• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.99-109
• /
• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.11
• /
• pp.34-41
• /
• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• Korean Journal of Remote Sensing
• /
• v.35 no.3
• /
• pp.347-358
• /
• 2019

Lambertian cloud model (Lambertian Cloud Model) is the simplified cloud model which is used to effectively retrieve the vertical ozone distribution of the atmosphere where the clouds exist. By using the Lambertian cloud model, the optical characteristics of clouds required for radiative transfer simulation are parametrized by Optical Centroid Cloud Pressure (OCCP) and Effective Cloud Fraction (ECF), and the accuracy of each parameter greatly affects the radiation simulation accuracy. However, it is very difficult to generalize the vertical ozone error due to the OCCP error because it varies depending on the radiation environment and algorithm setting. In addition, it is also difficult to analyze the effect of OCCP error because it is mixed with other errors that occur in the vertical ozone calculation process. This study analyzed the ozone retrieval error due to OCCP error using two methods. First, we simulated the impact of OCCP error on ozone retrieval based on Optimal Estimation. Using LIDORT radiation model, the radiation error due to the OCCP error is calculated. In order to convert the radiation error to the ozone calculation error, the radiation error is assigned to the conversion equation of the optimal estimation method. The results show that when the OCCP error occurs by 100 hPa, the total ozone is overestimated by 2.7%. Second, a case analysis is carried out to find the ozone retrieval error due to OCCP error. For the case analysis, the ozone retrieval error is simulated assuming OCCP error and compared with the ozone error in the case of PROFOZ 2005-2006, an OMI ozone profile product. In order to define the ozone error in the case, we assumed an ideal assumption. Considering albedo, and the horizontal change of ozone for satisfying the assumption, the 49 cases are selected. As a result, 27 out of 49 cases(about 55%)showed a correlation of 0.5 or more. This result show that the error of OCCP has a significant influence on the accuracy of ozone profile calculation.

• Journal of Advanced Marine Engineering and Technology
• /
• v.33 no.8
• /
• pp.1261-1267
• /
• 2009

The Direct Torque Control[DTC] controls torque and flux by restricting the flux and torque errors within respective hysteresis bands, and motor torque and flux are controlled by the stator voltage space vector using optimum inverter switching table. And the Current Error Compensation method is on the basis of compensating current difference between the induction motor and its numerical model, in which the identical stator voltage is supplied for both the actual motor and the model so that the gaps between stator currents of the two can be forced to decay to zero as time proceeds. Consequently, the rotor speed approaches to the model speed, namely, setting value and the system can control motor speed precisely. This paper proposes a new sensorless speed control of induction motor using DTC and Current Error Compensation, which requires neither shaft encoder, speed estimator nor PI controllers. And through computer simulation, confirm effectiveness of proposed method.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.41 no.9
• /
• pp.39-48
• /
• 2004

Turbo codes, whose performance in bit error rate is close to the Shannon limit, have been adopted as a part of standard for the third-generation high-speed wireless data services. Iterative Turbo decoding results in decoding delay and high power consumption. As wireless communication systems can only use limited power supply, low power design techniques are essential for mobile device implementation. This paper proposes new effective criteria for stopping the iteration process in turbo decoding to reduce power consumption. By setting two stopping criteria, decodable threshold and undecodable threshold, we can effectively reduce the number of decoding iterations with only negligible error-correcting performance degradation. Simulation results show that the number of unsuccessful error-correction can be reduced by 89% and the number of decoding iterations can be reduced by 29% on the average among 12500 simulations when compared with those of an existing typical method.

