• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.309-317
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• 2010

This paper proposes an efficient measurement system for the velocity and direction of the wind using the dual rotor wind power generator in vessel. Conventional digital measurement system recognizes the direction and the velocity of the wind using the electric compass or synchronous motor and Vane probe method using hall sensors. But each system has its own short-comings: the synchronous motor has a larger measurement error than the magnetic compass and magnetic compass is weak for the external disturbances such as fluctuation of the vessel. To compensate these short-comings, this paper proposes a new compensation algorithm for the fluctuation errors according to the external interference and the unexpected movement of the vessel along the roll and pitch directions. The proposed system is implemented with the dual compasses and a synchronous motor. The proposed independent power generation system can be operated by itself and can raise the efficiency of the wind power generation systems of 30 ~ 400 W installed along the vertical and horizontal axes. The proposed system also realizes the efficient and reliable power production system by the MPPT algorithm for the real-time recognition of the wind direction and velocity. An advanced switching algorithm for the battery charging system has been also proposed. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.8
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• pp.141-147
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• 2002

Estimation of thrusters efficiency is a very important process at the end of lifetime of a satellite. This paper introduces a technique to estimate the efficiency change of thrusters considering bubble effect for Koreasat I. During APEMAC(Automatic Pitch Error/ Momentum Adjust Control), the change in thruster efficiency is estimated to compare the attitude telemetry data of the Koreasat I with the results of the control logic using Simulink. The outcome of this study is expected to contribute to improving the operational load at the end of generic communication satellite mission.

• Korean Journal of Optics and Photonics
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• v.10 no.5
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• pp.364-368
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• 1999

We investigate the evaluation items of LSU (Laser Scanning Unit), such as beam size, f$\theta$ characteristics, linearity, skew and bow, optical power ratio between image height of 0mm and $\pm$108 mm, pitch error, Jitter and shift of printing position. Through the measurement of LSU using BSH (Beam Scan Head) installed on LMC (Linear Motion Controller) which moves linearly within the whole scanning range (-108 mm~+108 mm), we can ascertain plastic f$\theta$ lenses, which are manufactured by TVLP (Two-step Variable Low Pressure) molding method, to satisfy 600DPI(Dots Per Inch) performance.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.106-113
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• 2008

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.

• International Journal of Advanced Culture Technology
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• v.4 no.4
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• pp.81-86
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• 2016

In this paper, we propose a simple and effective vision-based tracking controller design for autonomous object tracking using multicopter. The multicopter based automatic tracking system usually unstable when the object moved so the tracking process can't define the object position location exactly that means when the object moves, the system can't track object suddenly along to the direction of objects movement. The system will always looking for the object from the first point or its home position. In this paper, PID control used to improve the stability of tracking system, so that the result object tracking became more stable than before, it can be seen from error of tracking. A computer vision and control strategy is applied to detect a diverse set of moving objects on Raspberry Pi based platform and Software defined PID controller design to control Yaw, Throttle, Pitch of the multicopter in real time. Finally based series of experiment results and concluded that the PID control make the tracking system become more stable in real time.

• Phonetics and Speech Sciences
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• v.5 no.3
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• pp.55-60
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• 2013

The purpose of this study was to investigate the acoustic characteristics of crying infants according to the communication intents such as hunger and pain in terms of acoustic differences in the fundamental frequency ($F_0$), jitter, shimmer, noise-to-harmonic ratio(NHR), habitual pitch, and intensity. The subjects were 20 healthy, normal infants, less than seven days old, from the city of Seoul and were born after 38 to 42 weeks(full term) of pregnancy. The sound of crying was recorded for three minutes. The crying due to pain was induced by means of the inborn metabolism error test, whereas the crying due to hunger was verified by means of the rooting reflex by waiting for the designated eating time. The results were as follows: (1) the fundamental frequency, noise-to-harmonic ratio(NHR), and intensity of the infants' crying due to pain was higher than that by hunger, showing a significant difference between the mean values. (2) the infants' crying due to hunger and that by pain did not have a significant difference in the mean jitter and shimmer values but both of them were largely outside of the normal threshold values(jitter by 1.04% and shimmer by 3.81%). This study was significant in the sense that it showed the acoustic characteristics of infants' crying from hunger and pain were very different from each other according to the communication intents in terms of the six acoustic parameters.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.3
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• pp.65-70
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• 2007

Generally, the core component of small precise optical device demands high accuracy of manufacturing processes. Although, the geometry of it is simple, the manufacturing technique to materialize is categorized as the ultra-precision machining and it must be done with the specialized machines and by the trained operator. Typical examples of small precise optical device are laser printer and phone camera. As a core part of laser printer, polygon mirror is used in laser scanning unit(LSU). It couldn't be fabricated with conventional machine but specified machine for polygon mirror machining. In this study, Polygon mirror with 16 surfaces was manufactured in the process of ultra-precision fly-cutting with Al material and investigated optimum machining conditions in terms of feedrate, pitch per cycle and depth of cut. Owing to process of polishing has bad influence on reflection angle, surface roughness, $R_{max}$=10nm, and form error, $Ra={\lambda}/10({\lambda}=632nm)$, are prerequisites for polygon mirror.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.609-612
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• 2008

The solid immersion lens (SIL) based near-field recording (NFR) system is considered as one of the high density optical data storage system. For the NFR servo system, tracking servo control is a difficult technology to maintain extremely small gap between SIL and media within one twentieth. This is because the track pitch is decreased for increasing the recording density. In this paper, we propose disturbance observer (DOB) and internal model principle (IMP) for disturbance rejection due to eccentricity of disk. The performance of tracking controller using DOB is increased by about 85%, 94%, 97% using Q filters that have bandwidths of 50Hz, 125Hz, 250Hz, respectively. Moreover, IMP based controller is effectively reduced the residual error.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.87-92
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• 2005

An altitude control using a fuzzy controller was performed for a series of research for autonomous flight control of industrial unmanned helicopters. The 3m class gasoline engined unmanned helicopter was designed, and using the designed specifications, Takagi-Sugeno-Kang type fuzzy controller was designed. The input membership functions were generated using target altitude, altitude error and velocity of unmanned helicopter. With these membership functions, the control inputs for altitude control were calculated. These control input signal can control the main rotor's pitch and determine the velocity and altitude of the unmanned helicopter. Also, the altitude control performance of the designed fuzzy controller was evaluated by computer simulations

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.3
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• pp.230-237
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• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.