• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.229-234
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• 1992

This paper presents a compensator design method for multivariable feedback control systems with saturating actuators based on the concept of the equilibrium point. Am explicit expression for the compensation matrix of the general anti-reset windup(ARW) scheme is derived by minimizing the distances between the equilibrium points. The resulting dynamics of the compensated controller exhibits the reduced model form of the unsaturated system which can be obtained by the singular perturbational method. The proposed method is applicable to any open-loop stable plants with saturating actuators whose controllers are determined by some design technique. An example is given to show the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.216-218
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• 1995

This paper presents the concepts developed to propose Distributed Control System(DCS). To achieve adequate satisfaction under various conditions, the DCS should be designed from two points of view of functions distributions and performance planning. Performance evaluation criteria can be specified by the response time between units and the utilization of each unit. One has to also consider the ease and the cost of installation, maintenance, repair. Based on these characteristics, different system configuration can be evaluated and compared through results about evaluation criteria in order lo select the best DCS for particular process. The results, in abbreviated form, of the simulation DCS controlling a CAL(Continuos Annealing Line) plant of iron process ate presented.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.44 no.2
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• pp.263-270
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• 2024

As unmanned aerial vehicles(UAVs) and sensors have been developed in a variety of ways, it has become possible to update information on the ground faster than existing aerial photography or remote sensing. However, acquisition and input of ground control points(GCPs) UAV photogrammetry takes a lot of time, and geometric distortion occurs if measurement and input of GCPs are incorrect. In this study, RGB-based orthophotos were generated to reduce GCPs measurment and input time, and comparison and evaluation were performed by applying feature point algorithms to target orthophotos from various sensors. Four feature point extraction algorithms were applied to the two study sites, and as a result, speeded up robust features(SURF) was the best in terms of the ratio of matching pairs to feature points. When compared overall, the accelerated-KAZE(AKAZE) method extracted the most feature points and matching pairs, and the binary robust invariant scalable keypoints(BRISK) method extracted the fewest feature points and matching pairs. Through these results, it was confirmed that the AKAZE method is superior when performing geometric correction of the objective orthophoto for each sensor.

• ETRI Journal
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• v.26 no.3
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• pp.218-228
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• 2004

Using stereo images with ephemeris data from the Korea Multi-Purpose Satellite-1 electro-optical camera (KOMPSAT-1 EOC), we performed geometric modeling for three-dimensional (3-D) positioning and evaluated its accuracy. In the geometric modeling procedures, we used ephemeris data included in the image header file to calculate the orbital parameters, sensor attitudes, and satellite position. An inconsistency between the time information of the ephemeris data and that of the center of the image frame was found, which caused a significant offset in satellite position. This time inconsistency was successfully adjusted. We modeled the actual satellite positions of the left and right images using only two ground control points and then achieved 3-D positioning using the KOMPSAT-1 EOC stereo images. The results show that the positioning accuracy was about 12-17 m root mean square error (RMSE) when 6.6 m resolution EOC stereo images were used along with the ephemeris data and only two ground control points (GCPs). If more accurate ephemeris data are provided in the near future, then a more accurate 3-D positioning will also be realized using only the EOC stereo images with ephemeris data and without the need for any GCPs.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.285-292
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• 2018

In this paper, we propose a distributed search of a cluster robot using tree structure in an unknown environment. In the proposed method, the cluster robot divides the unknown environment into 4 regions by using the LRF (Laser Range Finder) sensor information and divides the maximum detection distance into 4 regions, and detects feature points of the obstacle. Also, we define the detected feature points as Voronoi Generators of the Voronoi Diagram and apply the Voronoi diagram. The Voronoi Space, the Voronoi Partition, and the Voronoi Vertex, components of Voronoi, are created. The generated Voronoi partition is the path of the robot. Voronoi vertices are defined as each node and consist of the proposed tree structure. The root of the tree is the starting point, and the node with the least significant bit and no children is the target point. Finally, we demonstrate the superiority of the proposed method through several simulations.

