branch of the per-tone equalization (PTEQ) structure has been applied for insufficient cyclic prefix (CP) length. Because of the high number of adaptive filters and their complex adaption process in the PTEQ structure, SCU has been proposed. Using this method leads to a reduction in the computational complexity, while the performance remains almost unchanged. Moreover, the use of set-membership filtering with variable step size is proposed for a sufficient CP case to increase convergence speed and decrease the average number of calculations. Simulation results show that despite the aforementioned algorithms having similar performance in comparison with conventional algorithms, they are able to reduce the number of calculations necessary. In addition, compensation of both the channel effect and the transmitter/receiver in-phase/quadrature-phase imbalances are achievable by these algorithms.

• Journal of the Korean Home Economics Association
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• v.38 no.5
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• pp.41-54
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• 2000

While equity theory started as a theory focusing upon the relationship between employee and employer, over the years the theory has been expanded to various other types of relationships including marital relationships. The present research among 251 housewives examines the perception of equity and the decision-making styles from the perspective of equity theory. The perception of equity was measured by the revised TUW scales and the Walster's global measure. Also, decision-making styles was assessed by means of the 'final-say' scale In line with the predictions, the results clearly showed that the perception of equity was a strong predictor variable to the joint decision-making.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.2
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• pp.104-109
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• 2005

This article has been investigated the use of FFT for adhesive joints analysis between metal sheets. The method is based on the measurement of the reflection wave at the metal/adhesive interface. After describing briefly the physical aspects of the phenomenon, an index is defined to detect defective zone of the joint(both for the lack of adhesive and for insufficient adhesion): the influence of the experimental variables(variable stress...) on the measurement is discussed. By means of a control experiment it is shown that stress variation in adhesive joints are separate to be distinguished. In this paper, Nondestructive evaluation in adhesive joints are evaluated together with ultrasonic testing and finite element analysis.

• Proceedings of the KIEE Conference
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• 2008.09a
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• pp.218-221
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• 2008

Due to a variable noises in the field underground lines, clear technology of noises is very important in the diagnosis technology of partial discharge. Therefore we progressed filter test to improve the measuring test of partial discharge in a field. We applied to field test after making W-LC filter for partial discharge measurement, and then designed experimental environment such as under- ground distribution lines of field. Measuring sensor for test was UHF sensor. And we analysed those using the Lemke Probe and oscilloscope (TDS-3054, Tektro- nix). Finally, we obtained excellent data of noise decrement in the joint box of 22.9[kV] distribution lines from above experiment.

• Journal of Korean Institute of Industrial Engineers
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• v.17 no.1
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• pp.37-49
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• 1991

This report describes an integrated approach to sculptured surface design and manufacture, and a software package for it on a multi-axis NC milling machine. The integrated software consists of four parts : (1) surface fitting procedure for generating the characteristic polyhedron from 3 dimensional CMM data, (2) surface description for generating the mathematical representation of sculptured surfaces. (3) tool path generation for approximating the surface representation into a sequence of linear cutter paths, and (4) tool control for generating the corresponding joint variable values. This integrated approach is generally applicable to sculptured surface manufacturing where multi-axis milling machines are necessary to produce smooth three-dimensional surfaces.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.5
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• pp.663-668
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• 2018

A combined CPG (Central Pattern Generator) based foot trajectory and GA (Genetic Algorithm) based joint compensation method is presented for adaptive humanoid walking. In order to increase an adaptability of humanoid walking for rough terrains, the experiment for rolling terrains are introduced. The CPG based foot trajectory method has been successfully applied to basic slops and variable slops, but has a limitation for the rolling terrains. The experiments are conducted in an ODE based Webots simulation environment using humanoid robot Nao to verify a stability of walking for various rolling terrains. The proposed method is compared to the previous CPG foot trajectory technique and shows better performance especially for the cascade rolling terrains.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1190-1194
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• 2007

Since the dismantling processes of building are very dangerous, there have been many studies to develop a remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling actuator that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, the workspace mapping from the haptic device to the excavator is explored. Second, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.

• Journal of Broadcast Engineering
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• v.4 no.1
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• pp.68-75
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• 1999

In this paper. we propose a digital watermarking method for still images in the discrete cosine transform (DCT) domain. The adaptive watermark insertion method in the high frequency region within a given image is employed to increase the invisibility of the inserted watermark in images, in which variable block-size method is used for selection of the high frequency region. Experimental results show that the proposed watermarking method is robust to several common image processing techniques. including joint photographic experts group (JPEG) compression, lowpass filtering, multiple watermarking, and croppIng.