• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.923-934
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• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.6
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• pp.564-571
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• 2015

In this paper, we propose a multiple-input, multiple-output(MIMO) interferometric radar network system to generate three-dimensional (3-D) MIMO interferometric inverse synthetic aperture radar(InISAR) image. In the MIMO interferometric radar network system, the MIMO InISAR image can be formed by an incoherent summation of multiple bistatic InISAR images that show 3-D scatterers of a target observed at different bistatic interfermetric configurations, respectively. Because bistatic-sccattering physics of a target at different viewpoints are visible in the 3-D MIMO InISAR image, it can provide various scatterering physics properties of a target, and can be used for target classification as a useful feature vector. Simulations validate that our proposed method successfully finds locations of scatterers of a target in MIMO radar interferometric network system.

• Journal of Sensor Science and Technology
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• v.10 no.5
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• pp.329-336
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• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous vehicle using an MR sensor. The magneto-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The vehicle is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and vehicle body interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables ($dB_x$, $dB_y$, $dB_z$) using the measured magnetic field difference, and an output variable (the steering angle). A simulation program was developed to acquire the data to teach the neural network, in order to test the ability of a neural network to learn the steering control process. Also, the computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. From the simulation and field test, good result was obtained and we confirmed the robustness of the neural network controller in a real autonomous vehicle.

• The Journal of Korean Academy of Prosthodontics
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• v.25 no.1
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• pp.17-40
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• 1987

The purpose of this study was to clarify the effect of clasp design on abutment tooth adjacent to a distal extension base under the influence by the location of functional loading. The RPI clasp, the Akers clasp and the combination clasp were selected for evaluation. Tests were performed at 10Kg, 20Kg, 30Kg loads on the buccal, central, lingual, mesial and distal positions of loading platform of each mandibular distal extension partial denture. The laser reflexion method was used for three dimensional measurement of abutment movement, which is possible to measure precisely without contact. The movement in the mesiodistal(X), buccolingual(Y), and occlusoapical(Z) directions and the rotational movement(R) were measured, and in addition, the total movement (SV) as expressed by the three dimensional summation vector independent of direction was calculated. The data were analyzed using Student t-test, p<.05. The following results were obtained from this study; 1. Clasp design did not generally affect the direction of abutment tooth movement except the movement in an undesirable occlusal direction in case of the Akers clasp and the combination clasp. 2. The greater the load on the prosthesis, the greater was the abutment tooth movement, and the direction of abutment tooth movement was affected by positional loading. 3. Each prosthesis was dislodged from the test base under the small amount of load in the distal load position, and the buccal loading showed the greatest abutment tooth movement under the maximum load. 4. RPI clasp was evaluated as the most favorable design.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.43 no.3
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• pp.321-335
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• 2023

Monitoring sediment loads in natural rivers is the key process in river engineering, but it is costly and dangerous. In practice, suspended loads are directly measured, and total loads, which is a summation of suspended loads and bed loads, are estimated. This study proposes a real-time sediment discharge monitoring system using the horizontal acoustic Doppler current profiler (H-ADCP) and support vector regression (SVR). The proposed system is comprised of the SVR model for suspended sediment concentration (SVR-SSC) and for total loads (SVR-Q_TL), respectively. SVR-SSC estimates SSC and SVR-Q_TL mimics the modified Einstein procedure. The grid search with K-fold cross validation (Grid-CV) and the recursive feature elimination (RFE) were employed to determine SVR's hyperparameters and input variables. The two SVR models showed reasonable cross-validation scores (R²) with 0.885 (SVR-SSC) and 0.860 (SVR-Q_TL). During the time-series sediment load monitoring period, we successfully detected various sediment transport phenomena in natural streams, such as hysteresis loops and sensitive sediment fluctuations. The newly proposed sediment monitoring system depends only on the gauged features by H-ADCP without additional assumptions in hydraulic variables (e.g., friction slope and suspended sediment size distribution). This method can be applied to any ADCP-installed discharge monitoring station economically and is expected to enhance temporal resolution in sediment monitoring.