• Proceedings of the Korean Society of Food Hygiene and Safety Conference
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• 1992.07a
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• pp.33-45
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• 1992

The sanitation inspection is the most frequently used procedure to protect foods prepared in foodservice establishments. In order to enhance foodservioe inspections and to improve post-inspection remedial measures, more practical evaluation methods for sanitation are required. The HACCP approach is based upon factors which contribute to foodborne disease rather than on factors which relate to aesthetics. Contributing factors for foodborne disease from foodservice establishments reported in USA, Canada, and England were analyzed to identify potential hazards during practical foodservioe operations. Hazards were classified at critical control points by risk ranking. Twenty-two observable practical indicators relating to each contributing factor were selected and adjusted to standardized procedures and hazard determiners at critical contral points. The weights for each inspection item were ranked as 1, 2, 3, 4 or 5 according to the risk level of contributing factors. And also application for the inspection item in different 6 types of work procedures was suggested for the use of specialized foodservice establishment and cafeteria, and of manager's self inspection in each establishment.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.1
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• pp.39-46
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• 2011

This paper presents the implementation and control of a mobile manipulator robot for indoor service. The robot has two arms for tasks and a mobile base for mobility. The robot is designed to have several characteristics. Firstly, the robot has the capability of changing the height of the robot. Secondly, the robot can be changed into a balancing mode of two contact points from mobile mode of four contact points. The robot has a balancing mode like an inverted pendulum robot as well as mobile robot mode. Lastly, as a novel concept, the robot is designed to have the capability of separating into two systems, the robot ann and the mobile robot as well. The mobile base can be separately used for a cleaning service.

• Journal of the East Asian Society of Dietary Life
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• v.13 no.1
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• pp.64-71
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• 2003

Physicochemical and sensory characteristics of Kakdugi substituted red pepper powder with red paprika powder during fermentation at 1$0^{\circ}C$ were compared with those of the control. The fermentation patterns of two Kimchies were similar. While the pH and the acidity of the control were 3.88 and 0.691%(as lactic acid), respectively, those of paprika, 3.85 and 0.690%(as lactic acid), respectively on the 10th day of fermentation, which is the optimal ripe time. Reducing sugar content and Lactobacilli number of paprika Kakdugi were higher than those of the control. The hardness and fracturability of Kakdugi radish were not significantly different from those of the control during fermentation. The Hunter color L, a and b values of both Kakdugies increased gradually until l0th day and then decreased. The a and ASTA value of paprika Kakdugi was higher than that of control, which is consistent with the results of sensory evaluation. Capsaicin and dihydrocapsaicin analyzed by HPLC were not detected in paprika Kakdugi. Sensory evaluation (unstructured scale, 10 points) showed the score of hot taste f3r paprika Kakdugi was lower than that of the control(p<0.05), whereas the score of over-all acceptabillity for paprika Kakdugi(8.0) was higher than those of control(6.1).

• Nuclear Engineering and Technology
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• v.43 no.6
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• pp.531-546
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• 2011

The backward differentiation formula (BDF) method is applied to a three-dimensional reactor kinetics calculation for efficient yet accurate transient analysis with adaptive time step control. The coarse mesh finite difference (CMFD) formulation is used for an efficient implementation of the BDF method that does not require excessive memory to store old information from previous time steps. An iterative scheme to update the nodal coupling coefficients through higher order local nodal solutions is established in order to make it possible to store only node average fluxes of the previous five time points. An adaptive time step control method is derived using two order solutions, the fifth and the fourth order BDF solutions, which provide an estimate of the solution error at the current time point. The performance of the BDF- and CMFD-based spatial kinetics calculation and the adaptive time step control scheme is examined with the NEACRP control rod ejection and rod withdrawal benchmark problems. The accuracy is first assessed by comparing the BDF-based results with those of the Crank-Nicholson method with an exponential transform. The effectiveness of the adaptive time step control is then assessed in terms of the possible computing time reduction in producing sufficiently accurate solutions that meet the desired solution fidelity.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1892-1894
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• 2004

We have suggested the moxa-pad cauterizer especially for knee arthralgia. We have researched the variation on knee heat generating by the moxa-pad moxibustion cauterizer. The experimental demonstrations have been made by the stimulating the spots which are G-34(Gall-bladder Meridian 34), Sp-9(Spleen Meridian 9), and Liv-3(Liver Meridian 3) acupuncture points. And stimulating time was one hour with moxa-pad cauterizer.