• Journal of Korea Society of Industrial Information Systems
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• v.3 no.1
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• pp.183-191
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절로보트는 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking-to-trajectory 제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적형기법과 간접적응기법이 있다. 두기법의 차이는 시스템 정보의 유무이며, 시스템의 주어진 상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.03a
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• pp.125-128
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• 1998

다양한 산업분야의 생산공장에서 주로 활용되고 있는 6축 수직다관절보트은 대부분 단순반복운동을 하고 있다. 단순반복중 point-to-point제어보다 품질을 요하는 tracking -to-trajectory제어를 위한 분산학습제어에 대하여 연구하고자 한다. 관련 학습제어기법으로는 선형누적기법과 간접적응기법이 있다. 두 기법의 차이는 시스템의 정보의 유무이며 시스템의 주어진상황에 따라 두 기법중 하나를 선택할 수 있다. 간접적응형 기법은 zero tracking error를 보장받기 위해서 보다 많은 반복을 요하는 경비를 부담하여야 한다.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.1233-1234
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• 2006

Reliable frequency estimation is important for active power control, load shedding and generator protection. Thereby, frequency estimation is researched and some algorithms is proposed. This paper analyzed strength and weakness of each algorithms through comparative analysis of frequency estimation. Used algorithms are Zero Crossing detection, Discrete Fourier Transformation, Least Error Squares.

• Proceedings of the KIEE Conference
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• 2006.07c
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• pp.1693-1694
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• 2006

Reliable frequency estimation is important for active power control, load shedding and generator protection. Thereby, frequency estimation is researched and some algorithms is proposed. This paper analyzed strength and weakness of each algorithms through comparative analysis of frequency estimation. Used algorithms are Zero Crossing detection, Discrete Fourier Transformation, Least Error Squares.

• Kyungpook Mathematical Journal
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• v.62 no.3
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• pp.455-465
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• 2022

We point out a flaw in a result proved by Singh and Shah [Kyungpook Math. J., 57(2017), 537-543] which was recently published in Kyungpook Mathematical Journal. Further, we point out an error in another result of the same paper which we correct and obtain integral extension of the corrected form.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.83-89
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• 2004

The electronic distance measurement instrument, first introduced in the 1950s has, since those early days, undergone continual refinement. Rapid advances in related technologies have provided lighter, smaller and more precise equipment. Understanding for the principle, the standardized observation technique and the precision of EDM instrument is mostly important to improve the quality and the reliability of by-product in the field of engineering and industrial surveying. Simple and accurate calibration is regularly and periodically necessary to maintenance the precision of EDM instrument. This paper describes the calculated example of zero error and scale error as a correction of EDM by applying the least square method to baseline observations. Here we deals also with the testing criteria for precision instrument testing according to different types of EDM instruments.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.20-23
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• 1996

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.462-470
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• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.

• Proceedings of the IEEK Conference
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• 2000.06d
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• pp.118-122
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• 2000

Nowadays, it is popular to use the spread spectrum watermarking algorithm for still image. But there is high error probability of the retrieved watermark in the spread spectrum owing to the correlation between image and spreaded watermark sequence. In this paper, two methods are proposed. One is Ordering Map Method and the other is Alteration of Image. Based on pixel value, the order by which the spreaded watermark bits is embedded is created in Ordering Map Method. By the covariance function between image and the spreaded sequence, image is altered in Alteration of Image. Hence, bit error of retrieved watermark is clearly reduced to zero by this two method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.12
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• pp.2292-2297
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• 2010

To improve the performances of Sawyer motors and to regulate yaw rotation, various feedback control methods have been developed. Almost all of these methods require information on the position, velocity or full state of the motor. Therefore, in this paper, a nonlinear observer is designed to estimate the full state of the four forcers in a Sawyer motor. The proposed method estimates the full state using only positional feedback. Generally, Sawyer motors are operated within a yaw magnitude of several degrees; outside of this range, Sawyer motors step out. Therefore, this observer design assumes that the yaw is within ${\pm}90^\b{o}$. The convergence of the estimation error is proven using the Lyapunov method. The proposed observer guarantees that the estimation error globally exponentially converges to zero for all arbitrary initial conditions. Furthermore, since the proposed observer does not require any transformation, it may result in a reduction in the commutation delay. The simulation results show the performance of the proposed observer.