• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.266-272
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• 1994

An essential ingredient in precision machining is a positioning system that responds quickly and precisely to very small input signal. In this paper, two different positioning systems were presented fot the precision positioning control. The one is a friction drive system, the other is a ballscrew system. The friction drive system was composed of an air sliding guide and a friction drive. The ballscrew system was made of a ballscrew and a linear guide. Nonlinear behaviors of the given systems tend to make the system inaccurate. The paper looked at the phenomena that has caused the positioning error. These apparently nonlinear phenomena can be attributed mainly to the presence of the nonlinear friction and slip effect plus the dynamic change from the microdynamic to the macrodynamic and form the macrodynamic to the microdynamic. For the control of the positioning system, the control algorithm based on a neural network is suggested. The FEL(Feedback Error Learning) controller can learn the inverse dynamics of a nonlinear system by using the neural network controller, and stabilize the system by a linear controller. In the experiment, PTP control is implemented withen the maximum error of 0.05 .mu.m ~0.1 .mu. m when i .mu.m step reference input is applied and that of maximum 1 .mu. m when 100 .mu.m step reference input is given. Sinusoidal inputs with the amplitude of 1 .mu.m and 100 .mu. m are used for the tracking control of the positioning system. Experimental results of the proposed algorithm are shown to be superior to those of conventional PD controls.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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• pp.41-48
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• 2005

The Rotating transmission is made up of belts, mass disks and gears. This transmission is controlled electro-mechanically by the motor and operation program. The control strategy of the system can be to change belts' stiffness and the masses of mass disk and gear. This system can be modeled as a rigid body, and also finds broad application in such diverse fields as machine tools, the cruise control system In automobiles, and control in the attitude and gimbals of spacecraft. This Transmission proves the necessity and effect of a closed loop control. The study of the Rotating Transmission excited by its base motion is able not only to predict the rotational performance, but to obtain the fundamental data for vibration isolation. In this research, we compared the response characteristics of the two controllers by means of the experiments on PD controller and PID controller added on integral action. Furthermore, we studied the response abilities such as steady state error, overshoot, and ect. and the response velocities such as rising time, settling time, and ect. in the rotating transmission.

• Journal of the Semiconductor & Display Technology
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• v.22 no.2
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• pp.96-103
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• 2023

This paper presents a robust position tracking controller for a motor used in semiconductor equipment, utilizing the motor angle measurement. Precise position control is challenging due to the presence of uncertainties in various motor applications. The proposed controller consists of a PD (Proportional-Derivative) controller and a PIO (Proportional-Integral Observer) to estimate the system's state and equivalent disturbance compensating for the uncertainties. Since the stability alternates as the observer gain increases, we have investigated it through the closedloop root locus under the system parameters change. The analysis has showed that the inertia of the motor is the main parameter that affects it, and by adjusting the control gain appropriately, the system can be rendered to be stable even when the inertia of the motor changes. The effectiveness of the proposed control algorithm is validated through computer simulations, followed by a comparison of its performance with the results of a previous study.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.554-560
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• 2017

Accurate altimetry is required for the reliable flight control of drones or unmanned air vehicles (UAVs), and the radar altimeter is commonly used owing to its accuracy for the ground level. Due to the limitation for size, weight and power consumption, the frequency modulated continuous wave (FMCW) radar is appropriate for drone because it has lower complexity than that of pulse Doppler (PD) radar. Especially, fast-ramp FMCW radar, which transmits linear FM signal during very short period, is generally utilized, because it is robust for the ego-motion of drone. Therefore, we present the design and implementation results of the radar signal processor (RSP) for fast-ramp FMCW radar system. The proposed RSP was designed with Verilog-HDL and implemented with Altera Cyclone-IV FPGA device. Implementation results show that the proposed RSP includes 27,523 logic elements, 15,798 registers and memory of 138Kbits and can measure the altimeter at the rate of 100Hz with the operating frequency of 50MHz.

