• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.566-569
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• 2022

In this paper, the algorithm was developed to recognize hand golve gesture and implemented a system to remotely control the robot. The system consists of a camera and a controller that controls robot motion by hand position gesture. The camera recognizes the specific color of the glove and outputs the recognized range and position by including the color area of the glove. We recognize the velocity vector of robot motion and control the robot by the output data of the position and the detected rectangle. Through the several experiments, it was confirmed that the robot motion control was successfully performed.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.3
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• pp.162-165
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• 2012

In this paper, the method of controlling velocity between joining vehicles at the point of bottleneck using information and communications technology of WAVE method based V2V and V2I are proposed for the driving with high fuel efficiency. Using the derived fuel-efficiency comparative analysis model, it was shown that the proposed method's fuel efficiency is better than traffic light method demanding periodically vehicle's stop. Also, this method provides the derivation algorithm for deceleration and acceleration for controlling velocity between vehicles approaching bottleneck area.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.885-888
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• 2018

This paper researches a way of detecting fish robots moving in an aquarium. The fish robot was designed and developed for interactions with humans in aquariums. It was studied merely to detect a moving object in an aquarium because we need to find the positions of moving fish robots. The intention is to recognize the location of robotic fish using an image processing technique and a video camera. This method is used to obtain the velocity for each pixel in an image, and assumes a constant velocity in each video frame to obtain positions of fish robots by comparing sequential video frames. By using this positional data, we compute the distance between fish robots using a mathematical expression, and determine which fish robot is leading and which one is lagging. Then, the lead robot will wait for the lagging robot until it reaches the lead robot. The process runs continuously. This system is exhibited in the Busan Science Museum, satisfying a performance test of this algorithm.

• Wind and Structures
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• v.29 no.1
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• pp.65-75
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• 2019

A heated square cylinder (with height $A^*$) is kept parallel to the cold wall at a fixed gap height $0.5A^*$ from the wall. Another adiabatic rectangular cylinder (of same height $A^*$ and width $0.5A^*$) is placed upstream in an inline tandem arrangement. The spacing between the two cylinders is fixed at $3.0A^*$. The inlet flow is taken as Couette-Poiseuille flow based non-linear velocity profile. The conventional fluid (also known as base fluid) is chosen as water (W) whereas the nanoparticle material is selected as $Al_2O_3$. Numerical simulations are performed by using SIMPLE algorithm based Finite Volume approach with staggered grid arrangement. The dependencies of hydrodynamic and heat transfer characteristics of the cylinder on non-dimensional parameters governing the nanofluids and the fluid flow are explored here. A critical discussion is made on the mechanism of improvement/reduction (due to the presence of the upstream cylinder) of heat transfer and drag coefficient, in comparison to those of an isolated cylinder. It is observed that the heat transfer increases with the increase in the non-linearity in the incident velocity profile at the inlet. For the present range studied, particle concentration has a negligible effect on heat transfer.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.6
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• pp.546-553
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• 2002

A control of the body posture and movement is maintained by the vestibular system, vision, and proprioceptors. Especially, vestibular system has a very important function that controls the eye movement through vestibuloocular reflex and contraction of skeletal muscles through vestibulospinal reflex. However, postural disturbance caused by loss of vestibular function results in nausea, vomiting, vertigo and loss of craving for life. Lose of vestibular function leads to abnormal reflex of eye movements named nystagmus. Analysis of the nystagmus is needed to diagnose the vertigo, which is performed by means of electrooculography(EOG). The purpose of this study is to develop a computerized system for data processing and an algorithm for the automatic evaluation of the slow component velocity(SCV) of nystagmus induced by optokinetic(OKN) stimulation system. A new algorithm using recursive least square method(RLSM) to detect SCV of nystagmus is suggested in this paper. This method allows a fast and precise evaluation of the nystagmus, through artifact rejection techniques. The results are depicted in this paper.

• Journal of Biomedical Engineering Research
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• v.19 no.4
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• pp.369-377
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• 1998

This paper describes the results of investigations comparing the relative in vitro responses of different signal processing algorithms for laser Doppler flowmetry(LDF) using self-mixing effect of laser diode(LD). A versatile laser Doppler system is described which enabled complex signal processing to be implemented relatively simply using digital analysis. The flexibility of the system allowed a variety of processing algorithms to be studied by simply characterising the algorithm of interest under software control using a personal computer. Two in-vitro physical models are also presented which was used to maintain reproducible fluid flows Flows of particles were studied in two physical models using a 780nm laser diode source. The results show that frequency weighted algorithms(first and second moments, rate to zero moment) are responsive to particle velocity more than concentration, whereas non-weighted algorithm (zero moment responds to concentration and velocity.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1417-1423
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• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• The Transactions of the Korean Institute of Power Electronics
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• v.11 no.5
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• pp.417-425
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• 2006

This paper presents a new speed sensorless vector control scheme of Spindle Induction Motors(SIM) which can be successfully applied to at any speed including even zero speed. The proposed sensorless vector control of SIM uses rotor flux estimator with a variable bandwidth. This approach is based on the Closed-Loop Rotor Flux Observer(CLRFO) which includes a variable bandwidth of the PI controller. For low speed operation, the bandwidth of CLRFO has a variable bandwidth structure according to the estimated rotor velocity. The experimental results show the satisfactory operation of the proposed sensorless algorithm.