• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.4
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• pp.349-356
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• 1999

This paper presents an instantaneous voltage control scheme of au킹liary power supply system for the electric railway v vehicles, The resonance problem of the LC filter and the existing steady state error are more serious as the use of l instantaneous voltage control techniques for the fast transient response at the nonlinear load, A filter capacitor current f feedback loop is considered to increase the damping ratio of the voltage transfer function for the suppression of the resonance problem of the LC inverter output filter. To eliminate the steady state en‘or existing in case of the AC l instantaneous voltage control. the high gain transfer function is added to the conventional PI controller. The theoretical a analysis is well described with the simulation results. The validity of the proposed schemes is well verified through the s simulation and expelimental results for the 5 kVA prototype.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.5
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• pp.1026-1031
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• 2003

Automatic feed pumps are operated and stopped by a pressure switch. Thus, because of repeated operations and stops of the pumps according to fluctuations of water volume, operation with constant rate and pressure is impossible. Moreover, because of repeated running of the pump, keeping up of constant pressure is impossible and damage and energy loss are weak points of the pimps. To make up for defects of an automatic feed pump, this paper designed and made a static pressure feed system which was composed of a feed water control valve, a flow sensor and a control system. The valve device plays an important part in reducing load of pumps by constant water supply regardless of outflow of water. Outflow of water is determined by infrared diode of the flow sensor. The control system is made of a 8 bit micro-processor and the pump was controled by a specific control algorithm. With the constant pressure feed system, discharge pressure was kept at fixed pressure, accurate operations and stops were smoothly accomplished and the pump was operated with constant pressure. Thus, the constant pressure feed system can be considered as an advanced system which made up for the weak points in the current automatic feed systems.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.3
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• pp.35-43
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• 2005

Matrix converters have been studied for eliminating dc link of conventional converter-inverter system, and various undulation strategy have been proposed. Therefore, matrix converter have no energy storage component except for small ac later for the elimination of switching ripple, and can be made compact and highly reliable compare with the do link inverter system. Matrix converter, however, directly connected the input and the output terminals by bidirectional static switch. As a result if the input voltage are asymmetrical, and contain harmonics, the influence of the distortions directly appear on the output terminal. This problem is a major obstacle to the matrix converter. A new control method using average comparison strategy have been proposed in this paper. This control method realizes sinusoidal input and output current unity input displacement factor regardless of load power factor. Moreover, compensation of the asymmetrical and/or harmonic containing input voltage is automatically realized, and calculation time of control function is reduced.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.361-364
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• 2013

Since the non-overlapping gate driver used in conventional DC-DC boost converters generates fixed dead-times, the converters suffer from the body-diode conduction loss or the charge-sharing loss. A adaptive control method has been proposed to reduce these loses. In this method, however, occurrence of and overlapping time of two power transistors in CCM results in reduction of efficiency. In this paper, to overcome this problem a new adaptive control method in proposed, and a DC-DC boost converter with the proposed adaptive control and power switching has been designed in a 0.35um CMOS process. The designed converter outputs 3.3V from a input voltage of 2.5V. The switching frequency is 500kHz and the maximum power efficiency is 95.3% at a load current 150mA. The designed chip area is $1720um{\times}1280um$.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.7
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• pp.121-127
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• 2016

We propose a algorithm to calculate power factor of fundamental waveform in an environment where the voltage and current have been distorted by harmonics. In the proposed power factor computation algorithm, voltage and current are converted to rotating DQ reference frame, and power factor is calculated from active power and reactive power. We compare the proposed method with the conventional power factor measurement method as mathematically. In a condition that voltage and current are distorted by harmonics, the proposed method accurately measure the power factor of fundamental wave, and it is confirmed by simulation using MATLAB. If the proposed power factor measurement method is applied to an automatic power factor control system, a power factor compensation performance can be maximized in harmonic distortion environment. As a result, it is possible to reduce electricity prices, reduce line loss, increase load capacity, ensure the transmission margin capacity, and reduce the amount of power generation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1282-1285
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• 2004

