• 한국생산제조학회지
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• 제21권6호
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권3호
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• pp.835-854
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• 2012

In this paper, we propose a novel positioning system for indoor navigation which helps a user navigate easily to desired destinations in an unfamiliar indoor environment using his mobile phone. The system requires only the user's mobile phone with its basic equipped sensors such as a camera and a compass. The system tracks user's positions and orientations using a vision-based approach that utilizes $360^{\circ}$ panoramic images captured in the environment. To improve the robustness of the vision-based method, we exploit a digital compass that is widely installed on modern mobile phones. This hybrid solution outperforms existing mobile phone positioning methods by reducing the error of position estimation to around 0.7 meters. In addition, to enable the proposed system working independently on mobile phone without the requirement of additional hardware or external infrastructure, we employ a modified version of a fast and robust feature matching scheme using Histogrammed Intensity Patch. The experiments show that the proposed positioning system achieves good performance while running on a mobile phone with a responding time of around 1 second.

• 한국측량학회지
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• 제32권6호
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• pp.637-650
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• 2014

Geospatial research on emergency response in multi-level micro-spatial environments (e.g., multi-story buildings) that aims at understanding and analyzing human movements at the micro level has increased considerably since 9/11. Past research has shown that reducing the time rescuers needed to reach a disaster site within a building (e.g., a particular room) can have a significant impact on evacuation and rescue outcomes in this kind of disaster situations. With the purpose developing emergency response systems that are capable of using complex real-time geospatial information to generate fast-changing scenarios, this study develops a Spatiotemporal Optimal Route Algorithm (SORA) for guiding rescuers to move quickly from various entrances of a building to the disaster site (room) within the building. It identifies the optimal route and building evacuation bottlenecks within the network in real-time emergency situations. It is integrated with a Ubiquitous Sensor Network (USN) based tracking system in order to monitor dynamic geospatial entities, including the dynamic capacities and flow rates of hallways per time period. Because of the limited scope of this study, the simulated data were used to implement the SORA and evaluate its effectiveness for performing 3D topological analysis. The study shows that capabilities to take into account detailed dynamic geospatial data about emergency situations, including changes in evacuation status over time, are essential for emergency response systems.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제40회 동계학술대회 초록집
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• pp.1-1
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• 2011

We developed a new generalized synthetic procedure, called as "heat-up process," to produce uniform-sized nanocrystals of many transition metals and oxides without a size selection process. We were able to synthesize uniform magnetite nanocrystals as much as 1 kilogram-scale from the thermolysis of Fe-oleate complex. Clever combination of different nanoscale materials will lead to the development of multifunctional nano-biomedical platforms for simultaneous targeted delivery, fast diagnosis, and efficient therapy. In this presentation, I would like to present some of our group's recent results on the designed fabrication of multifunctional nanostructured materials based on uniform-sized magnetite nanoparticles and their medical applications. Uniform ultrasmall iron oxide nanoparticles of <3 nm were synthesized by thermal decomposition of iron-oleate complex in the presence of oleyl alcohol. These ultrasmall iron oxide nanoparticles exhibited good T1 contrast effect. In in vivo T1 weighted blood pool magnetic resonance imaging (MRI), iron oxide nanoparticles showed longer circulation time than commercial gadolinium complex, enabling high resolution imaging. We used 80 nm-sized ferrimagnetic iron oxide nanocrystals for T2 MRI contrast agent for tracking transplanted pancreatic islet cells and single-cell MR imaging. We reported on the fabrication of monodisperse magnetite nanoparticles immobilized with uniform pore-sized mesoporous silica spheres for simultaneous MRI, fluorescence imaging, and drug delivery. We synthesized hollow magnetite nanocapsules and used them for both the MRI contrast agent and magnetic guided drug delivery vehicle.

