• Journal of the Korean Society for Precision Engineering
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• v.13 no.5
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• pp.131-138
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• 1996

This paper suggests a servo control algorithm to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional PID controller of a computer hard disk drive. The robust stability of the repetitive control system with multiplicative modelling error is analyzed, and the controller was implemented using a fixed point DSP(Digital Signal Processor). Experimental results show that the repetitive errors are suppressed effectively by the proposed controller.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.7
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• pp.903-909
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• 2018

We propose laser scanner sensor system based walking pattern and tracking method of multiple human. This system uses laser scanners sensors and is applicable to wide and crowded area such as hospital and medical care center. The primary objective of this research is to promote the development of robust, repeatable and transferable software for security system that can automatically detect, track and follow people in public area. We developed the method of human identification for this system. Our method is following: 1. Best-walking pattern data are obtained by the help of human position and direction data obtained by laser scanners. 2. Human identification is conducted by calculating the correlation between the step length of walking human. It becomes possible to conduct human identification even in crowded scenes by estimating the movements of waling human' feet are periodic. In the experiment in the station, some effectiveness of this method became clear.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2796-2798
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• 2005

This Paper presents a method that a mobile robot can track persons in complex environment using particle filters. The topic of person following using mobile robot is researched in many different areas. The main problems of following a person are real time constraint, motion change of person during the tracking and occlusion with other objects. We present appearance adaptive models in a particle filter to realize robust visual tracking algorithm. Adaptive appearance model can handle occlusion with other people while target is moving.

• Journal of Power Electronics
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• v.10 no.6
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• pp.694-701
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• 2010

In this paper an effective direct torque control (DTC) and stator flux control is developed for a quasi six-phase induction motor (QIM) drive with sinusoidally distributed windings. Combining sliding-mode (SM) control and adaptive input-output feedback linearization, a nonlinear controller is designed in the stationary reference frame, which is capable of tracking control of the stator flux and torque independently. The motor controllers are designed in order to track a desired second order linear reference model in spite of motor resistances mismatching. The effectiveness and capability of the proposed method is shown by practical results obtained for a QIM supplied from a voltage source inverter (VSI).

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.8
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• pp.1-8
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• 2000

We have achieved a high aspect ratio track-following microactuator (TFMA) which is capable of driving 0.3 ${\mu}m$ magnetic head for hard disk drive (HDD). it was fabricated on silicon on insulator (SOI) wafer with 20 ${\mu}m$ trick active silicon and 2 ${\mu}m$ thick thermally grown oxide and piggyback electrostatic principle was used for driving TFMA. The first vibration mode frequency of TFMA was 18.5 kHz which is enough for a recording density of higher than 10 Gb/in$^2$. Its displacement was 1.4 ${\mu}m$ when 15 V dc bias plus 15 V ac sinusoidal driving input was applied and its electrostatic force was 50 N. The fabricated actuator shows 7.51 dB of gain margin and 50.98$^{\circ}$ of phase margin for 2.21 kHz servo-bandwidth.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.386-393
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• 2023

Recently, the demand for autonomous navigation technology has increased, and related research is also increasing. Autonomous ships generally follow the planned route, calculate the avoidance route according to the risk situation while sailing, and follow a calculated route. In general, an automatic steering device is used to follow the route, and among the operational automatic steering device methods, the route control mode is the most appropriate method to apply to autonomous ships. Therefore, in this study, we developed a route-tracking algorithm to apply an avoidance route using the navigation control mode of an automatic steering device. The algorithm was developed by dividing the straight and turning sections. A performance test was conducted to satisfy the performance suggested by IEC 62065, the relevant international standard, using simulator equipment that had acquired international certification to verify its performance. The results of the performance verification confirmed that the cross-track error, which represents the straight distance between the ship and the route, satisfied the performance standards suggested by IEC 62065 when the ship followed the route.

