• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.6C
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• pp.572-579
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• 2010

Filtered multi-tone (FMT) is a form of multicarrier modulation utilizing frequency-domain equalization efficient in multi-path fading channels. Doppler frequency information can be employed for channel estimation and link adaptation to improve the performance. However, most previous studies have concentrated on the orthogonal frequency division multiplexing (OFDM) instead of FMT. Moreover, they have not considered the synchronization error that can commonly occur in practical systems. In this paper, we propose Doppler frequency estimation scheme that is effective in FMT systems with residual synchronization error and high noise levels.

• Journal of Satellite, Information and Communications
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• v.10 no.1
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• pp.29-32
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• 2015

It has been a big trend of the convergence technologies about communication systems and vehicular industry to improve safety and convenience. To achieve a number of infotainment vehicular applications, vehicles should transmit information with high reliability. A robust and accurate channel estimation scheme is of great importance to achieve the goal. In this paper, we present a novel enhanced decision-directed channel estimation scheme called FADP (Frequency Averaging Data Pilot) for dynamic time-varying vehicular channels in IEEE 802.11p. We use linear averaging filtering in frequency domain, and utilize the correlation characteristic of the channels between the adjacent two data symbols, update the CR in time domain to get more accuracy. Finally, analysis and simulation results reveal that compared with exist schemes, the proposed scheme has a good performance in mean square error (MSE) and bit error rate (BER).

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1374-1381
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• 1994

This study suggests a new type shaft generating system driven by hydrostatic transmission suitable for small size vessels. In this system, the hydraulic motor speed is controlled by displacement adjustment using a 3-way high speed on/off valve. The 3-way high speed valve is operated by PWM control signal. In this study, a digital robust servo control algorithm is applied to the controller design of the system. By experiments and numerical computations, the frequency variation characteristics of the generating system under various disturbances are investigated. Conclusively, it is said that the shaft generating system proposed in this study shows excellent control performances.

• Journal of Information Display
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• v.6 no.4
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• pp.35-39
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• 2005

In this paper, we investigate the oxide cathodes for the development of reliable electron sources. Poisoning in oxide cathodes is one of the serious problems in achieving reliable electron emission. In particular, early poisoning induces poor life performance as will be demonstrated herein. The survivability of electron emission sources is significantly improved by high doping of high-speed activator. The robust oxide cathodes with 0.17 % Mg operating at about 1,050 K are expected to work for very long times (>100,000 hours). We suggest that this key idea will contribute to solving the basic problems in oxide cathodes such as poisoning or ion bombardment for high power or high frequency applications of electron sources.

• Journal of Broadcast Engineering
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• v.6 no.2
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• pp.169-176
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• 2001

Most of the previous video watermarking algorithms cannot be supported by real-time video processing. The maul reason is that in order to develop a robust algorithm the watermarking technique requires a very high computational cost when embedding and extracting the watermark in various frequency domains. Previous embedding methods simultaneously try to compress a video by MPEG and embed a watermark supporting real-time processing. However, In this paper, our proposed algorithm can support real-time processing in both spatial and frequency domains. First. the watermark is created on the courier transform domain, and next is inverse-Fourier-transformed ; then, we directly embed it into the video frame In the spatial domain. This procedure does not require a lot of the computational cost during embedding because of the spatial domain processing. Also, it is possible to support a video stream service and a very robust algorithm from MPEG compression and various geometric attacks.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.19 no.10
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• pp.1137-1146
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• 2008

OFDM is very effective for the high speed communication system. However, OFDM has the problems of high PAPR and serious ICI, which is different from the single carrier system. Especially, ICI problem caused by phase noise, Doppler effect and frequency offset is main reason for poor performance since it breaks down the orthogonality between subcarriers in OFDM communication system. Therefore, WFMT modulation scheme is studied and the effect of the carrier frequency offset and phase noise is analyzed. WFMT modulation scheme is based on the wavelet theory and complex filter banks for synthesis and analysis of multichannel signal. WFHT modulation scheme keeps on the advantage of filter banks system and can be easily possible for the implementation of filter banks. In this paper, we compare ISI and ICI distortions of the WFMT and OFDM system due to the carrier frequency offset and phase noise. Also, we analyze the PAPR and BER performances in the HPA and ICI situation caused by the Doppler frequency shift and the frequency offset.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1337-1341
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• 2003

This paper suggests and demonstrates a novel flow measurement technique, tunable AC mode hotwire anemometry that allows simple integration, robust measurement, and extremely high accuracy. The principle and simple theoretical analysis of the technique are shown. To find the optimal frequency at which the phase lag becomes most sensitive to flow speed change, the phase lag was measured scanning the heating frequency from 1 to 100 Hz, while the flow speed of ethanol was increased stepwise from 0 to 10 mm/s. To optimize the sensitivity of technique, the periodic thermal characteristic of the hotwire should be understood and is currently under study.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.2
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• pp.230-237
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• 2004

This paper suggests and demonstrates a novel flow measurement technique: tunable AC thermal anemometry that allows simple integration, robust measurement, and extremely high accuracy. The principle and simple theoretical analysis of the technique are presented. To find the optimal condition at which the phase lag becomes most sensitive to flow speed change, the phase lag was measured scanning the heating frequency from 1 to 100 Hz, while the flow speed of ethanol was increased stepwise from 0 to 40 mm/s. The sensitivity of phase lag depended on the heating frequency and the flow speed. It was possible to measure the flow speed of 0.7 mm/s with the resolution of 0.1 mm/s at 4 Hz.

• The Transactions of the Korean Institute of Power Electronics
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• v.22 no.3
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• pp.263-269
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• 2017

This paper proposes a novel circulating current control method for an MMC-HVDC system based on Vector PI control. The method can suppress second-order harmonics of the circulating currents under balanced and unbalanced grid conditions. The proposed method is robust to grid frequency variation. The effectiveness of the proposed method is verified through frequency response and time domain simulation.