• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.812-817
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• 2009

In this paper, a new method to design sliding surfaces using eigenstructure assignment is proposed. Most conventional methods for constructing the surfaces require special form like canonical or regular canonical form of system matrices. But the proposed method can be applied to arbitrary system matrices. Futhermore, the surface matrix, C can be decided for the matrix multiplication, CB to have a designated form. SVD is used to decide desirable eigenvectors explicitly. To verify the proposed algorithm, a sliding mode controller for a multivariable system with matched uncertainty is constructed. The controller is designed to guarantee minimum approach velocity to the sliding surface.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.5
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• pp.950-960
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• 2010

In this paper, a multi-input multi-output(MIMO) integral variable structure system with an integral-augmented sliding surface is designed for the improved robust control of uncertain multivariable system under the matched persistent disturbance. To effectively remove the reaching phase problems, the integral augmented sliding surface is proposed. Then for its design, the eigenstructure assignment technique is introduced to. To guarantee the designed performance against the persistent disturbance, the stabilizing control for multi-input system is also designed to generate the sliding mode on the integral sliding surface. The stability of the global system together with the existence condition of the sliding mode are investigated and proved for the case of multi input system in the presence of uncertainty and disturbance. The reaching phase is completely removed in proposed MIMO VSS by satisfying the two requirements. An example and computer simulations will be present for showing the usefulness of algorithm.

• 한국정보디스플레이학회:학술대회논문집
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• 2002.08a
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• pp.575-578
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• 2002

In this work, the electrical characteristics of organic thin film transistors with the surface-treated organic gate insulator have been studied. For the surface treatment, the photoalignment technique was used. The field effect mobilities of the devices with PVP gate insulator was improved about ten times as high as those of TFTs without the insulator surface treatment.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.8
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• pp.467-472
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• 2000

A three-level decoupled sliding mode controller is developed to achieve asymptotic stability for a class of sixth-order nonlinear systems. The sixth-order system is decoupled into three subsystems according to the structure of the whole system. Each subsystem has a separate control target in the form of a sliding surface. The information of the third sliding surface is transferred to the second one through an intermediate variable and the information of the second sliding surface is transferred to the first one through another intermediate variable. Consequently, the controller designed on the basis of the first sliding surface can make three subsystems move toward their sliding surfaces, respectively. The three-level decoupled sliding mode controller is applied to the double-inverted pendulum problem where the zero stable states are required.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.627-632
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• 2016

In this paper, we propose a new vision-based defect inspection system for the surface of hot slabs. To minimize the influence of self-emission from slab surfaces with high temperature, an optic method based on blue LED light and a blue pass filter is proposed. Because the slab surface is partially covered with scales, which are unavoidable oxidized substances caused during manufacturing, it is difficult to distinguish between vertical cracks and scale. In order to resolve this problem and to improve the detection performance, the use of a Gabor filter and dynamic programming are proposed. Finally, the effectiveness of the proposed method is shown by means of experiments conducted on images of hot slabs that were obtained from an actual slab production line.

• Journal of Technologic Dentistry
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• v.33 no.1
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• pp.1-6
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• 2011

Purpose: To examine the shear bond strengths of zirconia and veneering ceramic according to their surface processing. Methods: The test samples were divided into three groups: one without zirconia surface processing, one sandblasted, and one sandblasted then 3% etched. Then veneering ceramic was fired on all test samples, and their shear bond strengths were measured. Results: The test samples of the control group (Z1) showed the lowest shear bond strengths of $21.82{\pm}1.02$ MPa. The shear bond strengths of Z2 and Z3 ($28.25{\pm}0.72$ and $26.23{\pm}0.82$ MPa, respectively) were relatively higher than those of the control group. The fracture surface of the control group showed adhesive fractures while the test groups had relatively large numbers of cohesive fractures. Conclusion: The shear bond strength was high in the test groups with surface processing while the fracture surfaces showed compound fractures of adhesive and cohesive fractures.

• International Journal of Air-Conditioning and Refrigeration
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• v.10 no.4
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• pp.211-219
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• 2002

In this study, in-situ performance test of a wet surface finned-tube evaporator of an air source heat pump which has a rating capacity of 20 RT is carried out. Since test conditions, such as indoor and outdoor air conditions cannot be controlled to satisfy the standard test conditions, experiments are done with the inlet air conditions as they exist. From the experimental data, air side heat and mass transfer coefficients were calculated by the well known heat and mass transfer analogy and tube-by-tube method. Since current procedure underpredicted the experimental sensible heat factor (SHF), a proper empirical parameter was introduced to predict the experimental data with satisfactory results. This study provides the method of evaluating the heat and mass transfer coefficients of a wet surface finned-tube evaporator of which in-situ performance test is necessary.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.247-252
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• 2016

In this paper, we propose a new defect detection technology for micro-defect on the surface of steel products. Due to depth and size of microscopic defect, slop of surface and vibration of strip, the conventional optical method cannot guarantee the detection performance. To solve the above-mentioned problems and increase signal to noise ratio, a novel retro-schlieren method that consists of retro reflector and knife edge is proposed. Moreover dual switching lighting method is also applied to distinguish uneven micro defects and surface noise. In proposed method, defective regions are represented by a black and white pattern. This pattern is detected by a defect detection algorithm with Gabor filter. Experimental results by simulator for sample defects of cold rolled steel show that the proposed method is effective.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1228-1230
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• 1996

A neural network(NN) mechanism is proposed to modify the gait of a biped robot that walks on sloping surface using sensory inputs. The robot starts walking on a surface with no priori knowledge of the inclination of the surface. By accumulating experience during walking, the robot improves its walking gait and finally forms a gait that is adapted to the surface inclination. A neural controller is proposed to control the gait which has 72 reciprocally inhibited and excited neurons. PI control is used for position control, and the neurons are trained by a reinforcement learning mechanism. Experiments of static gait learning and pseudo dynamic learning are performed to show the validity of the proposed reinforcement learning mechanism.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.