• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.157-160
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• 2001

This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.561-567
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• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.711-719
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• 2009

This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.180.5-180
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• 2001

This paper presents A Design of WMR Controller that being composed of cooperative relation between PID controller and optimized neural network algorithm, it operate a variable control by velocity. Some proposed algorithm in the past just depended on PID controller for the control of position of WMR but for more efficient control we design a variable controller that operate control by PD controller using neural network if it is satisfied with any given condition. it adjust gain of PD controller for real time control using a fast feedforward algorithm which is different with Form of the standard backpropagation algorithm.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.173-177
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• 2002

This paper describes the algorithm for WMR (Wheeled Mobile Robot) to follow the preceding object using stereo vision. The center point of object existing in each image is calculate. From the distance and variation of two center points, we calculates the distance from WMR to preceding object and the relative velocity of WMR. And we use the Lyapunov theory to design controller.

• Food Science and Biotechnology
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• v.16 no.6
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• pp.1023-1028
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• 2007

This study was designed to determine whether dietary glutinous barley (GB) affects lipid metabolism in middle-aged rats previously fed a high-fat diet. To induce obesity, 20 male 9-month-old Sprague Dawley rats were raised for 1 month on a diet containing 20%(w/w) lipid. The rats were allocated to 1 of 2 groups of 10 rats each and for the subsequent 2 months were fed an 8%(w/w) lipid diet containing well-milled rice (WMR) or GB powder. Rats fed the GB diet had significantly lower concentrations of plasma triglyceride, plasma total cholesterol, and liver cholesterol than rats fed the WMR diet. Fecal excretions of triglyceride and bile acids were significantly greater for the GB group than for the WMR group. In conclusion, dietary GB has positive effects on lipid metabolism: it decreases plasma cholesterol concentration by increasing fecal excretion of bile acids.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.932-935
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• 1996

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1144-1148
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• 1996

This paper presents WMR modelling and path tracking algorithm using Inertial Navigation System. The error models of gyroscope and accelerometers in INS are derived by Gauss-Newton method which is nonlinear regression model. Then, to test availability of error model, we pursue the fitness diagnosis about probability characteristic for real data and estimated data. Performance of inertial sensor with error model and Kalman filter is pursued by comparing with one without them. The computer simulation shows that position error remarkably decrease when error compensation is applied.

• Proceedings of the Korean Society of Crop Science Conference
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• 2017.06a
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• pp.286-286
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• 2017

We conducted to compare the characteristics of rice flours according to the different milling processes. Five rice varieties (Oryza sativa L.) with different amylose content were prepared by wet and dry milling processes. The moisture contents of wet-milled rice flours (WMR) was mostly three-time higher than those of dry-milled flours (DMR). Water absorption index (WAI), water solubility index (WSI) and swelling power (SP) increased in proportion to temperature ($50-90^{\circ}C$). WAI, WSI, SP of DMR showed higher value than those of WMR. Baeokchal (BOC) which is waxy rice cultivar was significantly high level of WSI. Pasting properties of DMR except BOC cultivar resulted in higher peak viscosity, trough viscosity, final viscosity and Setback. The levels of resistant starch in the four cultivars except Dodamssal (DDS) were under 1% irrespective of Milling processes, whereas the resistant starch contents of DMR and WMR in DDS was 9.18 and 6.27, respectively. Damaged starch content of WMR were less than those of DMR, moreover, negative correlation was observed between amylose content and damaged starch of rice cultivars. These results suggest that the properties of rice flour varied depending on the milling methods and varieties, and it could be a reference for selecting the appropriate processing purposes.

• Journal of Korea Multimedia Society
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• v.14 no.6
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• pp.719-729
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• 2011

This paper presents a research on the fast and accurate method of line detection in the image of a wireless mobile robot (WMR). For the improvement of the processing time to detect lines, the characteristics of the transmitted image from the WMR was analyzed, and the efficient preprocessing method among the existing preprocessing methods was selected. And for the improvement of the accuracy to detect lines, the selection method of local maximum value at the Hough array (HA) which has the result of Hough transform was improved by designing a mask and applying it to HA. The experiment was performed with acquired images from the WMR, and the proposed method outperformed the existing methods in terms of processing time and line detection.