• 한국지능시스템학회논문지
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• 제5권3호
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• pp.36-51
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• 1995

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper. The manin idea is to used dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify the unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resovled acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed with overdamping. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained priori as the expression of the relationship betweenenvironment stiffness and system. Based on the simulation result, comparison between cases with or without fuzzy identifications are given, which illustrate the improvement achieced.

• 한국군사과학기술학회지
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• 제19권5호
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• pp.559-566
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• 2016

Cables for Towed Array Sonar System(TASS) were developed. In order to verify the performance of cables, environmental and operational conditions as well as functional requirements were investigated during design stage. Double armored high and low voltage integrated cable for towed body and two kinds of cables, armored and light weight power and optic hybrid cables for towed array sensor system were developed by modeling and simulation. Customized manufacturing process and test method, such as foam extrusion and dynamic fatigue test were applied to this development. In conclusion, underwater towed hybrid cable with high tensile strength and compact structure were developed.

• 반도체디스플레이기술학회지
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• 제21권1호
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• pp.142-147
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• 2022

After introducing Hybrid Bonding technology into image sensors using stacked sensors and image processors, large quantity production became possible. As a result, it is currently used in most of the CMOS image market in smartphones and other image-based devices worldwide, and almost all stacked CIS manufacturing sites have focused on miniaturization using hybrid bonding. In this study, an upper wafer handling module for Wafer to Wafer Hybrid Bonding developed to increase the alignment and precision between wafers when wafer bonding. The module was divided two parts to reduce error of both the alignment and degree of precision during wafer bonding. Wafer handling module developed both new Tip/Tilt system controlling θx,θy of upper wafer and striker to push upper wafer. Based on this, it was confirmed through the stability evaluation that the upper wafer handling module can be controlled without any problem during W2W hybrid bonding.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• 한국작물학회지
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• 제43권3호
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• pp.161-167
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• 1998

Root and shoot development of two rice (Oryza sativa L.) cultivars with different genetic backgrounds was studied with reference to their relative growth. Tongil type (indica-japonica hybrid) cultivar 'Kuemkangbyeo' and japonica cultivar 'Koshihikari' were grown in $5000^{-1}$ a Wagnar pots under flooded condition. Three plants with roots of both cultivars were taken in every phyllochron through the heading stage to record morphological characteristics of shoot and root system. Compared to Koshihikari, Kuemkangbyeo produced more tillers and had greater shoot weight and leaf area per hill. Length and weight of the root system in both cultivars increased exponentially with time. At the same time, root system development was significantly faster in Kuemkangbyeo than in Koshihikari after the panicle initiation stage. As a result, Kuemkangbyeo has a vigorous root system which consists of larger number of nodal roots compared to Koshihikari. Also, the root length and weight per unit leaf area of Kuemkangbyeo were larger than those of Koshihikari in the later half of growing period, which suggests possible higher physiological activity of the root system of Kuemkangbyeo which is known as a high-yielding cultivar. The relationship between root traits (crown root number, total root length, and root dry weight) and shoot traits (leaf area and leaf+culm dry weight) in both cultivars closely showed allometry until the flag leaf stage.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.2004-2010
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• 2018

We propose a small active antenna to receive Global Navigation Satellite System (GNSS) signals, i.e., Global Positioning System (GPS) L1 (1,575MHz) and Russian Global Navigation Satellite System (GLONASS) L1 (1,600 MHz) signals. A two-stage low-noise amplifier (LNA) with more than 27 dB gain is implemented in the bottom layer of a three-layer antenna package. In addition, a hybrid coupler is used to combine signals from pair of proximately coupled orthogonal feeds with $90^{\circ}$ phase difference to achieve the circular polarization (CP) characteristic. Three layers of high permittivity (${\varepsilon}_r=10$) substrates are stacked and effectively integrated to have a small dimension of $64mm{\times}64mm{\times}7.42mm$ (including both circuit and antenna). The reflection coefficient of the fabricated antenna at the target frequency is below -10 dB, the measured antenna gain is above 26 dBic and the measured noise figure is less than 1.4 dB.