• Hip & pelvis
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• v.36 no.2
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• pp.108-119
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• 2024

Purpose: The incidence of deep vein thrombosis (DVT) following total hip arthroplasty (THA) without chemoprophylaxis could be as high as 50% in Caucasians. However, according to several subsequent studies, the incidence of venous thromboembolic events (VTE) in Asians was much lower. The routine use of chemoprophylaxis, which could potentially cause increased bleeding, infection, and wound complications, has been questioned in low-incidence populations. The objective of this study is to determine the incidence of VTE after primary THA without chemoprophylaxis in an Asian population using a fast-track rehabilitation protocol and to verify the safety profile for use of 'mechanical prophylaxis alone' in patients with standard risk of VTE. Materials and Methods: This is a retrospective cohort study of 542 Hong Kong Chinese patients who underwent primary THA without chemoprophylaxis. All patients received intermittent pneumatic compression and graduated compression stockings as mechanical prophylaxis. Multimodal pain management was applied in order to facilitate early mobilisation. Routine duplex ultrasonography was performed between the fourth and seventh postoperative day for detection of proximal DVT. Results: All patients were Chinese (mean age, 63.0±11.9 years). Six patients developed proximal DVT (incidence rate, 1.1%). None of the patients had symptomatic or fatal pulmonary embolism. Conclusion: The incidence of VTE after primary THA without chemical prophylaxis can be low in Asian populations when following a fast-track rehabilitation protocol. Mechanical prophylaxis alone can be regarded as a reasonably safe practice in terms of a balanced benefit-to-risk ratio for Asian patients with standard risk of VTE.

• Journal of Sasang Constitutional Medicine
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• v.9 no.2
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• pp.187-201
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• 1997

An experimental study was done to examine the effects of Dokwhaljiwhang-tang on gastro-intestinal track and central nervous system and were undertaken by being carried out with rat. The following results have been obtained ; 1. Dokwhaljiwhang-tang showed to have an inhibitory effect on the smooth muscle contraction of the isolated ileum by acetylcholene chloride and barium chloride. 2. Dokwhaljiwhang-tang showed to have an inhibitory effect on the contraction of the gastric fundus-strip by acetylcholine chloride and barium chloride. 3. The preventive effect was recognized on the pylorus-ligated ulcer, by administration of Dokwhaljiwhang-tang. 4. The preventive effect was not recognized on the indomethacine -induced ulcer, by administration of Dokwhaljiwhang-tang. 5. The inhibitory effects on the secretion gastric juice, free acidity were recognized, by administration of Dokwhaljiwhang-tang 6. The transport ability in the small intestine was increased, by administration of Dokwhaljiwhang-tang. 7. The transport ability in the large intestine was increased, by administration of Dokwhaljiwhang-tang. 8. The analgesic effect was recognized, by administration of Dokwhaljiwhang-tang. 9. The effect of sleeping time was not recognized, by administration of Dokwhaljiwhang-tang. according to the results, it is considered that Dokwhaljiwhang-tang has effects of gastric ulcer, chronic gastritis,hyper-acidity, gastroptosis such as abdominal discomfort, gastric acid, indigestion and anorexia.

• 전자공학회논문지 IE
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• v.43 no.1
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• pp.59-66
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• 2006

In this study, we have proposed a motion equation to control synchro drive mobile robot, a path plan to compute and track the best path to given destination and a technique utilizing uniform distribution and cluster management based Monte Carlo localization to have track current position of moving robot. In the localization test which was repeated 73 times resulted as following. The average process time of original Monte Carlo localization was 12.8ms. The proposed cluster management Monte Carlo localization resulted 9.3ms. Also the proposed method resulted correctly in the cases where original method failed.

• Journal of Korea Multimedia Society
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• v.15 no.4
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• pp.449-471
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• 2012

In intelligent surveillance systems, it is required to robustly track multiple people. Most of the previous studies adopted a Gaussian mixture model (GMM) for discriminating the object from the background. However, it has a weakness that its performance is affected by illumination variations and shadow regions can be merged with the object. And when two foreground objects overlap, the GMM method cannot correctly discriminate the occluded regions. To overcome these problems, we propose a new method of tracking and identifying multiple people. The proposed research is novel in the following three ways compared to previous research: First, the illuminative variations and shadow regions are reduced by an illumination normalization based on the median and inverse filtering of the L*a*b* image. Second, the multiple occluded and overlapped people are tracked by combining the GMM in the still image and the Lucas-Kanade-Tomasi (LKT) method in successive images. Third, with the proposed human tracking and the existing face detection & recognition methods, the tracked multiple people are successfully identified. The experimental results show that the proposed method could track and recognize multiple people with accuracy.