• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.214-219
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• 2000

This paper presents a recoil and counter recoil motion measurement system using linear variable differential transformers (LVDT). The output of the LVDT is obtained from the differential voltage of the secondary transformers. Since a transducer core is attached to the motion body, the output is directly proportional to the movement length of the core. Displacement, velocity and acceleration are measured from the LVDT. With a comparison between the measurement result and the reference value obtained by the highly accurate Vernier calipers, it is proved that the measurement system with the LVDT is applicable to the test of the moving part of the mechanism with better accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.455-460
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• 1997

This paper presents a recoil and counter recoil motion measurement method using linear variable differential transformers(LVDT). The output of a LVDT is obtained from the differential voltage of the 2nd transformers. As the sensor core is attached to the motion body, the output is directly proportional to the core motion. Displacement, velocity and acceleration are measured from the core length. A comparison between the measurement result and the known value, which is obtained by the precision steel tape, shows that the accuracy and the usefulness of the proposed scheme is validated.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Textile Coloration and Finishing
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• v.16 no.2
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• pp.47-51
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• 2004

A differential refractive index detector was used for monitoring glucose contents in textile processing solutions. The sensitivity of the device was high enough to measure 0.05％ aqueous glucose solution that could not be measured by normal refractive index measurement. The device was set to monitor glucose concentration continuously in real time by measuring differential refractive index and calibrated by standard glucose solutions in a range of 0.1 to 1.0%. The possibility of industrial application of the device was demonstrated by real-time monitoring of glucose concentration in textile processing solutions such as desizing bath and cellulase treatment bath. Both of solutions contained glucose as a major degraded product. The device would be able to control the weight loss of cellulosic fiber during cellulase treatment since the amount of degraded products in a processing bath is proportional to its weight loss.

• Journal of Welding and Joining
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• v.15 no.1
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• pp.81-91
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• 1997

In this study, a magnetic sensor to make use of eddy current was developed to detect the weld seam of butt joint in the sheet metal arc welding. This system consist of the sensor device for detecting the weld line, the servo control device for driving the weld torch movement and the control unit. A signal processing was applied to smooth the output signal of the sensor. The weld joint was determined by using a 1st order differential method. To improve tracking accuracy of the system, moving average method which has an effect of proportional and weighted integral control was applied to a series of the weld joint positions obtained above. The weld line for tracking was generated by using data regeneration algorithm. Based on these results, each servo motor was controlled by pulse generator. From experimental results, it was revealed that this system has excellent detecting ability for weld line and seam tracking ability.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.1332-1335
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• 2008

In order to various service types of real time and non-real time traffic with varying requirements are transmitted over the IEEE 802.16 standard is expected to provide quality of service(QoS) researchers have explored to provide a queue management scheme with differentiated loss guarantees for the future Internet. The sides of a packet drop rate, an each class to differential drop probability on achieving a low delay and high traffic intensity. Improved a queue management scheme to be enhanced to offer a drop probability is desired necessarily. This paper considers multiple random early detection with differential drop probability which is a slightly modified version of the Multiple-RED(Random Early Detection) model, to get the performance of the best suited, we analyzes its main control parameters (max_th, min_th, max_p) for achieving the proportional loss differentiation (PLD) model, and gives their setting guidance from the analytic approach. we propose Dynamic-multiple queue management scheme based on differential drop probability, called Dynamic-VQSDDP(Variable Queue State Differential Drop Probability)T, is proposed to overcome M-RED's shortcoming as well as supports static max_p parameter setting values for relative and each class proportional loss differentiation. M-RED is static according to the situation of the network traffic, Network environment is very dynamic situation. Therefore max_p parameter values needs to modify too to the constantly and dynamic. The verification of the guidance is shown with figuring out loss probability using a proposed algorithm under dynamic offered load and is also selection problem of optimal values of parameters for high traffic intensity and show that Dynamic-VQSDDP has the better performance in terms of packet drop rate. We also demonstrated using an ns-2 network simulation.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1736-1737
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• 2011

This paper deals with the problem of precise impact angle control of an actual homing missile guided by biased proportional navigation (BPN). To do this, the BPN guidance loop including dynamic lag is modeled as the confluent hyper-geometric differential equation and its analytic solution is derived. Based on the solution, a systematic way to determine the bias constant is newly devised. Different from the existing BPN solution obtained by ignoring the dynamic lag, the proposed one can exactly describe the behavior missile before target interception. hence it is drastically improved the angle constrained terminal guidance performance.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.64-71
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• 2006

In this paper, a uniform speed controller for an ultrasonic rotary motor is developed using the phase-difference method. The phase difference method uses traveling waves to drive the ultrasonic motor. The traveling waves are obtained by adding two standing waves that have a different phase to each other. A compact phase-difference driver system is designed and integrated by combining VCO(Voltage Controlled Oscillator) and phase shifter. Theoretically the relationship between the phase difference in time and the rotational speed of the ultrasonic motor is sine function, which is verified by experiments. Then a series of experiments under various loading conditions are conducted to characterize the motor's performance that is the relationship between the speed and torque. Proportional-integral control is adopted for the uniform speed control. The proportional control unit calculates the compensating phase-difference using the rotating speed which is measured by an encoder and fed back. Integral control is used to eliminate steady-state errors. Differential control for reducing overshoot is not used since the response of ultrasonic motor is prompt due to its low inertia and friction-driving characteristics. The developed controller demonstrates reasonable performance overcoming disturbing torque and the changes in material properties due to continuous usage.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1380-1383
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• 1996

This paper presents a recoil and counter recoil(R&CR) motion measurement method using linear variable differential transformers(LVDT). The output of a LVDT is obtained from the differential voltage of the 2nd transformers. As a sensor core is attached at the motion body, the output is directly proportional to the core motion. Displacement, velocity and acceleration are measure from the core length. With a comparison between the measurement result and the known value which is obtained by the precision steel tape, the accuracy and the usefulness of the proposed scheme is validated.

• Journal of Practical Engineering Education
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• v.8 no.1
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• pp.9-14
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• 2016

Depending on the college graduation project and graduation thesis regulations for the certification and graduation requirements, the quadcopter acting as a Li-Po battery that charges by solar energy are proposed a design method and improvements in theory. Quadcopter posture is balanced and confirmed by the position sensor, through a PID (Proportional Integral Differential) control. Battery switching circuit is composed of two Li-Po battery. Driving the quadcopter as one battery, and does not use other battery is charged by solar energy. A battery switching circuit is fabricated in a manner that uses two types of relays. Even if completely not charged to the battery is being driven a certain switch by the battery charging voltage from time to time, it proposes a method for increasing the endurance time and range.