• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2003.07b
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• pp.1163-1167
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• 2003

As a PD classification method, statistical distribution parameters have been used during several ten years. And this parameters are recently finger print method, NN(Neural Network) and etc. So in this paper we studied finger print method and NN with BP(Back propagation) learning algorithm using the statistical distribution parameter, and compared with two method as classification method. As a result of comparison, classification of NN is more good result than Finger print method in respect to calculation speed, visible effect and simplicity. So, NN has more advantage as a tool for PD classification.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1074-1080
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• 2015

In the last decades, the increasing interest in unmanned aerial vehicle(UAV) for military, surveillance, and rescue applications made necessary the development of flight control theory and body structure more and more efficient and fast. In this paper, we describe the design and performance of a prototype hexarotor UAV platform featuring an inertial measurement unit(IMU) based autonomous-flying for use in bluetooth communication environments. The proposed system comprises the construction of the test hexarotor platform, the implementation of an IMU, dynamic modeling and simulation in the hexarotor helicopter. Furthermore, the hexarotor helicopter with implemented IMU is connected with a micro controller unit(ARM-cortex) board. The P-PD control algorithm was used to control the hexarotor. We used the Matlab software to help us to tune the P-PD control parameters for quick response and minimizing the fluctuation. The control simulation and experiment on the real system are implemented in the test platform, evaluated and compared against each other.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.17 no.9
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• pp.1006-1012
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• 2004

In this paper, neural networks is studied to apply as a PD source classification in XLPE power cable specimen. Two learning schemes are used to classification; BP(Back propagation algorithm), SOM(self organized map - kohonen network). As a PD source, using treeing discharge sources in the specimen, three defected models are made. And these data making use of a computer-aided discharge analyser, statistical and other discharge parameters is calculated to discrimination between different models of discharge sources. And a]so these distribution characteristics are applied to classify PD sources by two scheme of the neural networks. In conclusion, recognition efficiency of BP is superior to SOM.

• Proceedings of the KIEE Conference
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• 2006.07c
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• pp.1535-1537
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• 2006

Recently, the noise discrimination method using PD pulse waveshape analysis has been suggested to be very effective method which can improve the reliability of the on-site PD measurement. In this method, the data clusters due to PD pulses or noises can be distinguished on the PA map. And for the automatic recognition of the PD clusters, it is necessary to adopt the adaptable pattern recognition method. In this study, as for the algorithm which can recognize data clusters, the data mining method has been adopted and the result of the analysis has been reported.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.157-160
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• 2001

This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.

• Proceedings of the KIEE Conference
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• 1999.11b
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• pp.160-162
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• 1999

This paper presents an optimal design method for fuzzy controllers of HVDC system using adaptive evolutionary algorithm(AEA). We have proposed an adaptive evolutionary algorithm which uses a genetic algorithm and an evolution strategy in an adaptive manner in order to take merits of two different evolutionary computations. AEA is used for tuning fuzzy membership functions, scaling constants and PD gains. The simulation results show that the disturbances are well damped by both controllers and the dynamic performances of fuzzy controllers have better responses than those of PD controllers when mechanical torque changes suddenly.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.173-178
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• 2013

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1101-1105
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• 2012

This study proposes a method for improvement of PD type fuzzy controller. The method includes self tuner using gradient algorithm that is one of the optimization algorithms. The proposed controller improves simple Takagi-Sugeno type FLC (Fuzzy Logic Control) system. The simple Takagi-Sugeno type FLC system changes nonlinear characteristic to linear parameters of consequent membership function. The simple FLC system could control the system by calibrating parameter of consequent membership function that changes the system response. While the determination on parameter of the simple FLC system works well only partially, the proposed method is needed to determine parameters that work for overall response. The simple FLC system doesn't predict the response characteristics. While the simple FLC system works just like proportional part of PID, our system includes derivative part to predict the next response. The proposed controller is constructed with P part and D part FLC system that characteristic parameter on system response is changed by self tuner for effective response. Since the proposed controller doesn't include integral part, it can't eliminate steady state error. So we include a gain to eliminate the steady state error.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.7
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• pp.308-316
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• 2002

In this paper, we propose a robust digital copyright-protection technique based on the concept of human auditory system. First, we propose a watermarking technique that accepts the various attacks such as, time scaling, pitch shift, add noise and a lot of lossy compression such as MP3, AAC WMA. Second, we implement audio PD(portable device) for copyright protection using proposed method. The proposed watermarking technique is developed using digital filtering technique. Being designed according to critical band of HAS(human auditory system), the digital filers embed watermark without nearly affecting audio quality. Before processing of digital filtering, wavelet transform decomposes the input audio signal into several signals that are composed of specific frequencies. Then, we embed watermark in the decomposed signal (0kHz~11kHz) by designed band-stop digital filer. Watermarking detection algorithm is implemented on audio PD(portable device). Proposed watermarking technology embeds 2bits information per 15 seconds. If PD detects watermark '11', which means illegal song. PD displays "Illegal Song" message on LCD, skips the song and plays the next song, The implemented detection algorithm in PD requires 19 MHz computational power, 7.9kBytes ROM and 10kBytes RAM. The suggested technique satisfies SDMI(secure digital music initiative) requirements of platform3 based on ARM9E core.

• Journal of Korea Society of Industrial Information Systems
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• v.8 no.4
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• pp.46-54
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• 2003

In this paper, we propose segmentation algorithm for MR brain images using the histogram of T1-weighted, T2-weighted and PD images. Segmentation algorithm is composed of 3 steps. The first step involves the extraction of cerebrum images by ram a cerebrum mask over three input images. In the second step, peak ranges are determined from the histogram of the cerebrum image. In the final step, cerebrum images are segmented using coarse to fine clustering technique. We compare the segmentation result and processing time according to peak ranges. Also compare with the other segmentation methods. The proposed algorithm achieved better segmentation results than the other methods.