• Structural Monitoring and Maintenance
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• 제10권3호
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• pp.261-281
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• 2023

Magnetic flux sensors are commonly used in monitoring the cable force, but the application of the sensors in large diameter non-closed Galfan cables, as those adopted in Yueqing Gymnasium which is located in Yueqing City, Zhejiang Province, China and is the largest span hybrid space structure in the world, is seldom done in engineering. Based on the construction of Yueqing Gymnasium, this paper studies the cable tension monitoring using the magnetic flux method across two stages, namely, the pre-calibration stage before the cable leaves the rigging factory and the field tension formation stage of the cable system. In the pre-calibration stage in the cable factory, a series of 1:1 full-scale comparative tests were carried out to study the feasibility and relability of this kind of monitoring method, and the influence on the monitoring results of charging and discharging voltage, sensor location, cable diameter and fitting method were also studied. Some meaningful conclusions were obtained. On this basis, the real-time cable tension monitoring system of the structure based on the magnetic flux method is established. During the construction process, the monitoring results of the cables are in good agreement with the data of the on-site pressure gauge.The work of this paper will provide a useful reference for cable force monitoring in the construction process of long-span spatial structures.

• 한국가스학회지
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• 제26권5호
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• pp.1-9
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• 2022

적합한 인공채유법의 선정은 유정의 효율적인 운영과 경제성의 측면에서 중요하다. 일반적으로 인공채유법의 선정은 유정 설계에 포함되는 과정이며, 저류층의 상황이나 유정의 생산 조건에 따라 두 가지 이상의 인공채유법을 적용한 혼합시스템을 활용하여 오일생산량을 증가시킬 수 있다. 대표적인 인공채유법 중 하나인 전기공저펌프(Electric submersible pump, ESP)는 전기 에너지를 이용한 다단계 원심분리형 펌프를 이용하여 유정 하부에서 압력을 공급하는 방식으로 오일생산량을 증대시킨다. 그러나 이 방식은 펌프의 수명과 연관된 결함에 의해 적용 기간에 한계를 가지는 단점이 있다. 이에 전기공저펌프/가스리프트 혼합시스템(ESP/Gas lift hybrid system)을 적용하여 전기공저펌프의 결함 발생 시에는 바로 가스리프트로 전환하여 오일생산이 중단되는 시간을 감소시킬 수 있다. 본 연구에서는 퍼미안 분지에 있는 육상 수평정을 대상으로 전기공저펌프/가스리프트 혼합시스템을 적용했을 때의 생산 중단시간의 감소에 따른 오일생산량 차이 및 경제성 분석을 수행하였다. 전기공저펌프/가스리프트 혼합시스템은 전기공저펌프의 단독 적용에 비교하여 더욱 효율적인 오일 생산성을 나타냄을 확인하였다. 또한 이 연구에서는 혼합시스템을 적용했을 때 얼마나 경제적 이득이 있는지를 정량적으로 예측함을 나타냈다.

• 한국정보통신학회논문지
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• 제14권12호
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• pp.2675-2680
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• 2010

3D 그래픽을 처리하는 연산 과정에는 고정적인 연산만을 수행하는 영역과 Shader 등과 같은 명령어에 의한 프로그래밍이 요구되는 영역이 구분되어 있다. 이러한 3D 파이프라인의 특성을 고려하여 fixed 구조로 설계한 graphics hardware와 명령어 기반의 programmable hardware를 혼합한 구조로 설계하면 효율적인 그래픽 처리가 가능하다. 본 논문에서는 이러한 혼합 구조에 적합한 OpenGL ES(Open Graphics Library Embedded System) 2.0을 지원하는 Fragment Shader를 설계하였다. fixed hardware와 Shader간 데이터 입출력으로 인해 발생할 수 있는 전체 파이프라인의 지연을 줄일 수 있도록 내부 인터페이스를 최적화하였으며 Shader 내부 레지스터 그룹을 interleaved 구조로 설계하여 레지스터 면적과 처리 속도를 개선하였다.

• 한국추진공학회지
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• 제15권1호
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• pp.55-62
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• 2011

본 연구에서는 하이브리드 로켓의 추력 제어 연소실험을 통하여 추력 제어 성능 향상을 위한 연구를 진행하였다. 추력 제어 명령에 따라 니들밸브와 결합된 스텝모터의 구동을 제어함으로써 산화제 유량을 조절하는 시스템을 구축하였다. 하이브리드 로켓 연소실험에서 사용된 산화제로는 기체산소($GO_2$)를 사용하였으며 추진제는 PE(Polyethylene)와 PC(Polycarbonate)를 사용하였다. 추력 제어 연소실험 초기에 발생되었던 추력섭동(Thrust Oscillation) 현상의 개선과 낮은 응답속도의 향상을 위해 연소실험 과정에서 산화제 배관의 유속 변화를 측정하고 원인을 분석하였다. 이를 보완한 연소 실험을 통하여 추력명령의 ${\pm}1$ N 이내에서 추력이 안정적으로 제어되었다.