• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.342-347
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• 1995

Loop shaping $H_{\infty}$control with normalized coprime factorization was applied to a servo-motor driven high-speed powitioning system. The high-gain controller was designed to attenuate the postion errors caused byfriction effects and extermal disturbances. The non-existence of limit cycle was analyzed, though there is actuator saturation. The designed $H_{\infty}$control system was experimently tested in a rotary index table. Results showed its effectiveness to improve postion accuracy with out any compensation scheme for friction, and robustness to model perturbation and external disturbances.ces.

• 대한전기학회논문지
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• 제41권1호
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• pp.63-72
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• 1992

A tracking controller which can improve the performance of nonlinear electrohydraulic position control system is designed and implemented. The method is based on augmenting the system with integrators, obtaining the feedback control law which stabilizes the linear part of the original nonlinear system, and then reajusting the feedback gains using the deseribing funtion method to eliminate the limit cycle in the steady state. The proposed control law is implemented using OP amplifiers, and step and ramp response tests are carried out in the electrohydraulic servomechanism. The results show the improvement in both rransient and steady-state response.

• 한국생산제조학회지
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• 제19권4호
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• 한국전자통신학회논문지
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• 제15권5호
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• pp.899-906
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• 2020

전동기의 제어에 있어서 전동기의 수학적 모델 오차와 작용하는 외란에 대해서 강건하며 정밀한 제어의 성능을 요구한다. 강건하며 정밀한 제어를 위하여 외란 관측기를 설계하여 부하변동을 추정하고, 공칭 시스템으로 설계된 백스텝핑 제어기에 적용하였다. 설계된 시스템의 제어 성능을 확인하고자 120 [W]급의 BLDCM(Brushless Direct Current Motor)에 적용하여, 위치제어 및 속도제어의 결과 외란을 극복하고 정상상태 오차가 영으로 수렴하며, 점근적 안정한 결과를 확인할 수 있다.

• 정보저장시스템학회:학술대회논문집
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• 정보저장시스템학회 2005년도 추계학술대회 논문집
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• pp.223-228
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• 2005

In oprical disk drives, surface defects on a disk distort tracking error signal and disturb a precision tracking control.. A conventional method against disk defect is held the tracking control signal when a defective portion is detected. However, if the defective portion is getting longer, objective lens will get away from following track. In order to keep the postion of spot from following track, the servo system must predict tracking error and control the object lens in the defective portion. A tracking control system for optical disk drives was proposed recently based on both Coprime Factorization(CF) and Zero Phase Erro. Tracking(ZPET) control. The system was proposed for overcome the limit of previously tracking error. But there were no research about the method against the defective portion. This paper proposes a new and simple ZPET construct. as a new method against the defective portion. From experimental results, we have proved that proposed method improves the performance against the defective portion, decreases the uncertainty of a model, and requires less memory than the previously proposed method.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.69-75
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• 2000

The aim of the work described in this paper is to develop a complex underground acoustic system which detects and localizes the origin of an underground hammering sound using an array of hydrophones located about 100m underground. Three different methods for the sound localization will be presented, a time-delay method, a power-attenuation method and a hybrid method. In the time-delay method, the cross correlation of the signals received from the array of sensors is used to calculate the time delays between those signals. In the power-attenuation method, the powers of the received signals provide a measure of the distances of the source from the sensors. In the hybrid method, both informations of time-delays and power-ratios are coupled together to produce better performance of position estimation. A new acoustic imaging technique has been developed for improving the hybrid method. This new acoustic imaging method shows the multi-dimensional distribution of the normalized cost function, so as to indicate the trend of the minimizing direction toward the source location. For each method the sound localization is carried out in three dimensions underground. The distance between the true and estimated origins of the source is 28m for a search area of radius 250m.

