• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.5
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• pp.619-628
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• 2010

Shape Memory Alloy (SMA) has recently received attention in developing implantable surgical equipments and it is expected to lead the future medical device market by adequately imitating surgeons' flexible and delicate hand movement. However, SMA actuators have not been used widely because of their nonlinear behavior called hysteresis, which makes their control difficult. Hence, we propose a parameter, $t_1$, which is necessary for temperature control, by analyzing the open-loop step response between current and temperature and by comparing it with the values of linear differential equations. $t_1$ is a pole of the transfer function in the invariant linear model in which the input and output are current and temperature, respectively; hence, $t_1$ is found to be related to the state variable used for temperature control. When considering the parameter under heat treatment conditions, $T_{max}$ was found to assume the lowest value, and $t_1$ was irrelevant to the heat treatment.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.9
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• pp.45-53
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• 2015

Adaptive support-weight based algorithm can produce better disparity map compared to generic area-based algorithms and also can be implemented as a realtime system. In this paper, we propose a realtime system based on geodesic support-weight which performs better segmentation of objects in the window. The data scheduling is analyzed for efficient hardware design and better performance and the parallel architecture for weight update which takes the longest delay is proposed. The exponential function is efficiently designed using a simple step function by careful error analysis. The proposed architecture is designed with verilogHDL and synthesized using Donbu Hitek 0.18um standard cell library. The proposed system shows 2.22% of error rate and can run up to 260Mhz (25fps) operation frequency with 182K gates.

• Journal of Korean Society of Transportation
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• v.27 no.1
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• pp.35-42
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• 2009

One of the problems we face up at the time of planning or improving a transportation transfer facility is which modes and how close we have to put together. The goal here is to keep the connecting transportation mode as close as possible to the prime transit mode, so people travel a minimum transfer path, a distance from one mode to another. Too much a physical separation between modes will limit, even with an intensive improvement of the component links, the level of service of a transfer path as a whole. This study defined a transfer path as the whole stretch of the distance from an arrival point of one mode to the departure point of the connecting mode. The transfer path was divided into three typical segments as side walk, stairways, and indoor corridors. Preference surveys were made for each of these segments, resulting in relative resistance. The sum of individual segments weighted with the relative resistance will make a transfer resistance of the path, which in turn constitutes a transfer utility function together with the overall satisfaction score obtained by the interview survey. The transfer utility function has been utilized to evaluate the transfer distance between modes.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.11
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• pp.90-98
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• 2013

The stereo system based on local matching is very popular due to its algorithmic simplicity, however it is limited to apply to various applications because it shows poor quality with low matching rates. In this paper, we propose and design a realtime stereo system based on an adaptive support-weight and the system shows low error rates and realtime performance. Generally, in the adaptive support-weight algorithm the intermediate computing results can not be reused to reduce the number of computations. In this research we modify the scheduling to reuse the intermediate results for the better performance by processing rows and columns separately. The nonlinear functions such as exponential or arc tangent have been designed with piecewise linear and step functions by empirical simulations and error analysis. The proposed architecture is composed of 9 processing elements for realtime performance. The proposed stereo system has been designed and synthesized using Donbu Hitek 0.18um standard cell library and can run up to 350Mhz operation frequency (33 frames per second) with 424K gates.

• Journal of Satellite, Information and Communications
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• v.11 no.4
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• pp.39-43
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• 2016

In this paper, we propose PID gain auto tuning method in steering type mobile robot. PID controller gain select method are various methods. