• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1908-1913
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• 2010

In this paper, a robust variable structure tracking controller is designed for the mixed tracking control of highly nonlinear rigid robot manipulators for the first time. The mixed control problem under consideration is extended from the basic tracking problem, with the different initial condition of both the planned trajectory and link of robots. This control problem in robotics is not addressed to until now. The tracking accuracy to the sliding trajectory after reaching is analyzed. The stability of the closed loop system is investigated in detail in Theorem 2. The results of Theorem 2 provide the stable condition for control gains. Combing the results of Theorem 1 and Theorem 2 gives rise to possibility of designing the improved variable structure tracking controller to guarantee the tracking error from the determined sliding trajectory within the prescribed accuracy after reaching. The usefulness of the algorithm has been demonstrated through simulation studies on the mixed tracking control of a two.link robot under parameter uncertainties and payload variations.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.307-313
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• 2021

Modernized GNSS signal structures tend to use tiered codes, and all GNSSs use binary codes as secondary codes. However, recently, signals using polyphase codes such as Zadoff-Chu sequence have been proposed, and are expected to be utilized in GNSS. For example, there is Tiered Differential Polyphase Code (TDPC) using polyphase code as secondary code. In TDPC, the phase of secondary code changes every one period of the primary code and a time-variant error is added to the carrier tracking error, so carrier tracking ambiguity exists until the secondary code phase is found. Since the carrier tracking ambiguity cannot be solved using the general GNSS receiver architecture, a new receiver architecture is required. Therefore, in this paper, we describe the carrier tracking ambiguity and its cause in signal tracking, and propose a receiver structure that can solve it. In order to prove the proposed receiver structure, we provide three signal tracking results. The first is the differential decoding result (secondary code sync) using the general GNSS receiver structure and the proposed receiver structure. The second is the IQ diagram before and after multiplying the secondary code demodulation when carrier tracking ambiguity is solved using the proposed receiver structure. The third is the carrier tracking result of the legacy GPS (L1 C/A) signal and the signal using TDPC.

• Journal of the Society of Disaster Information
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• v.2 no.1
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• pp.39-52
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• 2006

In this paper, an analytical and experimental study was performed in order to determine the effects of interaction between vehicle and structure. Results presented in the paper show that analytical method including moving load effect can investigate the trend of structural response due to dynamic interaction between vehicle and structure. The wheel tracking machine fitted with 2-axle test vehicle can demonstrate more accurate dynamic interaction between vehicle and structure than the wheel tracking machine fitted without 2-axle test vehicle.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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• pp.58-66
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• 1998

A continuous, accurate, and robust variable structure tracking controller(CVSTC) is designed for brushless direct drive servo motors(BLDDSM). Although conventional variable structure controls can give the desired tracking performances, there exists an inevitable chattering problems in control input which is undesirable for direct drive systems. With the presented algorithm, not only the chattering problems are removed by using the efficient compensation of the disturbance observer, but also the prescribed tracking trajectory can be obtained using the sliding dynamics when an initial of the desired trajcetory is different from that of a BLDDSM. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the suggested algorithm is demonstrated through the computer simulation for a BLDDSM under load variations.

• Journal of Welding and Joining
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• v.14 no.4
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• pp.79-88
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• 1996

For improvement in productivity and weld quality, weld seam tracking and welding parameter control are very essential in the welding of a structure which can not be cxactly fit-up due to mismatch, discontinous gap, deflection, etc.. In this study, an automatic weld seam tracking system is developed for I-butt joint structure, and the system consists of XYZ working table, vision sensor and user interface program. In the developed vision sensor system, an image projection algorithm for weld-line detection and an adaptive current control algorithm for gap variation were implemented. The user interface program developed in this study by basing on the objct oriented concept could provide very convenient way to utilize the tracking system with the pull-down menu driven structure. The developed system showed a good seam tracking and weld quality control capability corresponding to deflected weld lines and gap variations.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.93-99
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• 2016

In this paper, higher order coupler using small size waveguide which applicable for mobile Ku-band multimode monopulse satellite tracking antenna system, has been designed, implemented and tested. Proposed higher order mode coupler adopts a coaxial structure for low profile characteristic considering installation property to mobile satellite terminal system. In addition, by using proposed coupler, extracted tracking error signal pattern has measured and confirmed that required tracking accuracy is satisfied in desired frequency band. In the future, proposed coupler could utilize for multimode monopulse satellite tracking system for high tracking accuracy.

• Journal of the Ergonomics Society of Korea
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• v.26 no.2
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• pp.103-112
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• 2007

This study was designed to validate Spreading Activation Theory (SAT) for an evaluation methodology for menu structure through Eye-Tracking approach. When a visual search is on the way, more eye fixations and time are necessary to visually process complex and vague area. From the aspect of recognition, well-designed menu structures were hypothesized to have fewer numbers of fixations and shorter duration because well-designed menu structures reflecting the users' mental model would be well matched with the product's menu structure, resulting in reducing the number of fixations and duration time. The results show that the shorter reaction times for SAT had significantly fewer numbers of fixation and shorter duration time as the hypothesis for this study stated. In conclusion, SAT was proved to be an effective evaluation methodology for menu structure with the eye tracking equipment. In addition, using SAT instead of the real performance experiment would be useful for designing user-centered systems and convenient information structures because SAT was proven to be the theoretical background for design and evaluation of menu structures.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.2
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• pp.79-85
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• 2009

This research study and design, implement the digital multi-media description technique of Mashup Web which will be evolved into visible visual structure in form of cooperation studying. This technique is study user connect location information and service using pattern, then this information description technique of Mashup pre-operate inference data by tracking user service data.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.6
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• pp.607-614
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• 1992

A continuous variable structure system control for a DC servomotor tracking controller is proposed to alleviate the chattering problems. The stability property of the proposed algorithm is analyzed in detail. The prescribed tracking error is guaranteed under load variations based on the stability analysis. Through the comparative simulations between the proposed algorithm and the conventional VSS, the effectiveness of the proposed algorithm is proved.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.4
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• pp.380-386
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• 2014

In this paper, a higher-order mode coupler using coaxial-structure waveguide for Ku-band monopulse satellite tracking is proposed. The proposed higher-order mode coupler is built in a coaxial structure for compactness and weight reduction, making it suitable for mobile tracking systems. The inner circular waveguide of coaxial-structure is used to extract the fundamental mode signal and the high-order mode signal is extracted from the four slots of the outer circular waveguide and then transmitted via given stepped rectangular waveguide structure. The simulated results show that proposed higher-order mode coupler covers 250 MHz(12.75 GHz ~ 13.00 GHz) bandwidth with return loss and insertion loss characteristics. The antenna patterns of fundamental mode and higher-order mode applicable to monopulse tracking are generated successfully. Designed higher-order mode coupler using coaxial waveguide structure for Ku-band is expected to be used for high precision monopulse satellite tracking systems.