• 한국소음진동공학회논문집
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• 제23권4호
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• pp.356-364
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• 2013

This paper presents a tracking gain-up controller design method to control effectively the vibration of tracking actuator caused by external shocks and remaining velocity after seek control. A pole placement constraint is considered to assure a desired transient response against the vibration of tracking actuator. A loop gain-up constraint is introduced to hold the tracking gain-up loop gain and control bandwidth within allowable bounds. The pole placement constraint is expressed by a matrix inequality and the loop gain-up constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a tracking gain-up controller is obtained by integrating a genetic algorithm with LMI design approach. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and its effectiveness is evaluated through the experimental results.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1205-1211
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• 2008

This paper describes methods to estimate 3-D position of target with respect to reference frame through monocular image from unmanned aerial vehicle (UAV). 3-D position of target is used as information for surveillance, recognition and attack. In this paper. 3-D position of target is estimated to make guidance and control law, which can follow target, user interested. It is necessary that position of target is measured in image to solve 3-D position of target. In this paper, kalman filter is used to track and output position of target in image. Estimation of target's 3-D position is possible using result of image tracking and information of UAV and camera. To estimate this, two algorithms are used. One is methode from arithmetic derivation of dynamics between UAV, carmer, and target. The other is LPV (Linear Parametric Varying). These methods have been run on simulation, and compared in this paper.

• Advances in Traditional Medicine
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• 제7권5호
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• pp.556-563
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• 2008

Peripheral nerve injuries are a commonly encountered clinical problem and often result in a chronic pain and severe functional deficits. The expression of c-Fos is sometimes used as a marker of increased neuronal activity. We have prepared the aqueous extract of amygdalin from Armeniacae semen for pain control. In the present study, we investigated the effects of amygdalin on the recovery rate of the locomotor function and on the expression of c-Fos in the ventrolateral periaqueductal gray (vlPAG) region following sciatic crushed nerve injury in rats. Walking track analysis for the evaluation of functional recovery and immunohistochemistry for the c-Fos expression were used in this study. In the present results, characteristic gait change with dropping of the sciatic function index (SFI) was observed and c-Fos expression in the vlPAG was suppressed following sciatic crushed nerve injury in rats. Amygdalin enhanced SFI value and restored c-Fos expression in the vlPAG to the control value. The present our study indicated that amygdalin activates neurons in the vlPAG, and it facilitates functional recovery following peripheral nerve injury.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.619-624
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• 2011

This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust $H_{\infty}$ constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust $H_{\infty}$ constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.

• Journal of Power Electronics
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• 제14권6호
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• pp.1322-1333
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• 2014

To track the sinusoidal current under stationary frame and suppress the effects of low-order grid harmonics, the multi-resonant quasi-proportional plus resonant (PR) controller has been extensively used for digitally controlled LCL-type pulse-width modulation (PWM) converters with capacitor-current-feedback active damping. However, designing the controller is difficult because of its high order and large number of parameters. Moreover, the computation and PWM delays of the digitally controlled system significantly affect damping performance. In this study, the delay effect is analyzed by using the Nyquist diagrams and the system stability constraint condition can be obtained based on the Nyquist stability criterion. Moreover, impact analysis of the control parameters on the current loop performance, that is, steady-state error and stability margin, identifies that different control parameters play different decisive roles in current loop performance. Based on the analysis, a simplified controller design method based on the system specifications is proposed. Following the method, two design examples are given, and the experimental results verify the practicability and feasibility of the proposed design method.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• 대한방사선기술학회지:방사선기술과학
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• 제44권3호
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• pp.231-237
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• 2021

The ongoing coronavirus disease 2019 (COVID-19) pandemic has highlighted the importance of hospital hygiene and infection control in hospital settings. To raise hygiene awareness among ultrasound technicians, we evaluated the hygiene status of an ultrasound room, in comparison with that of objects used in daily life. Using the swab method, the following surfaces were examined: eight surfaces in the ultrasound room including the ultrasound probes (convex, linear, sector, 3D), ultrasound track ball, ultrasound keyboard, ultrasound gel (sealed and in use) and pillow as well as four surfaces of everyday objects including subway handles, common computer keyboards, common computer mouse, and cell phones. The streak plate technique was used for inoculation into media, which was observed for the formation of bacterial colonies following incubation for 24 h. Six bacterial strains were detected from objects used in the ultrasound room, including methicillin-resistant Staphylococcus aureus. Four strains of bacteria were detected on surfaces of everyday objects. The equipment and accessories used in an ultrasound room can act as vehicles for infecting patients. Establishment of standardized hygiene protocols and periodic training of the staff are recommended to avoid cross-infection.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.782-787
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• 2002

In optical disk drives (ODD), the demands of high data density and high speed have been increasing rapidly to achieve high data capacity and data transfer rate. The short wavelength laser, High NA objective lens, and high track following performance are needed to raise data density and data rate. For high-performance actuator, the improvement of linearity and acceleration become more important. Also, 3-axis actuator for active tilt compensation is introduced to overcome the decrease in disk tilt tolerance which is induced by short wavelength laser. In this paper, a hybrid type 3-axis actuator is presented and a new yoke structure, which can reduce the interaction between yoke and moving magnet, is designed to keep the efficiency of magnetic circuit. Experimental results show the validity of the yoke in the hybrid type actuator.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 논문집
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• pp.964-967
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• 2006

Korea Railroad Research Institute (the following 'KRRI') built AGT test line in Gyeong San-city, Kyongsang-bukdo province, Korea on August, 2004. This test line is exclusively used for the test of the driverless rubber-tired AGT system, and applied with research result of AGT System Development Project like vehicles, power supply, control and signaling, track and infrastructure system. The test line is available for the test of rubber tired AGT system's performance, function, safety. In this paper, we described the operation system of test line for the test of performance, safety, reliability, and also system operation in emergency. Finally we present the operation result of test line.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2008-2010
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• 2001

최근에 광 디스크 기기의 고배속화에 따라서 디스크의 재생 속도는 점차로 증가하고 있다. 이러한 경향에 따라 트랙킹 제어 루프에서 나타나는 디스크의 편심에 의한 외란의 영향은 더욱 커지게 되므로 기존의 선형 제어기만으로는 디스크의 편심량이 큰 경우에 고배속에서 원하는 트랙 추종 성능을 얻을 수가 없다. 본 논문에서는 이러한 문제점을 해결하기 위해서 반복 학습 제어 알고리즘과 드라이브 시스템의 액츄에이터의 주파수 응답 특성을 이용한 새로운 트랙 추종 제어 방법을 제안한다. 또한, 제안된 트랙 추종 제어 시스템의 제어 성능을 실험을 통하여 검증하여 본다.