• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.95-104
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• 1999

In this paper we propose a fast and precise control algorithm for a mobile robot, which aims at the self-tuning control applying two multi-layered neural networks to the structure of computed torque method. Through this algorithm, the nonlinear terms of external disturbance caused by variable task environments and dynamic model errors are estimated and compensated in real time by a long term neural network which has long learning period to extract the non-linearity globally. A short term neural network which has short teaming period is also used for determining optimal gains of PID compensator in order to come over the high frequency disturbance which is not known a priori, as well as to maintain the stability. To justify the global effectiveness of this algorithm where each of the long term and short term neural networks has its own functions, simulations are peformed. This algorithm can also be utilized to come over the serious shortcoming of neural networks, i.e., inefficiency in real time.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.05a
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• pp.61-65
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• 2001

The conventional tracking testing as IEC-60587 is widely used in surface aging measurement of outdoor insulator because those testing can carry out very short time in Lab-testing. Also IEC-60587 testing is able to offer the standard judgement of relative degradation level of outdoor HV machine/system. Therefore it is very useful method compare to previous conventional tracking testing method and effective Lab-testing method. But surface discharges(SD) have very complex characteristics of discharge pattern so it is required estimation research to development of precise analysis method. In recent, the study of IRR-camera is carrying out discover of temperature of power equipment through condition diagnosis and system development of degradation diagnosis. In this study, SD occurred from procelain insulator, used 22.9[KV] distribution, is measured with partial temperature distribution in real time, the degradation grade of SD is analyzed through produced patterns in SD concentration according to applied time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1638-1644
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• 2005

This paper suggests fur the study on a fluid velocity measuring system using ultrasonic transducer. In general, the time difference method to measure the distance between transducers has been known. In this paper, the practical technology for manufacturing ultrasonic flow meter system is studied using the time difference method. The ultrasonic transducer was designed and manufactured. The transmission and receiving algorithm for ultrasonic signal was studied. The ultrasonic flow measuring system was experimented in laboratory using a water reservoir for verifying the distance measuring accuracy. Finally, it was tested in flow calibration laboratory for the velocity measuring performance. The system, designed in this study, showed 0.3 mm resolution in distance measurement. For precise flow measurement, a high speed triggering algorithm is required for ultrasonic signal receiving.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.191-194
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• 1995

The business of manufacturing is increasingly becomeing time-compresssing, precise and long-life oiented, owing to various needs form the consumers and harsh global competition. with the emergence of the layer laminate maunfacturing methods, it is possible to prototypes directly from 3D CAD and additive process, the production time and cost have shortened dramatically. However there are some problems like surface-step, dimensional deviation and warp. A newly developed powder casting is suitable for rapid-manufacturing metallic tools. Powder casting can serve as a promising repid tooling method because of high density charateristics and low dimensional shrinkage below 0.1% during sintering and infiltration. By this process, we have realized significant time savings bypassing the wait for prototype tooling and cost savings eliminating the expense of conventional prototype tooling process.

• Proceedings of the KOSOMBE Conference
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• v.1994 no.05
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• pp.96-99
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• 1994

Despite the simplicity of processing, a conventional autocorrelation function(ACF) method for the precise determination of fetal heart rate (FHR) has many problems. In case of weak or noise corrupted Doppler ultrasound signal. the ACF method is very sensitive to the threshold level and data window length. It is very troublesome to extract FHR when there is a data loss. To overcome these problems, the high resolution pitch detection algorithm was adopted to estimate the FHR. This method is more accurate, robust and reliable than the ACF method. With a lot of calculation, however, it is impossible to process real time FHR estimation. This paper is presented a new FHR estimation algorithm for real time processing.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.05b
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• pp.71-74
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• 2001

The conventional tracking testing as IEC-60587 is widely used In surface aging measurement of outside insulator because those testing can carry out very short time in Lab testing. Also IEC-60587 testing is able to offer the standard judgement of relative degradation level of outside HV machine. Therefore it is very useful method compare to previous conventional tracking testing method and effective Lab testing method. But surface discharges(SD) have very complex characteristics of discharge pattern so it is required estimation research to development of precise analysis method. In recent, the study of IIR-camera is carrying out discover of temperature of power equipment through condition diagnosis and system development of degradation diagnosis. In this study, SD occurred from IEC-60587 is measured with partial temperature distribution in real time, the degradation grade of SD is analyzed through produced patterns in IEC-60587 according to applied time.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.343-352
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• 2012

To follow a sound source by a mobile robot, the relative position and orientation of the sound source from the mobile robot have been estimated using a microphone array. In this research, the difference among the traveling times of the sound source to each of three microphones has been used to calculate the distance and orientation of the sound source from the mobile robot which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference comparing to the conventional methods. To generate the tracking direction to the sound source, fuzzy rules are applied and the results are used to control the mobile robot in a real-time. The efficiency of the proposed algorithm has been demonstrated through the real experiments comparing to the conventional approaches.

• Journal of Acupuncture Research
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• v.37 no.2
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• pp.69-78
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• 2020

Although there have been studies investigating the clinical effects of warm needling (WN) for specific diseases, a comprehensive review of WN is needed. Four Korean internet databases were used in the review of WN treatment performed in Korea. The search terms used to retrieve articles were "warm needling (in Korean; 온침)," "warm acupuncture," and "warm needle." A total of 29 articles were reviewed. The following aspects of WN were investigated: language and terminology, study design, use of Standards for Reporting Interventions in Clinical Trials of Acupuncture, research ethics, moxibustion types, number of moxa used, moxa combustion time, needle retention time, treatment time and frequency, acupoints, meridians, acupuncture size and depth, disease classification, pattern identification, outcome measures, and adverse effect. More sophisticated and precise studies on WN are required.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.461-468
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• 1997

A real-time collision-free trajectory control method for dual arm robot system is proposed. The proposed method is composed of two stages; one is to calculate the minimum distance between two robot arms and the other is to control the trajectories of the robots to ensure collision-free motions. The calculation of minimum distance between two robots is, also, composed of two steps. To reduce the calculation time, we, first, apply a simple modeling technique to the robots arms and determine the interested part of the robot arms. Next, we apply more precise modeling techniques for the part to calculate the minimum distance. Simulation results show that the whole algorithm runs within 0.05 second using Pentium 100MHz PC.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.757-761
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• 2001

In order to study noise barriers of complex shapes and to assess their efficiency, precise prediction model is required. For instance, geometrical approaches cannot deal with complex diffraction effects. So that in this paper, the time domain numerical computation method(Computational Aeroacoustics method) is applied to estimate noise reduction by diffraction and finite impedance condition. The CAA method can be used to calculate exactly the pressure of complex barrier shape with different impedance condition, such as T-shape, cylindrical edge and multi-edge noise barriers.