• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• Journal of Power System Engineering
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• v.20 no.2
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• pp.58-65
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• 2016

Lately, tugboats are widely used to maneuver vessels by pushing or towing them where tugboats use rope. In order to correctly control the motion of tugboat and towed vessel, the dynamics of the towline would be well identified. In real application environment, the towing rope length changes and the towing load is not constant due to the various sizes of towed vessel. And there are many ropes made by many types of materials. It means that it is not easy to obtain rope dynamics, such that it is too difficult to satisfy the given control purpose by designing control system. Thus real time identification or adaptive control system design method may be a solution. However it is necessary to secure sufficient information about rope dynamics to obtain desirable control performance. In this paper, the authors try to have several rope dynamic models by changing the rope length to consider real application conditions. Among them, a representative model is selected and the others are considered as uncertain models which are considered in control system design. The authors design a robust control to cope with strong uncertain and nonlinear property included in the real plant. The designed control system based on robust control framework is evaluated by simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.3
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• pp.513-525
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• 1990

This paper presents Adaptive Robust Servocontrol(ARSC) scheme, which is an explicit(or indirect) pole-assignment adaptive algorithm with the property of "robustness". It guarantees asymptotic regulation and tracking in the presence of finite parameter perturbations of the unknown plant(or process) model. The controller structure is obtained by transforming a robust control theory into an adaptive control version. This controller structure is combined with the model estimation algorithm which includes a dead-zone for bounded noise. It is proved theoretically that this combination of control and identification is globally convergent and stable. It is also shown, through a real-time simulation study, that the desired closed-loop poles of the augmented system can be assigned directly, and that the adjustment mechanism of the scheme tunes the controller parameters according to the assigned closed-loop poles.oop poles.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.2
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• pp.379-385
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• 2004

Medical images are being managed more by PACS in general medical institutions. It is important to protect patients from being invaded their privacy related to the images. It is also necessary to confirm the ownership, the right of property of the medical images and notice whether the data are modified. In this paper, we propose a robust watermarking against RST attacks in medical images on the PACS. The proposed scheme modifies and improves Log-Polar Mapping and Fourier Mellin Transform in order to realize and recover serious image degradation and watermark data loss caused by the conversion between cartesian coordinate and log-polar coordinate. We used the radius and theta Look Up Table to solve the realization of the Fourier Mellin Transform, and inserted a watermark into 2D-DFT magnitudes using Spread Spectrum. Experimental results shows that this method are robust to rotation attack.

• Korean Journal of Computational Design and Engineering
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• v.8 no.4
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• pp.262-269
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• 2003

An approach to compute characteristic curves such as section curves, reflection characteristic lines, and asymptotic curves on a surface is introduced. Each problem is formulated as a surface-plane inter-section problem. A single-valued function that represents the characteristics of a problem constructs a property surface on parametric space. Using a contouring algorithm, the property surface is intersected with a horizontal plane. The solution of the intersection yields a series of points which are mapped into object space to become characteristic curves. The approach proposed in this paper eliminates the use of traditional searching methods or non-linear differential equation solvers. Since the contouring algorithm has been known to be very robust and rapid, most of the problems are solved efficiently in realtime for the purpose of visualization. This approach can be extended to any geometric problem, if used with an appropriate formulation.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.1
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• pp.43-49
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• 2005

Temperature stabilities of resonance frequencies of the substrates are very important in piezoelectric ceramics oscillators and fitters. In this study, it was investigated thermal resisting property of the length-extensional vibration mode of PZT ceramics. The mode can be utilized in fabricating ultra-small 55 kHz IF devices. We fabricated the ceramic specimens with x = 0.51, 0.52, 0.53, 0.54, and 0.55 in the Pb(Zr$\sub$x/Ti$\sub$1-x/)O$_3$ system. And their resonance frequencies were measured before 1st thermal aging, after 1st and 2nd thermal aging. In order to investigate the influence of thermal aging on thermal resisting properties, thermally aged specimens were once mote thermally aged. Before 1st thermal aging, the specimens of the compositions with morphotropic phase, x = 0.53 and rhombohedral phase, x = 0.54 have weak thermal resisting property of resonance frequency, while tetragonal phase, x = 0.51 has robust thermal resisting property of resonance frequency. 1st thermal aging improved thermal resisting property of resonance frequency in all specimens.

• Korean Journal of Acupuncture
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• v.25 no.3
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• pp.15-27
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• 2008

Objectives : The objective of the current study is to optimize an acupoint electrical property measurement system by using the procedures and strengths of the Taguchi method. Methods : Taguchi method was applied in the optimization of the acupoint electrical property measurement system, as in the following steps: (1) determine evaluation index; (2) execute the 1st gage R&R; (3) identify controllable and uncontrollable factors; (4) design Taguchi crossed array layout; (5) execute experiments according to trial conditions; (6) analyze testing results; (7) determine optimum run; (8) execute the 2nd gage R&R; (9) confirm optimum run. Results : The results showed that electrodes with larger diameter and efferent electric current, with music played, can produce the larger different electrical conductivity between the acupoints and the non-acupoints under various conditions. Taguchi process optimization improved repeatability and reproducibility of the acupoint electrical property measurement system. Conclusions : In the optimized condition, repeatability and reproducibility of the acupoint electrical property measurement system was acceptable.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.4
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• pp.55-60
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• 2018

The thermal property is one of the most important characteristics in the field of energetic materials. Because energy materials release decomposition heat, differential scanning calorimetry (DSC) is frequently used for thermal analysis. However, thermodynamic events, such as melting can interfere with DSC kinetic analysis. In this study, we use isothermal mode for DSC measurement to avoid thermodynamic issues. We also merge accelerating rate calorimetry(ARC) data with DSC data to obtain a robust prediction results for small scale samples and for large scale samples as well. For the thermal property prediction, advanced kinetics and technology solutions(AKTS) programs are used.

• Journal of the Korea Society of Computer and Information
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• v.16 no.4
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• pp.15-22
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• 2011

Principal component analysis (PCA) is a well-known method for dimensionality reduction and feature extraction while maintaining most of the variation in data. Although PCA has been applied in many areas successfully, it is sensitive to outliers and only valid for Gaussian distributions. Several variants of PCA have been proposed to resolve noise sensitivity and, among the variants, improved robust fuzzy PCA (RF-PCA2) demonstrated promising results. RF-PCA, however, is still a linear algorithm that cannot accommodate non-Gaussian distributions. In this paper, a non-linear algorithm that combines RF-PCA2 and kernel PCA (K-PCA), called improved robust kernel fuzzy PCA (RKF-PCA2), is introduced. The kernel methods make it to accommodate non-Gaussian distributions. RKF-PCA2 inherits noise robustness from RF-PCA2 and non-linearity from K-PCA. RKF-PCA2 outperforms previous methods in handling non-Gaussian distributions in a noise robust way. Experimental results also support this.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.2
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• pp.276-283
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• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.