• Nuclear Engineering and Technology
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• 제21권4호
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• pp.294-301
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• 1989

상하부 2개의 노외계측기, 노입구관 온도 및 제어봉 위치 신호를 이용하여 상세한 축방향 출력분포를 계산할 수 있는 APDMS프로그램을 개발하였다. 상하부 2개의 노외계측기 신호가 제어봉 위치에 의하여 결정된 제어봉 간섭계수와 노입구관 온도에 따른 온도 간섭계수에 대하여 보정된 후 노심 주변출력을 얻기 위하여 보정된 노외계측기 신호에 shape annealing matrix가 적용되었다. 노심의 상하부 경계에서의 출력을 얻기 위해서는 평균 노심출력과 주변출력과의 선형적 관계를 이용한 노심 상하부의 평균출력에 경계점 출력보정계수가 적용되었다. 축방향 출력분포가 2개의 노외계측기에 의해 계산된 상하부 평균 노심출력, 상하부 경계면에서의 출력 및 미리 계산된 노심의 중심 위치에서의 출력을 이용하여 spline approximation에 의하여 계산되었다. 연소도, 출력준위, 제어봉 위치 및 axial offset의 변화에도 불구하고 고리 3호기 4주기에 대하여 BOXER 코드와 APDMS 프로그램에 의해 계산된 축방향 출력분포의 비교는 5% root mean square 오차내에서 일치함을 보여 주었다.

• Journal of Oral Medicine and Pain
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• 제20권2호
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• pp.361-376
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• 1995

The purpose of this study was to investigate the relationship between the head and neck postre and the cervical curvature, especially in forward head postrue(FHP). Sixty patients with craniomandibular disorders and thirty dental students without any signs and symptoms of craniomandibular disordres participated in this study as patient groups and sa control group, respectively. The author evaluated the head and neck posture of all subjects by plumb line and CROM( Cervical Ragne of Motion), and had taken cephaograph in natural head position. On the cephalograph the angle of cervical inclination formed by true horizntal plane and 4th cervical vertebra(C4) and the radius of cervical curvature from C1 to C5 were measured. A specially designed ruler was used for measuring cervical curvature. Occlusal contac number and force with T-scan system, electromygraphic activity of cervical muscles with Bio-EMG, and distance of freeway space with Bio-ECN were recorded, respectively. The collected data were processed by SAS/STAT progrm. The obtained results were as follows : 1. In subjects with longer radius which was less cervical curvature, head positioned more anteriorly than subjects with smaller radius, and they showed slightly straight cervical vertebra. 2. Between the patients and the control group, there were no differences in cervical curvature, in forward head position by plumb line and in CROM. But the patient group had a greater cervical inclination than the control group had. 3. There were positive correlation between cervical curvature and forward head position by plumbline,between forward head position y plumb line and that by CROM in patient group. The cervical inclination, however, had negative correlation with cervical curvature, and with forward head postion by plumb line, respectively. 4. In case of showing more cervical curvature and more forward head position by plumb line the head position was defined as forward head posture. In patient group, subjects without forward head posture showed greater posterior teeth contact force than subjects with forward head posture, but in control group, there were no difference between the two subjects. 5. There were higher electromyographic activity in almost all muscles and smaller freeway space in induced forward head posture than those in natural head position in subjects without forward head posture. In conclusion, head position of patients with craniomandibular disorders were not more anterior than that of normal control person, but they had tendency to head extension. From the result of this study, forward head posture could be defined as posterior rotation of upper cervical segment with a straight lower cercial segment due to loss of normal lordosis.

• 대한의용생체공학회:의공학회지
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• 제28권4호
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• pp.494-502
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• 2007

Ubiquitous location based services (u-LBS) will be interested to an important services. They can easily recognize object position at anytime, anywhere. At present, many researchers are making a study of the position recognition and tracking. This paper consists of postion recognition and user identification system. The position recognition is based on location under services (LBS) using a signal strength map, a database is previously made use of empirical measured received signal strength indicator (RSSI). The user identification system automatically controls instruments which is located in home. Moreover users are able to measures body signal freely. We implemented the multi-hop routing method using the Star-Mesh networks. Also, we use the sensor devices which are satisfied with the IEEE 802.15.4 specification. The used devices are the Nano-24 modules in Octacomm Co. Ltd. A RSSI is very important factor in position recognition analysis. It makes use of the way that decides position recognition and user identification in narrow indoor space. In experiments, we can analyze properties of the RSSI, draw the parameter about position recognition. The experimental result is that RSSI value is attenuated according to increasing distances. It also derives property of the radio frequency (RF) signal. Moreover, we express the monitoring program using the Microsoft C#. Finally, the proposed methods are expected to protect a sudden death and an accident in home.