The high voltage driving system with multi-phase shifter including piezoelectric actuators comprised a driving power unit for outputting the driving power by converting input alternate current into direct current, a frequency shifting unit for supplying the direct current power and shifting or generating a frequency, a high-voltage amplification unit for amplifying the input signal outputted from the driving power unit and the frequency shifting unit into a high-voltage signal, and a phase shifting unit for shifting the phase difference of the amplified signal applied to the high-voltage amplification unit and driving plural piezoelectric actuators sequentially. The results that the operating voltage was stable, the voltage loss ratio was low and the response velocity was fast could be obtained. An experiment on performance of the high voltage driving system with multi-phase shifter designed and manufactured as above described was conducted by using a piezoelectric pump having 3 sheets of round unimorph piezoelectric actuators laminated respectively in a rectangular case. It sucks any fluid by causing the first piezoelectric actuator to shift from the inlet porter side, the phase delay of 60$^{\circ}$ causes the second piezoelectric actuator to begin to shift, and the phase delay of 120$^{\circ}$ causes the third piezoelectric actuator to begin to shift. As a result of measuring each change in the outlet flow rate of the piezoelectric pump, it was shown that the frequency-flow rate characteristic, the voltage-flow characteristic, and the load pressure-flow rate characteristic were improved.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.8
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• pp.3663-3673
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• 2016

Cervical cancer (CaCx) is the second most fatal cancer contributing to 14% of cancers in Indian females, which account for 25.4% and 26.5% of the global burden of CaCx prevalence and mortality, respectively. Persistent infection with high-risk human papilloma virus (HPV- strains 16 and 18) is the most important risk factor for precursors of invasive CaCx. Comprehensive prevention strategies for CaCx should include screening and HPV vaccination. Three screening modalities for CaCx are cytology, visual inspection with acetic acid, and HPV testing. There is no Indian national policy on CaCx prevention, and screening of asymptomatic females against CaCx is practically non-existent. HPV vaccines can make a major breakthrough in the control of CaCx in India which has high disease load and no organized screening program. Despite the Indian Government's effort to introduce HPV vaccination in the National Immunization Program and bring down vaccine cost, challenges to implementing vaccination in India are strong such as: inadequate epidemiological evidence for disease prioritization, duration of vaccine use, parental attitudes, and vaccine acceptance. This paper reviews the current epidemiology of CaCx and HPV in India, and the current status of HPV vaccination in the country. This article stresses the need for more research in the Indian context, to evaluate interventions for CaCx and assess their applicability, success, scalability and sustainability within the constraints of the Indian health care system.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.5
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• pp.624-631
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• 2012

This paper presents a high-efficiency current mode class-D(CMCD) power amplifier for the 13.56 MHz band using a Guanella's 1:1 transmission-line transformer and filtering circuits at the output network. The second and third s are filtered out in the load network of the class-D amplifier. The implemented CMCD power amplifier exhibited a power gain of 13.4 dB and a high power-added efficiency(PAE) of 84.6 % at an output power of 44.4 dBm using the 13.56 MHz CW input signal. The second and third distortion levels were -50.3 dBc and -46.4 dBc at the same output power level, respectively.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1305-1317
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• 2015

Distributed generation systems (DGSs) have been getting more and more attention in terms of renewable energy use and new generation technologies in the past decades. The self-excited induction generator (SEIG) occupies an important role in the area of energy conversion due to its low cost, robustness and simple control. Unlike synchronous generators, the SEIG has to absorb capacitive reactive power from the outer device aiming to stabilize the terminal voltage at load changes. This paper presents a novel static VAR compensator (SVC) called a magnetic energy recovery switch (MERS) to serve as a voltage controller in SEIG powered DGSs. In addition, many small scale SEIGs, instead of a single large one, are applied and devoted to promote the generation efficiency. To begin with, an expandable mathematic model based on a d-q equivalent circuit is created for parallel SEIGs. The control method of the MERS is further improved with the objective of broadening its operating range and restraining current harmonics by parameter optimization. A hybrid control strategy is developed by taking both of the stand-alone and grid-connected modes into consideration. Then simulation and experiments are carried out in the case of single and double SEIG(s) generation. Finally, the measurement results verify that the proposed DGS with SVC-MERS achieves a better stability and higher feasibility. The major advantages of the mentioned variable reactive power supplier, when compared to the STATCOM, include the adoption of a small DC capacitor, line frequency switching, simple control and less loss.