• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• 한국항공우주학회지
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• 제47권11호
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• pp.795-802
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• 2019

본 논문에서는 인공위성의 근접운용에서 발생할 수 있는 위치-자세 결합운동을 정의하고, 이를 듀얼 쿼터니언 기반의 운동방정식을 통해 접근한다. 인공위성의 위치-자세 결합운동은 두 위성의 상대운동에서 목표 지점이 무게 중심이 아닌 위성체 위의 임의의 점에 위치할 때 발생하며, 특히 근거리 운용에서 명확히 보여진다. 듀얼 쿼터니언 기반의 운동방정식은 각속도 상태를 직접 반영하여, 자세의 변화가 위치에 영향을 미치는 위치-자세 결합운동을 간결하게 정의할 수 있다. 여기에서는 위치-자세 결합운동의 해결을 위해 기존의 접근방법과 함께 듀얼 쿼터니언 기반의 운동방정식을 새롭게 제시한다. 수치 시뮬레이션에서는 두 위성의 상대운동에서 위치-자세 결합운동으로 목표 지점에 대한 위치 오차가 발생함을 보이고, 듀얼 쿼터니언 기반의 운동방정식이 이를 해결할 수 있음을 검증한다.

• 전기학회논문지
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• 제65권11호
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• pp.1848-1853
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• 2016

Control Rod Position Indicator in nuclear reactor vessel has developed for small reactor in Korea. Because of severe environment in reactor vessel, target of this study is to develop the suitable position indicator. In this study, solenoid type position indicator made of Mineral Insulated Cable(MI Cable) was introduced to adapt in severe environment. And inductance of the solenoid was used to indicate the rod position for high precision. But problem of this concept is that a linear slope of inductance is changed by temperature effect. To resolve this problem, two sensing coils were introduced for temperature compensation. A role of the sensing coil is to make reference linear equation about certain temperature. To confirm this concept, also, inductance of solenoid and sensing coils were measured at room and high temperature (${\sim}300^{\circ}C$). The results of measurement show that the position error of sensing coil between room and high temperature was about 2%. But it was identified that this error was resulted from insufficient test environment (temperature error between solenoid and sensing coils was about 2% at high temperature condition). Therefore, solenoid type position indicator shows that it is very suitable in reactor vessel as a high precision rod position indicator.

• 한국공작기계학회논문집
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• 제13권2호
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• pp.120-126
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• 2004

This study proposed the analysis of mass position detection due to the change of the mass and strifeless of structure by using the original and modified dynamic characteristics. The method is applied to examples of the cantilevers beam and the 3 degrees of freedom system by modifying the mass. The predicted detection of the mass positions and magnitudes are in good agrement with the present study from the structural reanalysis using the modified mass.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2014년도 추계 학술논문 발표대회
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• pp.117-118
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• 2014

The unfloored space and floor is one of characteristic of traditional house in Korea. This space is used to connecting passage between room or entrance of house. Currently, according to decline of heat insulation property thereby becoming decrepit house, native is repairing it for block external environment such as rain, wind and so on. But, variety problem is happening from wrong repair. This object of this study is current status and analysis on problem of unfloored space and floor repair. As a result, current status of repair is classified repair type, installation position and using form. And position of problem is confirmed connection between original house and extend space.

• 대한치과의사협회지
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• 제58권9호
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• pp.583-589
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• 2020

If the implant is planted in the wrong position or direction, it is disadvantageous for stress distribution, and it is easy to cause complications such as screw loosening, abutment fracture, and implant fracture. If the position or orientation of the implant is not good, efforts should be made to minimize the problem through proper implant prosthetic treatment. In this article, the prosthetic method for facilitating future maintenance in cases with poor implant placement or orientation will be presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.1935-1937
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• 2001

In this paper, the position determination problem for geometry PIG is considered. The PIG system is a device to examine the gas pipeline condition and detect the accurate position of dent or any undesirable state. In order to determine the position, the smoothing algorithm has been used and its performance anyalsis has been done by Monte Carlo simulation technigue.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권3호
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• pp.117-123
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• 2000

A new control method for precision robust position control of a PMSM (Permanent Magnet Synchronous Motor) using asymptotically stable adaptive load torque observer is presented in the paper. Precision position control is obtained for the PMSM system approximately linearized using the field-orientation method. Recently, many of these drive systems use the PMSM to avoid backlashes. However, the disadvantages of the motor are high cost and complex control because of nonlinear characteristics. Also, the load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in [1] using fixed gain. However, the motor flux linkage is not exactly known for a load torque observer. There is the problem of uncertainty to obtain very high precision position control. Therefore, a model reference adaptive observer is considered to overcome the problem of unknown parameter and torque disturbance in this paper. The system stability analysis is carried out using Lyapunov stability theorem. As a result, asymptotically stable observer gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current which gives fast response. The experimental results are presented in the paper using DSP TMS320c31.

• Journal of Power Electronics
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• 제11권5호
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• pp.726-733
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• 2011

BLDC Motors are widely used in various speed control applications due to their ease of control and low cost. Generally, the unipolar PWM method is used for speed control applications. However, the unipolar PWM method has a current spike problem in the braking operation which can be a problem in speed reversal which generally happens in position control applications. However, the current spike problem can be solved by the conventional bipolar PWM method. Although the current spike problem can be solved, the conventional bipolar PWM method has the problem of a large current ripple. In this paper, a novel bipolar PWM method is proposed to solve this problem. The current ripple and the current spike problems are analyzed in this paper for the unipolar and bipolar PWM methods. At last, the merits of the proposed bipolar PWM method are proven by experiment.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제24권3호
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• pp.113-121
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• 2018

포지션 인코딩은 문장 내 등장하는 단어의 위치에 따라 가중치를 적용하는 방법이다. 포인터 네트워크는 입력열에 대응되는 위치를 출력하는 딥 러닝 모델이며, 상호참조해결에 적용될 수 있다. 그러나 포인터 네트워크는 입력열의 길이가 긴 경우에 성능이 저하되는 문제가 있다. 이러한 문제를 해결하기 위하여 본 논문에서는 포지션 인코딩과 동적 포지션 인코딩을 포인터 네트워크에 적용할 것을 제안하고, Encoder RNN의 레이어를 더 깊게 쌓아 높은 수준으로 추상화할 것을 제안하며, 이를 이용한 상호참조해결 모델을 제안한다. 실험 결과, 본 논문에서 제안한 포지션 인코딩 기반 스택 포인터 네트워크 모델이 기존의 포인터 네트워크 모델보다 6.01% 향상된 CoNLL F1 71.78%의 성능을 보였다.