• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.386-388
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• 1996

This paper presents the learning controller for robot manipulators to track the desired trajectory exactly. The learning controller, based on the Lyapunov theory, consists of a fixed PD action and a repetitive action for the purpose of feedforward compensation which is adjusted utilizing a linear combination of the velocity and position errors. The learning controller Is often used In case of the desired trajectories are periodic tasks, and has advantage that it periodically converges to zero even if we don't know the exact dynamic parameters. In this paper, we show that the position and velocity errors of robot manipulators converge to zero sa time goes infinite for the input is periodic function and show a good trajectory tracking performance In the cartesian space.

• Journal of Information Processing Systems
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• v.15 no.6
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• pp.1438-1448
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• 2019

We present a new technique, called VED (very effective debugging), for detecting and correcting division by zero errors for all types of .NET application. We use applications written in C# because C# applications are distributed through the internet and its executable format is used extensively. A tool called Immunity Debugger is used to reverse engineer executable code to get binaries of source code. With this technique, we demonstrate integer division by zero errors, the location of the error causing assembly language code, as well as error recovery done according to user preference. This technique can be extended to work for other programming languages in addition to C#. VED can work on different platforms such as Linux. This technique is simple to implement and economical because all the software used here are open source. Our aims are to simplify the maintenance process and to reduce the cost of the software development life cycle.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.47-52
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• 2010

Many industrial accidents have occurred over the years in the manufacturing and construction industries in Korea. However, as the service industry has increased continuously, the share of the accident rate in the service industry was 39.07% in 2009, while the manufacturing industry share was 33.73%. The service industry share overtook the manufacturing industry share for the first time. Therefore, this research considers prevention of industrial accidents in the service industry as well as manufacturing and construction industries. This paper describes a procedure and a method to estimate efficient accident rate forecasting and estimated zero accident time in the service industry in order to prevent industrial accidents in the transportation, storage, and telecommunication divisions. This paper proposes a model using an analytical function for the sake of very efficient accident rate forecasting. Accordingly, this paper has develops a program for accident rate forecasting, zero accident time estimating, and calculation of achievement probability through MFC (Microsoft Foundation Class) software Visual Studio 2008 in the transportation, storage, and telecommunication divisions. In results of this paper, ARIMA (Auto Regressive Integrating Moving Average) is regarded as a very efficient forecasting model for the transportation, storage, and telecommunication division. In testing this model, value minimizing the Sum of Square Errors (SSE) was calculated as 0.2532. Finally the results of this paper are sure to help establish easy accident rate forecasting and strategy or method of zero accident time in the service industry for prevention of industrial accidents.

• Journal of the Korean Statistical Society
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• v.28 no.2
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• pp.225-234
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• 1999

We consider the following semi-parametric non-linear mixed effect regression model : y\ulcorner=f($\chi$\ulcorner;$\beta$)+$\sigma$$\mu$($\chi$\ulcorner)+$\sigma$$\varepsilon$\ulcorner,i=1,…,n,y*=f($\chi$;$\beta$)+$\sigma$$\mu$($\chi$) where y'=(y\ulcorner,…,y\ulcorner) is a vector of n observations, y* is an unobserved new random variable of interest, f($\chi$;$\beta$) represents fixed effect of known functional form containing unknown parameter vector $\beta$\ulcorner=($\beta$$_1$,…,$\beta$\ulcorner), $\mu$($\chi$) is a random function of mean zero and the known covariance function r(.,.), $\varepsilon$'=($\varepsilon$$_1$,…,$\varepsilon$\ulcorner) is the set of uncorrelated measurement errors with zero mean and unit variance and $\sigma$ is an unknown dispersion(scale) parameter. On the basis of finite-sample, small-dispersion asymptotic framework, we derive an absolute lower bound for the asymptotic mean squared errors of prediction(AMSEP) of the regular-consistent non-linear predictors of the new random variable of interest y*. Then we construct an optimal predictor of y* which attains the lower bound irrespective of types of distributions of random effect $\mu$(.) and measurement errors $\varepsilon$.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.7
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• pp.605-613
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• 2014

Scanning white-light interferometry is an important measurement option for many surfaces. However, serious profile measurement errors can be present when measuring free-form surfaces being highly curved or tilted. When the object surface slope is not zero, the object and reference rays are no longer common path and optical aberrations impact the measurement. Aberrations mainly occur at the beam splitter in the interference objective and from misalignment in the optical system. Both effects distort the white-light interference signal when the surface slope is not zero. In this paper, we describe a modified version of white-light interferometry for eliminating these measurement errors and improving the accuracy of white-light interferometry. Moreover, we report systematic errors that are caused by optical aberrations when the object is not flat, and compare our proposed method with the conventional processing algorithm using the random ball test.

