• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.689-693
• /
• 1996

• Journal of KIISE:Databases
• /
• v.33 no.1
• /
• pp.12-31
• /
• 2006

The n-gram inverted index has two major advantages: language-neutral and error-tolerant. Due to these advantages, it has been widely used in information retrieval or in similar sequence matching for DNA and Protein databases. Nevertheless, the n-gram inverted index also has drawbacks: the size tends to be very large, and the performance of queries tends to be bad. In this paper, we propose the two-level n-gram inverted index (simply, the n-gram/2L index) that significantly reduces the size and improves the query performance while preserving the advantages of the n-gram inverted index. The proposed index eliminates the redundancy of the position information that exists in the n-gram inverted index. The proposed index is constructed in two steps: 1) extracting subsequences of length m from documents and 2) extracting n-grams from those subsequences. We formally prove that this two-step construction is identical to the relational normalization process that removes the redundancy caused by a non-trivial multivalued dependency. The n-gram/2L index has excellent properties: 1) it significantly reduces the size and improves the Performance compared with the n-gram inverted index with these improvements becoming more marked as the database size gets larger; 2) the query processing time increases only very slightly as the query length gets longer. Experimental results using databases of 1 GBytes show that the size of the n-gram/2L index is reduced by up to 1.9${\~}$2.7 times and, at the same time, the query performance is improved by up to 13.1 times compared with those of the n-gram inverted index.

• Analytical Science and Technology
• /
• v.16 no.4
• /
• pp.269-276
• /
• 2003

A new type of stripping voltammetry, inverted catalytic stripping voltammetry $IC_tSV$, is introduced. The rhodium-formaldehyde complex in hydrochloric acid gives an inverted catalytic hydrogen peak (reduction current peak during positive-going scan). The characteristics of the inverted peak were studied. By using the peak as analytical peak the detection limit of $1.2{\times}10^{-10}M$ Rh (50s preconcentration) can be reached at the optimal conditions: 0.015% (W/V) HCHO-0.42 M HCl; accumulation potential, -1.1 V; scan rate, 100 mV/s.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.2 no.2
• /
• pp.109-114
• /
• 2002

Various inverted pendulum systems have been frequently used as a model for the performance test of the proposed control system. We first identify a rotary-type inverted pendulum system by the Euler-Lagrange method and then design a FLC (Fuzzy Logic Controller) fur the plant. FLC`s are one of useful control schemes fur plants having difficulties in deriving mathematical models or having performance limitations with conventional linear control schemes. Many FLC`s imitate the concept of conventional PD (Proportional-Derivative) or PI (Proportional-Integral) controller. That is, the error e and the change-of-error are used as antecedent variables and the control input u the change of control input Au is used as its consequent variable for FLC`s. In this paper we design a simple-structured FLC for the rotary inverted pendulum system. We also perform some computer simulations to examine the tracking performance of the closed-loop system.

• Archives of Plastic Surgery
• /
• v.36 no.3
• /
• pp.322-326
• /
• 2009

Purpose: Severe type of inverted nipple (cannot be pulled out above the areola plane by manipulation, grade III) usually cannot be corrected by a relatively simple purse - string suture technique. Most patients want to avoid visible scars. To treat the severe case and avoid visible stigma, we introduce this invisible dermal flap method. Methods: This new surgical procedure makes bilateral incisions on the sidewall of nipple and dissections vertically to free the ducts from the contracted tissues. After dissection, the tunnel is formed. We insert "dermal flaps" into the tunnel underneath nipple base. Then through - and - through sutures are performed vertically (6 o'clock and 12 o'clock positions) and the purse - string suture is added with 4 - 0 nylon. Results: We had treated 35 primary inverted nipples (grade III) in 27 patients and 13 recurrent nipples in 7 cases. The results were excellent in 45 nipples (93.7%). All but 3 recurred cases was fully or very satisfied with the results. Conclusion: This technique is effective for the correction of severe inverted nipples and recurrent cases. We can avoid the visible scars on the areola surface.

• Journal of Advanced Navigation Technology
• /
• v.13 no.5
• /
• pp.662-668
• /
• 2009

Design of IPI(Inverted PI) feeding internal antenna for the gain improvement of mobile phone was proposed. IPI feeding structure affects on both low radiation resistance of antenna and increase current for the internal antenna such as IFA(Inverted F Antenna). By these facts, antenna fed by IPI can get the gain improvement with increasing radiation efficiency. For the verification, we applied IPI feeding structure to conventional quad band IFA. Measurement shows that IPI-IFA has 0.3~2.0[dB] higher gain than conventional IFA on GSM/DCS/USPCS/WCDMA band.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.5
• /
• pp.577-584
• /
• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.1
• /
• pp.69-74
• /
• 2012

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.54 no.7
• /
• pp.127-132
• /
• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Proceedings of the KIEE Conference
• /
• 2015.07a
• /
• pp.85-86
• /
• 2015

This paper is to study the inverted pendulum system of cart type by using the method of PID control. This system is that inverted pendulum maintain a constant balance from unstable state by moving a cart. It is controlled via the PID controller. PID controller is proposed to maintain a constant balance for nonlinear system such as the inverted pendulum system so PID control is widely used in the industrial field because of superior control performance, easy implementation and relatively simple structure. To design this system, it consist of Encorder and DC motor. Encorder is used to read the angle of the pendulum and DC motor is used to change the angle. We can verify results of experiment through the Matlab simulator via the inverted pendulum system of cart type.