• Journal of Internet of Things and Convergence
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• v.10 no.1
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• pp.69-75
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• 2024

This paper proposes an innovative cognitive IoT framework specifically designed for fog computing (FC) in the context of industrial Internet of Things (IIoT). The discourse in this paper is centered on the intricate design and functional architecture of the Cognitive IoT platform. A crucial feature of this platform is the integration of machine learning (ML) and artificial intelligence (AI), which enhances its operational flexibility and compatibility with a wide range of industrial applications. An exemplary application of this platform is highlighted through the Predictive Maintenance-as-a-Service (PdM-as-a-Service) model, which focuses on real-time monitoring of machine conditions. This model transcends traditional maintenance approaches by leveraging real-time data analytics for maintenance and management operations. Empirical results substantiate the platform's effectiveness within a fog computing milieu, thereby illustrating its transformative potential in the domain of industrial IoT applications. Furthermore, the paper delineates the inherent challenges and prospective research trajectories in the spheres of Cognitive IoT and Fog Computing within the ambit of Industrial Internet of Things (IIoT).

• Journal of Navigation and Port Research
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• v.26 no.1
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• pp.146-151
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• 2002

Efficiency of dredging work depends on the types of equipment used, the sediments encountered, whether the work to be performed is new or for maintenance, pre and/or post hydrographic surveying and so forth. Among those, surveying accuracy which is directly determined by the control of the dredge's position and depth surveying accuracy being surveyed at the dredging point are important factors. The purpose of this study is to develop an integrated process management system for pump dredge. The system is composed of 4 sub-systems such as LADGPS for dredge positioning dredging point determination, tidal gauge and angular depth sensor for depth determination, and GIS and ENC process management. The process management system for pump dredge developed was installed on the pump dredge "EUNJIN PD-2" but is now producing work data for comparison with performance of the existing dredge. The data retrieved from the pump dredge process management system up to now shows similar result from the grab dredge management system which was developed previously. It is easy to operate, achieves good accuracy with only 45cm unevenness, reduces working perioa by 20 percint,. More precise evaluation of the system comes later after the dredging work is completed.completed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.7B
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• pp.1351-1360
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• 1999

In frequency selective channels, conventional PN code acquisition schemes are not ideal candidates. This is because they are primarily designed for the AWGN channel. In this paper, a direct-sequence spread-spectrum(DSSS) PN code acquisition system based on digital matched filtering (DMF) with automatic threshold control(ATC) algorithm is presented and analyzed with regards to probability of detection and probability of false alarm. These two important probabilities, the probability of detection ($P_D$) and the probability of false alarm ($P_{FA}$) are derived and analyzed in considering Doppler shift, sampling rate, mean acquisition time, and PN chip rate in frequency selective Rayleigh fading channel when using serial-search method as detection technique. From computer simulation results of a DMF acquisition system model, it is shown that the performance of the acquisition system using ATC algorithm is better than that of constant threshold system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.9B
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• pp.1108-1116
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• 2011

The visible light communication system that transmits data by controlling light emission of LED and receives data through photo detecter is considered as one of the strong candidates of the next generation wireless communication systems. The visible light communication provides both lighting and wireless communication wherever the LED lamps are installed. Due to the feature of visible light communication system, the communication is possible within the area that LED light reaches, and the communication quality depends on the light intensity received at the receiver. In this paper, we analyze the effects of LED panel position and lighting angel on communication channel quality in visible light communication systems. Through computer simulations, we prove that position of LED panel and light angle have a great impact on illuminance and SNR of the visible light communication systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Korean Journal of Optics and Photonics
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• v.16 no.6
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• pp.516-520
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• 2005

We proposed an efficient phase stepping method for the use in fiber-optic ESPI. To improve phase-stepping accuracy and efficiency, a fiber-optic Michelson interferometer was phase-modulated by a ramp-driven fiber stretcher, resulting in 4$\pi$ phase excursion in the PD interference signal. The zero-crossing points of the signal, which have consecutive $\pi$ phase difference, were carefully detected and used to generate trigger signals for the CCD camera. From the experimental results by using this algorithm, $\pi$/2 phase-stepping errors between the speckle patterns were measured to be less than 0.6 mrad with 100 Hz image capture speed. Also it has been shown that the error from the nonlinear phase modulation and environmental perturbations could be minimized without any feedback algorithm.