• IMMUNE NETWORK
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• v.12 no.6
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• pp.223-229
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• 2012

Clinical and preclinical in vivo immune cell imaging approaches have been used to study immune cell proliferation, apoptosis and interaction at the microscopic (intra-vital imaging) and macroscopic (whole-body imaging) level by use of ex vivo or in vivo labeling method. A series of imaging techniques ranging from non-radiation based techniques such as optical imaging, MRI, and ultrasound to radiation based CT/nuclear imaging can be used for in vivo immune cell tracking. These imaging modalities highlight the intrinsic behavior of different immune cell populations in physiological context. Fluorescent, radioactive or paramagnetic probes can be used in direct labeling protocols to monitor the specific cell population. Reporter genes can also be used for genetic, indirect labeling protocols to track the fate of a given cell subpopulation in vivo. In this review, we summarized several methods dealing with dendritic cell, macrophage, and T lymphocyte specifically labeled for different macroscopic whole-body imaging techniques both for the study of their physiological function and in the context of immunotherapy to exploit imaging-derived information and immune-based treatments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.2
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• pp.417-426
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• 2000

In this paper, CE-CPSK(Constant Envelope Continuous Phase Shift Keying) modulated DS/SS(Direct Sequence Spread Spectrum) transceiver with 908 MHz carrier frequency and 1.5 MHz PN clock rate is proposed. To overcome the effect of nun-linear power amplifier, CE-CPSK modulation method which has the constant envelope and continuous phase characteristics is proposed. To analyze the DS/SS receiver performance with respect to code tracking loop, multipath fading channel is characterized as a two-ray Rayleigh fading channel. To compensate the demerit of analog delay locked loop, digital delay locked loop is employed for code tracking loop. Simulation and experimental examination has been carried out in AWGN(Additive White Gaussian Noise) and Rayleigh fading channel environment in order to prove validity of the proposed method.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2432-2434
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• 2004

In this paper, we present a novel approach for the structure of Fuzzy Neural Network(FNN) based on wavelet function and apply this network structure to the solution of the tracking problem for mobile robots. Generally, the wavelet fuzzy model(WFM) has the advantage of the wavelet transform by constituting fuzzy basis function(FBF) and the conclusion part to equalize the linear combination of FBF with the linear combination of wavelet functions. However, it is very difficult to identify the fuzzy rules and to tune the membership functions of the fuzzy reasoning mechanism. Neural networks, on the other hand, utilize their learning capability for automatic identification and tuning. Therefore, we design a wavelet based FNN structure(WFNN) that merges these advantages of neural network, fuzzy model and wavelet. To verify the efficiency of our network structure, we evaluate the tracking performance for mobile robot and compare it with those of the FNN and the WFM.

• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.846-848
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• 1995

Recently, direct drive AC servo motor and DSP is widely used in the factory automation and related field due to the enhanced control and digital technology. In this paper, position control of direct drive AC servo motor and numerical interpolation algorithms are studied using DSP for the future applications. In the direct drived motor control, encoder pulse is divided into the quadruple pulse for the higher resolution and high speed pulse(10MHz) is used as reference for the slower speed motor control (M/T method). As for the general position control, PI controller is adapted for position control. In the trajectory tracking numerical algorithm, interpolation of straight line and curve algorithms are studied for the realization of path following capabilities of XY table. As for the DSP, ADSP 2105 is selected for the economy and performance points of view.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1155-1161
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• 2001

We propose an adaptive nonlinear control algorithm for high precision tracking and stabilization of LOS(Line-of-Sight). The friction parameters of the LOS gimbal are estimated by off-line evolutionary strategy and the friction is compensated by estimated friction compensator. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Lyapunov stability theory, and its convergence is guaranteed under the limited modeling error or torque disturbance. The performance of the pro-posed algorithm is verified by computer simulation on the LOS gimbal model of a moving vehicle.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.11
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• pp.16-24
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• 1997

In order to prevent the presence of the residual phase difference at the discriminator output by the existing AFC techniques, we propose a new automatic frequency control(AFC) tracking algorithm for QPSK demodulation at the digital direct broadcasting satellite(DBS) receiver, which we call a rotational decision-directed AFC(RDDAFC). The RDDAFC rotates the decision boundary for the kth received symbol by the frequency deterctor output of the (k-1)th received symbol. Tracking performances of carrier frequency offset by the proposed RDDAFC algorithm are evaluated through computer simulations under the practical DBS channel conditions with a carrier frequency offset of 2.3MHz when S/N equals 2dB. Test results show that the total pull-in time of the RDDAFC is 1.697msec for 10$^{-3}$ SER before forwared error correction at the receiver.

• Proceedings of the ESK Conference
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• 1996.10a
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• pp.160-165
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• 1996

This paper presents the development of video-based 3-dimensional tracking system. Measurement of human motion is important in the application of ergonomics. The system uses advanced direct video measurement technology. Passive retro-reflecting markers are attached to a subject and movements of markers are observed by two CCD cameras. Infrared light emitted near the CCD cameras is reflected by the markers and is detected by the cameras. The image ae captured by Samsung MVBO2 board and the center of markers is calculated by DSP program. The position of markers are transferred from MVB02 board to the computer through AT bus. The computer then tracks the position of each marker and saves the data. This system has dynamic accuracy with 1% error and the sampling rate to 6-10 Hz, and can analyse the trajectory and speed of the marker. The results of this study can be used for operators motion analysis, task analysis, and hand movement characteristic analysis.

• Journal of Aerospace System Engineering
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• v.10 no.1
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• pp.15-20
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• 2016

The optimal estimation of a general continuous-discrete system can be achieved through the solution of the Fokker-Planck equation and the Bayesian update. Due the high nonlinearity of the equation of motion of the system and the measurement model, it is necessary to linearize the both equation. To avoid linearization, the filter based on Fokker-Planck equation is designed. with the unscented transformation update mechanism, in which the associated Fokker-Planck equation was solved efficiently and accurately via discrete quadrature and the measurement update was done through the unscented transformation update mechanism. This filter based on the Direct Quadrature Moment of Method(DQMOM) and the unscented transformation update is applied to the bearing only target tracking problem. The proposed filter can still provide more accurate estimation of the state than those of the extended Kalman filter especially when measurements are sparse. Simulation results indicate that the advantages of the proposed filter based on the DQMOM and the unscented transformation update make it a promising alternative to the extended Kalman filter.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.956-957
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• 2015

This paper analyzes a operating characteristic for maximum power point tracking (MPPT) of photovoltaic generation system. MPPT methods are used to maximize PV array output power by tracking maximum power point(MPP) continuously. To increase the output efficiency of PV system, it is important to have more efficient MPPT. MPPT algorithm is widely used the control method such as the perturbation and observation(PO) method, incremental conductance(IC) method and constant voltage(CV) method. In case of the radiation is changed, this paper proposes a response characteristic with MPPT control algorithms. Also, it proposes the direct for a novel MPPT control algorithm development through the analyzed data, hereby proves the effectiveness of this paper.