• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2588-2593
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• 2003

Any system has the possibility of an error occurrence. Even if trivial errors were occurred, the original system would be fatally affected by the occurring errors. Accordingly, the error detection must be demanded. In this paper, we developed a real-time error detection system would be able to apply to an electronic Jacquard system. A Jacquard is a machine, which controls warps while weaving textiles, for manufacturing patterned cloth. There are two types of mechanical and electronic Jacquard. An electronic Jacquard is better than a mechanical Jacquard in view of the productivity and realizability for weaving various cloths. Recent weaving industry is growing up increasingly due to the electronic Jacquard. But, the problem of wrong weaving from error data exists in the electronic Jacquard. In this research, a real-time error detection system for an electronic Jacquard is developed for detecting errors in an electronic Jacquard in real-time. The real-time system is constructed using PC-based embedded system architecture. The system detects the occurring errors in real-time by storing 1344 data transferred in serial from an electronic Jacquard into memory, and then by comparing synchronously 1344 data stored into memory with 1344 data in a design file before the next data would be transferred to the Jacquard for weaving. The information of detected errors are monitored to the screen and stored into a file in real-time as the outputs of the system. In this research, we solve the problem of wrong weaving through checking the weaving data and detecting the occurred errors of an electronic Jacquard in real-time.

• 한국음향학회지
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• 제21권2호
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• pp.120-127
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• 2002

본 논문에서는 일반적인 코드분할 다중화 시스템을 위해 저자가 제안하였던 유사 역상관기 (pseudo-decorrelator)를 변형하여 광대역 코드분할 다중화 시스템에 적합한 다중사용자 수신기를 설계하고, 레일레이 다중 경로 채널 환경에서 성능을 분석하고 있다. 설계된 수신기에서는 판단변수 (decision statistics)에 포함되어 있는 다중사용자 간섭신호를 분석하여, 송신된 신호의 각 비트에 대응되는 상호상관 행렬을 얻게 된다. 이 상호상관 행렬에 대한 일반 역행렬을 구한 후 기존의 수신기에서 얻어진 판단변수에 적용함으로써, 수신기의 성능을 향상시킬 수 있다. 제안된 수신기는 원근저항성을 가질뿐 만 아니라, 동기검출 회로가 완전하지 않아서 시간지연 오차나 위상 오차가 생기는 경우에도 기존의 수신기에 비해 좋은 성능을 보여준다.

• 기본간호학회지
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• 제21권4호
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• pp.403-412
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• 2014

Purpose: Shift work disrupts the synchronization between the human biological clock and the environment. Sleep disturbances are common for shift work nurses, and may threaten patient safety. This study was done to investigate the sleep characteristics and medication errors (ME) of intensive care unit (ICU) nurses who work shifts, and ascertain if there is an association between these factors. Methods: Data were collected using a self-report questionnaire from 126 ICU nurses on three shifts. Collected data included their sleep characteristics including sleep patterns and sleep disturbances, and ME for the past 2 weeks. Results: There were significant differences in sleep duration and sleep latency according to shift. Day shift nurses had the shortest sleep duration, and their sleep latency was the longest (about 49 minutes) compared to nurses on evening and night shifts; 54% reported sleep disturbances, 16% experienced ME, and among these nurses 50% were on the night shift. Logistic regression analysis revealed significant associations between nurses' sleep duration and ME (adjusted OR 0.52 [95% CI 0.32-0.85]). Conclusions: The results confirmed that shift work nurses in the ICUs experience sleep disturbance, and that less sleep is associated with ME.

• 전자공학회논문지CI
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• 제39권6호
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• pp.53-67
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• 2002

VoD(Video on Demand), LoD(Lecture on Demand) 및 화상회의(Tele conference)와 같은 멀티미디어 관련 서비스에서 향상된 서비스 품질(QoS)을 제공하기 위해 고려해야할 중요한 이슈 중 하나가 멀티미디어 정보의 동기이다. 본 논문에서는 버퍼 레벨과 서버부하를 이용한 멀티 미디어 동기 알고리즘을 소개하고, 제안한 알고리즘을 페트리 네트에 기반을 둔 ExSpect 6.41을 사용하여 모델링하고, 분석하였다. 오디오와 비디오의 수신버퍼 레벨을 각각 5단계로 구분하고, 패킷의 재생 시 버퍼의 레벨과 재생이 요구되는 시점의 서버부하 값들을 이용하여, 미리 정해진 재생속도 제어기가 차등 된 제어 값을 출력하게 된다. 각각의 패킷들은 알고리즘의 제어 값에 따라 재생되므로, 버퍼 레벨이 안정상태로 유지되고, 허용되는 에러 범위 내에서 미디어의 재생이 가능하게 된다. 제안하는 동기 알고리즘은 사용자와 서비스 제공자간의 망에서 발생하는 jitter를 극복할 수 있도록 하였으며, 전송한계를 가지고 있는 네트워크내의 많은 사용자들에게 QoS가 향상된 서비스를 제공 할 수 있다. 다양한 통신망 환경을 가정한 모의실험을 통하여, 알고리즘의 성능을 분석하였다.