• Journal of Power Electronics
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• v.5 no.2
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• pp.151-159
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• 2005

The errors generated from current measurement paths are inevitable, and they can be divided into two categories: offset error and scaling error. The current data including these errors cause periodic speed ripples which are one and two times the stator electrical frequency respectively. Since these undesirable ripples bring about harmful influences to motor driving systems, a compensation algorithm must be introduced to the control algorithm of the motor drive. In this paper, a new compensation algorithm is proposed. The signal of the integrator output of the d-axis current regulator is chosen and processed to compensate for the current measurement errors. Usually the d-axis current command is zero or constant to acquire the maximum torque or unity power factor in the ac drive system, and the output of the d-axis current regulator is nearly zero or constant as well. If the stator currents include the offset and scaling errors, the respective motor speed produces a ripple related to one and two times the stator electrical frequency, and the signal of the integrator output of the d-axis current regulator also produces the ripple as the motor speed does. The compensation of the current measurement errors is easily implemented to smooth the signal of the integrator output of the d-axis current regulator by subtracting the DC offset value or rescaling the gain of the hall sensor. Therefore, the proposed algorithm has several features: the robustness in the variation of the mechanical parameters, the application of the steady and transient state, the ease of implementation, and less computation time. The MATLAB simulation and experimental results are shown in order to verify the validity of the proposed current compensating algorithm.

• Journal of Power Electronics
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• v.17 no.1
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• pp.1-10
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• 2017

This paper presents a novel predictive digital control method for boundary conduction mode PFC converters without the need for detecting the inductor current. In the proposed method, the inductor current is predicted by analytical equations instead of being detected by a sensing-resistor. The predicted zero-crossing point of the inductor current is determined by the values of the input voltage, output voltage and predicted inductor current. Importantly, the prediction of zero-crossing point is achieved in just a single switching cycle. Therefore, the errors in predictive calculation caused by parameter variations can be compensated. The prediction of the zero-crossing point with the proposed method has been shown to have good accuracy. The proposed method also shows high stability towards variations in both the inductance and output power. Experimental results demonstrate the effectiveness of the proposed predictive digital control method for PFC converters.

• Transactions of Materials Processing
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• v.12 no.4
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• pp.334-339
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• 2003

This paper presents a new algorithm that enables the refinement of hexahedral elements while maintaining the appropriate connectivity. In the algorithm, at first the regions of mesh to be refined are defined and, then, the zero-thickness element layers are inserted into the interfaces between the regions. All the meshes in the regions, in which the zero-thickness layers are inserted, are to be regularized in order to improve the shape of the slender elements on the interfaces. This algorithm is applied to the analysis of plastic deformation process. The results show that the refined mesh gives smaller relative errors than the original mesh.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2172-2177
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• 2015

The DF-MZEP-CME (decision feedback - maximum zero-error probability for constant modulus errors) algorithm that makes the probability for constant modulus error (CME) close to zero and employs decision feedback (DF) structures shows more improved performance in channel distortion compensation. However the DF-MZEP-CME algorithm has a computational complexity proportional to a sample size for probability estimation and this property plays a role of an obstacle in practical implementation. In this paper, the gradient of DF-MZEP-CME is proposed to be estimated recursively and shown to solve the computational problem by making the algorithm independent of the sample size. For a sample size N, the conventional method has 10N multiplications but the proposed has only 20 regardless of N. Also the recursive gradient estimation for weight update is kept in continuity from the initial state to the steady state without any error propagation.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.31 no.8
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• pp.33-38
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• 1982

This paper deals with the simplification of the transfer function in a frequency domain, viz. the integral of the squared errors between the original and the simplified model is minimized and the latter is estimated by the Walsh function. It tries to minimize the errors between the frequency responses of the two functions. This method is compared with the existing method by means of a numercal example. The frequency response of this simplified model approximates closely to that of the original model. The proposed method is simpler in analysis and easier in implementation than the existing methods. Though the Walsh function can be easily generated with the discrete values, it has errors because its zero crossings are not continuous. This method aims at the reduction of the errors in the real parts and the imaginary parts of the two functions by dividing into the more sub-intervals, and selecting the reduced-order model according to the response of the model. As a result, it can be applied for the simplification of higher order functions into lower order functions and for the design of control systems.