• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• The Journal of Industrial Distribution & Business
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• v.11 no.2
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• pp.25-31
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• 2020

Purpose: The AEO (Authorized Economic Operator) program, created in 2001 in the United States due to 9.11 terrorist's attack, fundamentally changed the trade environment. Korea, which introduced AEO program in 2009, has become one of the world's top countries in the program by ranking 6th in the number of AEO certified companies and the world's No. 1 in MRA (Mutual Recognition Agreement) conclusions. In this paper, we examined what trade-economic and non-economic effects the AEO program and its MRA have in Korea. Research design, data and methodology: In this study we developed a model to verify the impact between utilization of AEO and trade-economic effects of the AEO and its MRA. After analyzing the validity and reliability of the model through Structural Equation Model we conducted a survey to request AEO companies to respond their experience on the effects of AEO program and MRA. As a result, 196 responses were received from 176 AEO companies and utilized in the analysis. Results: With regard to economic effects, the AEO program and the MRA have not been directly linked to financial performance, such as increased sales, increased export and import volumes, reduced management costs, and increased operating profit margins. However, it was analyzed that the positive effects of supply chain management were evident, such as strengthening self-security, monitoring and evaluating risks regularly, strengthening cooperation with trading companies, enhancing cargo tracking capabilities, and reducing the time required for export and import. Conclusions: When it comes to the trade-economic effects of AEO program and its MRA, AEO companies did not satisfy with direct effects, such as increased sales and volume of imports and exports, reduced logistics costs. However, non-economic effects, such as reduced time in customs clearance, freight tracking capability, enhanced security in supply chain are still appears to be big for them. In a rapidly changing trade environment the AEO and MRA are still useful. Therefore the government needs to encourage non-AEO companies to join the AEO program, expand MRA conclusion with AEO adopted countries especially developing ones and help AEO companies make good use of AEO and MRA.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.47 no.6
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• pp.162-170
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• 2010

Adaptive arrays reject interferences while preserving the desired signal, exploiting a priori information on its arrival angle. Subspace-based adaptive arrays, which adjust their weight vectors in the signal subspace, have the advantages of fast convergence and robustness to steering vector errors, as compared with the ones in the full dimensional space. However, the complexity of theses subspace-based methods is high because the eigendecomposition of the covariance matrix is required. In this paper, we present a simple subspace-based method based on the PASTd (projection approximation subspace tracking with deflation). The orignal PASTd algorithm is modified such that eigenvectora are orthogonal to each other. The proposed method allows us to significantly reduce the computational complexity, substantially having the same performance as the beamformer with the direct eigendecomposition. In addition to the simple beamforming method, we present theoretical analyses on the SINR (signal-to-interference plus noise ratio) of subspace beamformers to see their behaviors.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.4
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• pp.327-334
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• 2013

In August 2012 the first CanSat competition was hosted by the Satellite Research Center of KAIST under auspice of the Ministry of Education, Science and Technology. The present authors team won the first prize in the university session. In this paper the overall procedure of the CanSat project presented from the conceptual design stage to the final launch test. As the compulsory mission CanSat should send GPS data and attitude information to the ground station which in practice was performed via Bluetooth channel. In addition our CanSat is designed to trace the sun for the solar panels supplying electric power of satellite. IMU and servo motors are used for the attitude control in order that the solar sensor of the CanSat is always direct towards the sun. Launching of CanSat was simulated by dropping from a balloon at the height of around 150m via parachute. Launching test results showed that the attitude control of the CanSat and its solar sensing function were successful.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3391-3397
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• 2011

These excavators have been widely used due to their flexibility in handing various tasks via simple changes of their attachments. Since the performance of manually-operated excavators heavily depend on the operators' skill level, there is a strong need for developing automatic excavators in the industry. In order to achieve such goals, exiting approaches have studied direct modification of existing hydraulic systems in the excavator for feed back control of each link. This paper presents a miniaturized automatic excavator that can be used for the development and demonstration of advanced control algorithm for excavators under a safer environment with reduced cost. Two PCs were installed and connected to the excavator through wireless communications for its control and monitoring. Tracking control of each link using a time varying sliding mode controller was performed through experiments on the developed system to demonstrate its ability.

• The Journal of the Korea Contents Association
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• v.13 no.12
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• pp.551-559
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• 2013

In this paper, we proposed a tangible RealBook based on the interface of TouchFace-V which is able to recognize multi-touch and hand gesture. The TouchFace-V is applied projection technology on a flat surface such as table, without constraint of space. The system's configuration is addressed installation, calibration, and portability issues that are most existing front-projected vision-based tabletop display. It can provide hand touch and gesture applying computer vision by adopting tracking technology without sensor and traditional input device. The RealBook deals with the combination of each advantage of analog sensibility on texts and multimedia effects of e-book. Also, it provides digitally created stories that would differ in experiences and environments with interacting users' choices on the interface of the book. We proposed e-book that is new concept of electronic book; named RealBook, different from existing and TouchFace-V interface, which can provide more direct viewing, natural and intuitive interactions with hand touch and gesture.

• Journal of Advanced Navigation Technology
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• v.6 no.3
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• pp.188-194
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• 2002

DBS is utilized as very useful media in information-oriented society because it covers wide service area and provide high quality services. But DBS needs skill that can receive DBS signal at move. In this paper, it is considered a development of a device to receive DBS and design of a low noise downconverter that use tracking antenna to receive DBS at mobiles unit and ships which navigate in Korea peninsula coast. The structure of dual phase LNB is composed of LNA, BPF, oscillator, mixer, and IF amplifier. And for the position tracking, two input-output phase performed in phase. Measured results showed good performance that with respect to input signal 11.7 GHz~12.2 GHz, noise figure is 0.87 dBmax and conversion gain 62 dB, temperature characterization ${\pm}400$ kHz in respect to - 30 to $60^{\circ}C$, and phase noise -101 dBc/Hz in respect to offset 100 kHz.

• Journal of Navigation and Port Research
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• v.29 no.6 s.102
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• pp.509-513
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• 2005

Ship maneuverability is mainly determined according to hull-propeller-rudder system of a ship and directly related to the ship safety during the operation in the ocean. Among hull-propeller-rudder system the rudder system had direct concern with the ship maneuverability and a special rudder has been recommended to improve the ship maneuverability. In this paper the study of flapped rudder's 2-dimensional section was accomplished Model tests had been carried out with different angles of attack of a main foil and flap's deflection angles to predict the performance of the flapped rudder and the 2 frame particle tracking method had been used to obtain the velocity distribution in the flow field during model tests. $Re=1.027{\times}10^4$ had been used during the whole experiments and measured results had been compared with each other.

• Journal of Soil and Groundwater Environment
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• v.23 no.1
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• pp.54-62
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• 2018

This paper is aimed at source tracking of soil heavy metal contamination at a site established by reusing construction wastes. The soil heavy metal concentration at the study site peaked at a depth range of 5-10 m. Column studies were conducted to investigate the possibility of the contamination scenario of infiltration of stormwater carrying heavy metals of ground origin followed by selective heavy metal accumulation at the 5-10 m depth range. Almost all amount of lead, zinc, cadmium, and nickel introduced to the columns each packed with 0-5 m or 5-10 m field soil were accumulated in the column. The very poor heavy metal mobility in spite of the weak association of the heavy metals with the soil (characterized by a sequential extraction procedure) can be attributed to the high pH (10-11) of the construction wastes. From the results, the heavy metal contamination of the subsurface soil by an external heavy metal source was determined to be very unlikely at the study site. The column study applied in the current study is expected to be a useful methodology to present direct evidence of the contaminant source tracking at soil contamination sites.