• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.6
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• pp.1203-1211
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• 2017

This paper proposes a robust controller for flexible joint robots to achieve tracking performance and to improve robustness against both matched and mismatched disturbances. The proposed controller consists of a disturbance observer(DOB), passivity-based controller, and integral sliding mode controller(ISMC) in a backstepping manner. The DOB compensates the mismatched disturbance in the link-side and formulates the reference input for the motor-side controller. Interconnection and damping assignment passivity-based controller (IDA-PBC) performs tracking control of motor-side, and it is integrated to nominal control of ISMC to guarantee the over-all stability of the nominal system, while, matched disturbances are decoupled by the discontinuous control of ISMC. In the design of the link-side controller, PD type impedance controller is designed with DOB and this leads the continuous control input which is suitable to the reference input for the motor-side.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.983-990
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• 2008

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

• Journal of The Korean Association For Science Education
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• v.44 no.2
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• pp.219-229
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• 2024

The purpose of this study is to analyze the concerns and difficulties encountered by authors involved in the development of integrated science textbooks. Specifically, it focuses on their experiences with understanding and implementing the 2022 revised science curriculum. We collected 89 opinions from textbook authors and categorized them into several key areas: understanding the terminology and descriptors provided in the curriculum, structuring learning content, inquiries and activities, and the depth and scope of learning content. The analysis revealed that the most difficulty encountered by the textbook authors was in defining the level and scope of learning content. Many also expressed concerns and difficulties related to the ambiguity of terms and predicates. In terms of the composition of learning content, difficulties were identified in concerning the repetitive descriptions of achievement standards and the discrepancy between the arrangement of achievement standards and the flow of learning. Regarding inquiries and activities, there were experiments presented that were difficult to experience or actually implement, along with limitations in activity composition due to the need to optimize learning volume. Given the importance of high-quality textbooks for effective science education at the national level, it is crucial to establish effective communication channels between curriculum developers and textbook authors. Additionally, a robust support system for textbook development should be established.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.11A
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• pp.909-917
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• 2009

In this paper, we proposed and implemented the method to efficiently generate TDD synchronization signal and the digital circuit for the RF repeater which can eliminate the shadow region in the wireless communication field using the time division duplex (TDD) method. After detecting the TDD signal from the transmitted or received RF signal, the detected TDD signal is fed to the RF repeater for the normal operation. The proposed technique detects the envelop of the downlink signal and amplifies the detected envelop, and then restores the degraded envelop with the proposed digital filtering method. Finally the restored envelop is manipulated to the TDD synchronization signal. Our focus on the proposed algorithm is to develop it with simple feature and low cost but robust performance. The proposed scheme was implemented to the integrated system which has both RF and digital circuit and tested under the same condition with the commercial WiBro service.