• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.641-646
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• 2014

In this paper, we propose a controller for a ball and beam system which reduces the measurement error effect under AC and DC noise. The ball and beam system measures data through a sensor. If sensor noise is included in a controller via the feedback channel, the signal is distorted and the entire system cannot work normally. Therefore, some appropriate action for the measurement error effect is essential in the controller design. Our controller is equipped with a gain-scaling factor and a compensator to reduce the effect of measurement error in the feedback signal. Effectively, our proposed controller can reduce the AC and DC noise of a feedback sensor. We analyze the proposed controller by Laplace transform technique and illustrate the improved control performance via an experiment for a ball and beam system.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.5
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• pp.143-152
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• 2004

In this paper, we propose the new algorithms of watermarking that utilize the characteristics of color images for solving the trade-off problem between the image quality and the robustness. Since the human visual characteristics of each RGB channel are different, we can gain more robust watermarking on the condition of the same image degradation.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.352-354
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• 2004

In this paper, a parallel fuzzy controller for one degree of freedom magnetic levitation is designed and its performance is compared with the performance of a PID controller. Input, output scaling factor of fuzzy controller and gain of PID controller were tuned using the GA algorithm. The designed controllers are validated by numerical simulations. So it's shown that parallel fuzzy controller can give the better performance for the plant than PID controller.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.295-297
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• 2007

We design a new rate-3/2 full-diversity orthogonal space-time block code (STBC) for QPSK and 2 transmit antennas (TX) and 4 transmit antennas (TX) by enlarging the signalling set from the set of quaternions used in the Alamouti[I] and extendedcode and using additional members of the set of orthogonal matrices or Quasi-orthogonal matrices and higher than rate-5/4. Selective power scaling of information symbols is used to guarantee full-diversity while maximizing the coding gain (CG) and minimizing the transmitted signal peak-to-minimum power ratio (PMPR). The optimum power scaling factor is derived analytically and shown to outpetform schemes based only on constellation rotation while still enjoying a low-complexity maximum likelihood (ML) decoding algorithm.

• Proceedings of the KIEE Conference
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• 1993.11a
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• pp.299-303
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• 1993

There can be two methods in control systems: one is to use a linear controller, the other is to use a nonlinear controller. The PID controller and the fuzzy controller can be said to belong the linear and the nonlinear controller respectively. In this paper, a new hybrid controller which is consist of the linear PID controller of which the gain is tuned and the nonlinear self tuning fuzzy controller is proposed. In the PID controller, an algorithm which parameterizes the proportional, the intergral, and the derivative gain as a single parameter is used to improve the performance of the PID controller. In the self tuning fuzzy controller, an algorithm which changes the shape of the triangle membership function and changes the scaling factor which is multiplied to the error and the error change. The evaluation of the performance of the suggested algorithm is carried on by the simulation for the Rhino XH-2 robot manipulator with 5 links revolute joints.

• Journal of the Korea Society of Computer and Information
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• v.15 no.5
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• pp.13-21
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• 2010

The Optimal results of Kalman Filtering on the Inverted Pendulum System requires an effective factor such as the noise covariance matrix Q, the measurement noise covariance matrix R and the initial error covariance matrix $P_0$. We present a special case where the optimality of the filter is not destroyed and not sensitive to scaling of these covariance matrix because these factors are unknown or are known only approximately in the practical situation. Moreover, the error covariance matrices issued by this method predict errors in the state estimate consistent with the scaled covariance matrices and not the issued state estimates. Various results using the scalar gain $\delta$ are derived to described the relations among the three covariance matrices, Kalman Gain and the error covariance matrices. This paper is described as follows: Section III a brief overview of the Inverted Pendulum system. Section IV deals with the mathematical dynamic model of the system used for the computer simulation. Section V presents a various simulation results using the scalar gain.

