• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.689-701
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• 2008

In this paper, a fully adaptive feedforward feedback synchronized tracking control approach is developed for precision tracking control of 6 degree of freedom (6DOF) Stewart Platform. The proposed controller is designed in decentralized form for implementation simplicity. Interconnections among different subsystems and gravity effect are eliminated by the feedforward control action. Feedback control action guarantees the stability of the system. The gains of the proposed controller can be updated on line without requiring any prior knowledge of Stewart Platform manipulator. Thus the control approach is claimed to be fully adaptive. By employing cross-coupling error technology, the proposed approach can guarantee both of position error and synchronization error converge to zero asymptotically. Because the actuators work in synchronous manner, the tracking performances are improved. The corresponding stability analysis is also presented in this paper. Finally, simulation is demonstrated to verify the effectiveness of the proposed approach.

• Structural Engineering and Mechanics
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• v.4 no.2
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• pp.125-138
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• 1996

This paper deals with the application of certain active and passive control mechanisms to control the dynamic response of a steel jacket platform due to wave-induced forces. The forces are estimated using the nonlinear Morison equation which provides nonlinear self-excited hydrodynamic forces. The influence of these forces on the response of a structure without and with vibration control mechanisms is demonstrated using a steel jacket platform as a simple example.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.772-775
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• 1997

A high speed tracking control for 6-6 Stewart platform manipulator is performed by employing the joint-axis sliding mode control based on dynamics. Because of the complex dynamics and kinematics of Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system leads to an easy to implement and effective control task, and it can achieve the high performance tracking control under the high speed and severe payload condition.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.6 s.165
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• pp.903-911
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• 1999

A high speed tracking control system for 6-6 Stewart platform manipulator is designed for performing the model based joint-axis sliding mode control. Because of the complex dynamics and kinematics of the Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system makes the convenience in implementation of model based tracking control, so that it can achieve effective tracking control under relatively high speed and additional payload conditions.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.60 no.2
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• pp.68-71
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• 2011

In the case of Seoul Metro, prior to installation of platform screen doors, had seen 4~6 cases a month of mortal injuries from accidents on the platforms, including suicide attempts towards the oncoming train. However, since the installation of platform screen doors, Seoul Metro has achieved a feat of '0 mortal injuries'. In the initial stages of introducing platform screen doors domestically, due to a lack of experience in controlling platform screen doors, the products were imported and installed through technical cooperations from Japan, France and the United States. Thereafter, following investments in technologies by domestic firms, domestic production of parts such as overall control mechanism, specific control mechanism, RF devices and others were achieved. However, having installed platform screen doors in a relatively short period of time, DCU(Door Control Unit), an integral part of the whole platform screen door system, is yet to be fully domestically produced. At this moment in time, installation is being done with imported products or DCUs developed with DC motors. In this research, advantages and disadvantages of DC and BLDC motors for use in DCU will be analyzed and will produce an own BLDC controlling unit in order to solve any problems arised. Furthermore, the BLDC controlling unit produced will be integrated with DCU to improve the performance of the product and its price competitiveness.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2015.11a
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• pp.147-148
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• 2015

This paper proposes a tile level rate control for High Efficiency Video Coding (HEVC). The proposed tile level rate control is designed by considering the multi-core platform of tile in HEVC. The proposed tile level rate control allocates the number of bits for each tile based on the predetermined weight generated from the current picture level rate control. According to the experimental results, the proposed tile level rate control for HEVC on multi-core platform loses negligibly the bitrate accuracy about 0.07% on average over the reference software HM-14.0.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.124-130
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• 2020

This paper designed modular agricultural robotic platform capable of a variety of agricultural tasks to address the problems caused by a decline in agricultural populations and an increase in average age. We propose a modular robotic platform that can perform many tasks required in field farming by replacing only work modules with common robotic platforms. This platform is capable of steering while driving on four wheels in an upland environment where farm work is performed, and an attitude control module is attached to each drive module to control the attitude of the platform. In addition, the width of the platform is designed to be variable in order to operate in various ridges according to the crop cultivation method. Finally, we evaluated five items: variable width, gradient, attitude control angle, step and road speed in order to carry out the farming industry while maintaining a stable posture.

• Journal of Information Technology Services
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• v.19 no.3
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• pp.151-163
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• 2020

This paper describes a study on the FRACAS(Failure Reporting Analysis and Corrective Action System)-based dependability control platform for domestic urban railway trains. There are more demands for the verification of the dependability of trains as it becomes a regulation for train manufacturers to verify the dependability recently. Train manufacturers as well as railway operators need a effective FRACAS solution to perform the verification of the dependability. Yet current FRACAS solutions have limitations to support the verification processes effectively. This paper addresses the issues of current FRACAS solutions and suggests a FRACAS framework designed for the domestic urban railway trains. Service failure scenarios are standardized using the proposed availability model to implement a more user-friendly and reliable platform. A new FRACAS-based platform for the dependability control (SCARF^®) has been developed to implement the suggested framework. The detail interfaces and functions of the platform are explained. The SCARF^® platform is expected to engage the increasing demands for the dependability control successfully enhancing the reliability, maintainability, availability and safety of domestic urban railway trains eventually.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.3
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• pp.37-42
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• 2008

This study is focused on the numerical predictions for different smoke-control ventilation modes for the subway fire. Smoke-control ventilation mode in the domestic platform is that exhausting for the smoke detected zones while supplying air or stopping any ventilation for other zones in the platform. Three cases of smoke control ventilation modes are considered. First and second case are present running smoke control mode in Korea. The third is that smoke-control ventilation fans equipped in the platform are operated in first 4 minute(platform evacuation time, NFPA130) since then the fans equipped in the platform are stopped and the fans equipped in the tunnels are operated. Distributions of heat, carbon monoxide and visible range are compared at a height of 1.7m(passenger breath/sight height) above the platform. The numerical results show that air supply fan operation in the platform causes the smoke disturbance and a rapid spread of the smoke. The switch-operation with fans in both the platform and tunnel are better than operation with only platform fans in smoke rejection efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1863-1866
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• 2005

In this paper we propose a platform that is applicable to low altitude remote sensing. Basic idea of the platform is based on the model helicopter. On big difference from the conventional model helicopter is that our platform has four main rotors. Furthermore, vision control strategy is introduced so that operator can use the platform without any specialized intensive knowledge