• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• The Journal of the Korea Contents Association
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• v.15 no.8
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• pp.313-325
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• 2015

This study aims to address factors affecting economic preparation of the elderly with industrial injury using Andersen model. In addition, it is also to explore differences in accordance with changes in the employment status between regular employees and non-regular employees. The authors analyze Panel Study of Worker's Compensation Insurance(PSWCI)'s 1st wave data in the logistic regression model. The authors found gender and education were related to economic preparation. In addition, earned income, national health insurance and the degree to which pain interferes with daily life and the lives caused by industrial accidents were associated with economic preparation. But national pension was not statistically significant to economic preparation. Based on the findings, the researchers addressed political implications to enhance financial security of injured workers.

• Journal of Electrical Engineering and Technology
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• v.3 no.3
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• pp.444-449
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• 2008

This study aims at compensation of the skin moisture level using skin impedance and SR factor. SR factor is related with the current diffusion into the skin layer. To efficiently analyze the current diffusion on the skin model, we used an electromagnetic simulation program called Ansys 10.0 Emag. We confirmed that the measured value decreases as the electric current gets more diffused to the layer below the horny layer. In order to conduct actual experiments based on the simulated result, we manufactured special electrodes with 24 pins by arranging 0.8mm-diameter electrodes every 0.5mm, in a $3{\times}8$ array. By simultaneously achieving both impedance value and SR value of skin with the manufactured electrodes, we compared the skin moisture level using the existing equipment to the skin moisture level applied using the skin impedance as well as the SR factor developed in this study. The correlation coefficient between the skin moisture level achieved from the existing equipment and the reference value was 0.615 (p<0.01), whereas the correlation coefficient between the skin moisture achieved from the regression equation in this study was 0.677 (p<0.01). Accordingly, it was confirmed that applying SR factor additionally improves the moisture level more precisely.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.897-905
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• 2006

This study considers an experimental design of disturbance compensation control to improve stabilization performance of main battle tanks. An adaptive non-parametric design technique based on the Filtered-x Least Mean Square(FXLMS) algorithm is applied in the consideration of model uncertainties. The optimal compensator is designed by two-step design procedures: determination of frequency response function of the disturbance compensator which can cancel the disturbance of series of single harmonics by using the FXLMS algorithm and determination of the compensator polynomial which can fit the frequency response function obtained in the first step optimally by using a curve fitting technique. The disturbance compensator is applied to a simple experimental gun-torsion bar-motor system which simulates gun driving servo-system. Along with experimental results, the feasibility of the proposed technique is illustrated. Experimental results demonstrate that the proposed control reduces the standard deviation of stabilization error to 47.6% that by feedback control alone. The directional properties of the FXLMS Algorithm such as the direction of convergence and its convergence speed are also verified experimentally.

• Current Optics and Photonics
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• v.2 no.6
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• pp.612-622
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• 2018

In wave-front-sensor-less adaptive optics (WFS-less AO) systems, the Jacopo Antonello (JA) method belongs to the model-based class and requires few iterations to achieve acceptable distortion correction. However, this method needs a lot of measurements, especially when it deals with moderate or severe aberration, which is undesired in free-space optical communication (FSOC). On the contrary, the stochastic parallel gradient descent (SPGD) algorithm only requires three time measurements in each iteration, and is widely applied in WFS-less AO systems, even though plenty of iterations are necessary. For better and faster compensation, we propose a WFS-less hybrid approach, borrowing from the JA method to compensate for low-order wave front and from the SPGD algorithm to compensate for residual low-order wave front and high-order wave front. The correction results for this proposed method are provided by simulations to show its superior performance, through comparison of both the Strehl ratio and the convergence speed of the WFS-less hybrid approach to those of the JA method and SPGD algorithm.

• Food Science and Biotechnology
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• v.17 no.2
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• pp.330-335
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• 2008

Water vapor adsorption kinetics of 3 different types of chitosan-based films, i.e., control chitosan, chitosan/montmorillionite (Na-MMT), and chitosan/silver-zeolite (Ag-Ion) nanocomposite films, were investigated at temperature range of $10-40^{\circ}C$. In all the films, water vapor is initially adsorbed rapidly and then it comes slowly to reach equilibrium condition. Reasonably good straight lines were obtained with plotting of 1/($m-m_0$) vs. l/t. It was found that water vapor adsorption kinetics of chitosan-based films was accurately described by a simple empirical model and the rate constant of the model followed temperature dependence according to Arrhenius equation. Arrhenius kinetic parameters ($E_a$ and $k_o$) for water vapor adsorption by chitosan-based films showed a kinetic compensation effect between the parameters with the isokinetic temperature of 315.52 K.

• Journal of Industrial Technology
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• v.21 no.B
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• pp.273-280
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• 2001

In this study, a driver model based on the lead-lag controller for stable maneuver of a highly nonlinear, multi-dimensional, numerically stiff multibody vehicle model according to the various handling test requirements such as steady-state cornering, double lange change, etc. is presented The lead-lag controller is developed with lead and lag compensation. which use the transfer function with cross-over frequency by frequency response method. The proposed driver model is applied to a vehicle model in steady-state and slalom maneuver to verify its effectiveness and validity. The results show that the proposed path control strategy is excellent both in pursuing the desired course and stability of the vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.548-552
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• 1994

The robust compensation controller, which has been proposed by one of the authors and is based on the fundamental principle of making the plant follow the reference model, consists of the reference model and the robust compensator. The reference model is constructed by using the nominal model of the plant and determines the input-output properties of the resultant system. The robust compensator is obtained as a solution of the mixed sensitivity problem in H infinity control theory. Therefore the resultant system is of low sensitivity and robust stability. In the case where uncertainty does not occur in the plant, the plant follows perfectly the reference model. Therefore, in the case where uncertainty occurs in the plant, we propose the system configuration which improves the following accuracy without replacing the 개bust compensator but by identifying, the plant and reconstructing the reference model.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.25 no.3
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• pp.176-181
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• 2012

Due to the high etch rate and low fabrication cost, the wet etching of silicon using KOH etchant is widely used in MEMS fabrication area. However, anisotropic etch characteristic obstruct intuitional mask design and compensation structures are required for mask design level. Therefore, the accurate modeling for various types of silicon surface is essential for fabrication of three-dimensional MEMS structure. In this paper, we modeled KOH etch profile for MEMS based energy harvester using fuzzy logic. Modeling results are compared with experimental results and it is applied to design of compensation structure for MEMS based energy harvester. Through Fuzzy inference approaches, developed model showed good agreement with the experimental results with limited etch rate information.