• Journal of Advanced Marine Engineering and Technology
• /
• v.37 no.6
• /
• pp.653-658
• /
• 2013

This paper describes a new sensorless speed control method for permanent magnet synchronous motor(PMSM) using direct torque control(DTC). The direct torque control offers fast torque response, lesser hardware and processing costs as compared to vector controlled drives. In this paper the current error compensation technique is applied for sensorless speed control of synchronous motor. Through this method, the controlled stator voltage is applied to the synchronous motor so that the error between stator currents of the mathematical model and the actual motor can be forced to decay to zero as time proceeds and therefore, the motor speed approaches to the setting value. Especially, any PI controllers are not necessary in this control method. The simulation results indicate good speed and load responses from the low speed range to the high.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.18 no.2
• /
• pp.163-168
• /
• 2018

In this paper, we propose and develop a test automation program tool that automates GUI based testing using black box testing technique in Windows environment. The main features of the proposed test automation program tool are as follows. First, an error condition is designated as an image, a screen is captured for each test step, and an error message is detected through comparison of image similarity. Second, the proposed system supports various setting options such as event waiting time during execution and coordinate increment value between each test step. Such black box test automation research was common in environments such as Android and Web, but not in Windows environment. The results of performance evaluation show that the proposed system performs GUI test automation as an image comparison module and confirms that the test is performed normally by confirming process status and error image detection.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.9
• /
• pp.935-939
• /
• 2015

This paper describes sensorless speed control of brushless DC motors by using direct torque control. Direct torque control offers fast torque response, robust specification of parameter changes, and lower hardware and processing costs compared to vector-controlled drives. In this paper, the current error compensation method is applied to the sensorless speed control of a brushless DC motor. Through this control technique, the controlled stator voltage is applied to the brushless DC motor such that the error between the stator currents in the mathematical model and the actual motor can be forced to decay to zero as time proceeds, and therefore, the motor speed approaches the setting value. This paper discusses the composition of the controller, which can carry out robust speed control without any proportional-integral (PI) controllers. The simulation results show that the control system has good dynamic speed and load responses at wide ranges of speed.

• Convergence Security Journal
• /
• v.12 no.3
• /
• pp.19-26
• /
• 2012

In this study, software products developed in the course of testing, software managers in the process of testing software and tools for effective learning effects perspective has been studied using the NHPP software. The log type hazard function applied to distribution was based on finite failure NHPP. Software error detection techniques known in advance, but influencing factors for considering the errors found automatically and learning factors, by prior experience, to find precisely the error factor setting up the testing manager are presented comparing the problem. As a result, the learning factor is greater than autonomous errors-detected factor that is generally efficient model could be confirmed. This paper, a failure data analysis of applying using time between failures and parameter estimation using maximum likelihood estimation method, after the efficiency of the data through trend analysis model selection were efficient using the mean square error and $R^2$(coefficient of determination).

• Journal of The Korean Society of Integrative Medicine
• /
• v.8 no.4
• /
• pp.307-321
• /
• 2020

Purpose : A person infected by SARS-CoV2 may present various symptoms such as fever, pain in lower respiratory tract, and pneumonia. Measuring body temperature is a simple method to screen patients. However, changes in the surrounding environment may cause errors in infrared measurement. Hence, a non-contact thermometer controls this error by setting a correction value, but it is difficult to correct it for all environments. Therefore, we investigate device error values according to changes in the surrounding environment (temperature and humidity) and propose guidelines for reliable patient detection. Methods : For this study, the temperature was measured using three types of non-contact thermometers. For accurate temperature measurement, we used a water bath kept at a constant temperature. During temperature measurement, we ensured that the temperature and humidity were maintained using a thermo-hygrometer. The conditions of the surrounding environment were changed by an air conditioner, humidifier, warmer, and dehumidifier. Results : The temperature of the water bath was measured using a non-contact thermometer kept at various distances ranging from 3~10 cm. The value measured by the non-contact thermometer was then verified using a mercury thermometer, and the difference between the measured temperatures was compared. It was observed that at normal surrounding temperature (24 ℃), there was no difference between the values when the non-contact thermometer was kept at 3 cm. However, as the distance of the non-contact thermometer was increased from the water bath, the recorded temperature was significantly different compared with that of mercury thermometer. Moreover, temperature measurements were conducted at different surrounding temperatures and the results obtained significantly varied from when the thermometer was kept at 3 cm. Additionally, it was observed that the effect on temperature decreases with an increase in humidity Conclusion : In conclusion, non-contact thermometers are lower in lower temperature and dry weather in winter.