• JSTS:Journal of Semiconductor Technology and Science
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• 제14권2호
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• pp.252-261
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• 2014

A Bayesian network (BN) based fault diagnosis framework for semiconductor etching equipment is presented. Suggested framework contains data preprocessing, data synchronization, time series modeling, and BN inference, and the established BNs show the cause and effect relationship in the equipment module level. Statistically significant state variable identification (SVID) data of etch equipment are preselected using principal component analysis (PCA) and derivative dynamic time warping (DDTW) is employed for data synchronization. Elman's recurrent neural networks (ERNNs) for individual SVID parameters are constructed, and the predicted errors of ERNNs are then used for assigning prior conditional probability in BN inference of the fault diagnosis. For the demonstration of the proposed methodology, 300 mm etch equipment model is reconstructed in subsystem levels, and several fault diagnosis scenarios are considered. BNs for the equipment fault diagnosis consists of three layers of nodes, such as root cause (RC), module (M), and data parameter (DP), and the constructed BN illustrates how the observed fault is related with possible root causes. Four out of five different types of fault scenarios are successfully diagnosed with the proposed inference methodology.

• Spatial Information Research
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• 제17권1호
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• pp.67-77
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• 2009

CCD 카메라, GPS 및 IMU 등을 갖춘 모바일매핑시스템은 도로를 따라서 도로 영상 뿐 만 아니라 동시에 주변 시설물에 대한 많은 정보를 취득할 수 있다. 그러나 취득된 다수의 파일은 후처리 작업이 많을 경우 자료의 누락 또는 변질이 발생할 가능성이 매우 높다. 또한 다양한 조사지역에 대해서 여러 조사팀에 의해 자료가 생산되기 때문에 자료들이 상충하거나 품질이 차이가 날 수 있다. 본 연구에서는 보다 체계적인 모바일 매핑 자료 관리를 위해 영상 태그 규격인 Exif를 이용하여 정밀한 GPS 시간과 필수 정보를 내재화하여 조사자료 관리 체계를 위한 일관된 관리식별코드로 활용한다. 또한 대용량 영상파일과 관련 정보를 합리적이고 체계적으로 관리될 수 있도록 자료 동기화 기술을 이용한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.1984-1986
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• 2001

In order to provided continuous solutions, latest developing navigation systems tend to integrate GPS receiver with INS or DR. Using the GPS carrier-phase measurements, an attitude GPS receiver with three antennas obtain the 3-dimensional attitude such as roll, pitch, and heading as well as position and velocity. With these angle measurements, in the attitude GPS/INS integrated system, attitude or gyro errors can be directly compensated. In this paper, we develop an integrated navigation system that combines attitude GPS receiver with INS. The performance of real-time integrated navigation system is determined by not only the implements of integration filter but also the synchronization of measurements. To meet these real-time requirements, the navigation software is implemented in multi-tasking structure in this paper. We also employ time-synchronization technique in the multi-sensor fusion. Experimental results show that the performance of the attitude GPS/INS integrated system is consistent even when cycle-slip occurs in carrier-phase measurements.

• 드라이브 ㆍ 컨트롤
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• 제13권2호
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• pp.1-9
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• 2016

In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 추계학술대회
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• pp.104-106
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• 2018

The harmonics and the DC offset in the grid can cause serious synchronization problems for grid connected inverters (GCIs) which leads not able to satisfy the IEEE 519 and p1547 standards in terms of phase and frequency variations. In order to guarantee the smooth and reliable synchronization of GCIs with the grid, Phase Locked Loop (PLL) is the crucial element. Typically, the performance of the PLL is assessed to limit the grid disturbances e.g. grid harmonics, DC Offset and voltage sag etc. To ensure the quality of GCI, the PLL should be precise in estimating the grid amplitude, frequency and phase. Therefore, in this paper a novel Robust PLL technique called Digital Lock-in Amplifier (DLA) PLL is proposed. The proposed PLL estimate the frequency variations and phase errors accurately even in the highly distorted grid voltage conditions like grid voltage harmonics, DC offsets and grid voltage sag. To verify the performance of proposed method, it is compared with other six conventional used PLLs (CCF PLL, SOGI PLL, SOGI LPF PLL, APF PLL, dqDSC PLL, MAF PLL). The comparison is done by simulations on MATLAB Simulink. Finally, the experimental results are verified with Single Phase GCI Prototype.