• 한국운동역학회지
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• 제23권1호
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• pp.45-51
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• 2013

The current study developed the analysis program by employing the Polygon Clipping Algorithm to calculate the open area on the court when players try to spike a ball. The program consists of two kinds of output screen. First, on the main output screen, it is possible to calculate both blocked area by net and blockers, and opened area to avoid the blocked area when players spike the ball. Additionally, the secondary output screen shows the moving path of setter and the location of set. Main output screen indicates hitting points of spiking, blocking, and open area. Also, it is possible to analyze the movement of setter, location of set, and hitting point of attacker. The program was tested by comparing real coordinate value and location coordinate value which is operated on the program. To apply this program in the field, future study needs to develop the program that can calculate three dimensions coordinate fast by tracking the location of players or ball in real time.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.967-982
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• 2011

This paper presents a FTNCS (Fault-Tolerant Networked Control System) that can tolerate control surface failure and packet delay/loss in an UAV (Unmanned Aerial Vehicle). The proposed method utilizes the benefits of self-diagnosis by smart actuators along with the control allocation technique. A smart actuator is an intelligent actuation system combined with microprocessors to perform self-diagnosis and bi-directional communications. In the event of failure, the smart actuator provides the system supervisor with a set of actuator condition data. The system supervisor then compensate for the effect of faulty actuators by re-allocating redundant control surfaces based on the provided actuator condition data. In addition to the compensation of faulty actuators, the proposed FTNCS also includes an efficient algorithm to deal with network induced delay/packet loss. The proposed algorithm is based on a Lagrange polynomial interpolation method without any mathematical model of the system. Computer simulations with an UAV show that the proposed FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults and network induced delays.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1008-1013
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• 2014

This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.

• JSTS:Journal of Semiconductor Technology and Science
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• 제16권4호
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• pp.387-394
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• 2016

This paper presents a fully digital delay locked loop (DLL) that can acquire lock in four clock cycles with a resolution of a 1/4 NAND-delay. The proposed DLL with a multi-dither-free phase detector acquires the initial lock in four clock cycles with 1/2 NAND-delay. Then, it utilizes a multi-dither-free phase detector, a region accumulator, and phase blenders, to improve the resolution to a 1/4 NAND-delay. The region accumulator which continuously steers the control registers and the phase blender, adaptively controls the tracking bandwidth depending on the amount of jitter, and effectively suppresses the dithering jitter. Fabricated in a 65 nm CMOS process, the proposed DLL occupies $0.0432mm^2$, and consumes 3.7 mW from a 1.2-V supply at 2 GHz.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.835-838
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• 2002

동작되고 있는 고전압 기기는 전기의 독특한 특성 때문에 초음파 방출을 유발하는 특유한 소리를 방출한다. 초음파 방출이란 아킹, 코로나, 트래킹과 같은 전기적변화에 의해서 발생된다 고전압 전력 설비에서 아킹, 코로나, 트래킹은 여러 가지 장애를 일으킬 뿐만 아니라 인체에도 매우 치명적인 손상을 야기한다. 고전압 기기의 장애 요소를 방지하고 사전에 진단하기 위해 초음파 측정이 주목받게 되었지만 아직까지 기초적인 측정 데이터가 충분히 제시되어 있지 않은 실정이다. 본 논문에서는 변압기 설비에서 발생하는 초음파 이상음을 분석하고 분석한 자료를 표준 데이터화 하는데 그 목적을 둔다.

• Journal of Power Electronics
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• 제9권4호
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• pp.654-666
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• 2009

Direct torque control (DTC) of induction machines (IM) is a well-known strategy of these drives control which has a fast dynamic and a good tracking response. In this paper a nonlinear DTC of speed sensorless IM drives is presented which is based on input-output feedback linearization control theory. The IM model includes iron losses using a speed dependent shunt resistance which is determined through some effective experiments. A stator flux vector is estimated through a simple integrator based on stator voltage equations in the stationary frame. A novel method is introduced for DC offset compensation which is a major problem of AC machines, especially at low speeds. Rotor speed is also determined using a rotor flux sliding-mode (SM) observer which is capable of rotor flux space vector and rotor speed simultaneous estimation. In addition, stator and rotor resistances are estimated using a simple but effective recursive least squares (RLS) method combined with the so-called SM observer. The proposed control idea is experimentally implemented in real time using a FPGA board synchronized with a personal computer (PC). Simulation and experimental results are presented to show the capability and validity of the proposed control method.