• 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 Periodontal and Implant Science
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• v.26 no.1
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• pp.80-88
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• 1996

The aim of the present investigation was to see the effect of combined use of PDGF BB and IGF -1 on the guided tissue regeneration(GTR) using barrier membrane in the treatment of human furcation involvement. Twelve patients with initially diagnosed as having moderate to advanced adult periodontitis with mandibular class II buccal furcation defects have been wer selected. Initial scaling and root planing has been performed and baseline data consisting of probing depths and attachment levels have been recorded prior to surgical procedures. The GTR procedures using either barrier membrane(control : ePTFE) alone or together with the application of PDGF - BB and IGF -l(experimental : ePTFE+PDGF/IGF) have been done under the routine guidelines. During the surgery, the distance from CEJ either to the bottom of the bone defects(CEJ - BD) or to the bone crest(CEJ-BC) were measured. Horizontal distance to the deepest area in the furcal defects were measured from the reference line connection the most prominent bony walls of the two buccal roots. 6 months following the GTR therapy, all the measurements were made repeatedly. The probing attachment gain of the experimental and the control grous were 2.14mm and l.07mm, respectively with no statically significnant difference. Amont of vertical bone fill in the experimental and the control groups were 2.43mm and 2.29mm, rexpectively. Amonut of horizontal bone fill were 2.86mm in the experimental group and 2.17mm in the control group, respectively. However, there were no significant differences in the amount of bone fill(both vertical and horizontal)between the two groups.

• Journal of Korean Institute of Industrial Engineers
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• v.30 no.4
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• pp.338-345
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• 2004

Personal Digital Assistants (PDAs) have become ubiquitous and continued to gain popularity. Since PDAs have some special contexts such as mobility and limited screen size, icons are utilized frequently because icons allow us to do tasks more rapidly and effectively on PDAs like another information appliances. The study presents a cognitive approach to study human factors affecting icon design with multidimensional Scaling (MDS) analysis. In the experiment, a real PDA was used to investigate 29 attributes and2 preference ratings for 22 PDA icons by 20 Korean subjects. As a result, cognitive positioning about icons, attributes, and preference data were arranged on the two dimensional perceptual map. Attributes were grouped by simplicity, universality, activity, complexity, abstraction, static, and alphanumeric time. Subjects preferences were highly related with simplicity attributes group and positive to universality and activity attributes groups. It was also confirmed that there are some icons unfitted to the mental model of Korean. However, when icons are designed for PDAs or similar information appliances to Korean, it should be designed simply and actively with universal image fitted on target users mental model.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.08a
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• pp.178-178
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• 2010

With the scaling down of ULSI(Ultra Large Scale Integration) circuit of CMOS(Complementary Metal Oxide Semiconductor)based electronic devices, the electronic devices become more faster and smaller size that are promising field of semiconductor market. However, very narrow line width has some disadvantages. For example, because of narrow line width, deposition of conformal and thin barrier is difficult. Besides, proportion of barrier width is large, thus resistance is high. Conventional PVD(Physical Vapor Deposition) thin films are not able to gain a good quality and conformal layer. Hence, in order to get over these side effects, deposition of thin layer used of ALD(Atomic Layer Deposition) is important factor. Furthermore, it is essential that copper atomic diffusion into dielectric layer such as silicon oxide and hafnium oxide. If copper line is not surrounded by diffusion barrier, it cause the leakage current and devices degradation. There are some possible methods for improving the these secondary effects. In this study, TaNx, is used of Tertiarybutylimido tris (ethylamethlamino) tantalum (TBITEMAT), was deposited on the 24nm sized trench silicon oxide/silicon bi-layer substrate with good step coverage and high quality film using plasma enhanced atomic layer deposition (PEALD). And then copper was deposited on TaNx barrier using same deposition method. The thickness of TaNx was 4~5 nm. TaNx film was deposited the condition of under $300^{\circ}C$ and copper deposition temperature was under $120^{\circ}C$, and feeding time of TaNx and copper were 5 seconds and 5 seconds, relatively. Purge time of TaNx and copper films were 10 seconds and 6 seconds, relatively. XRD, TEM, AFM, I-V measurement(for testing leakage current and stability) were used to analyze this work. With this work, thin barrier layer(4~5nm) with deposited PEALD has good step coverage and good thermal stability. So the barrier properties of PEALD TaNx film are desirable for copper interconnection.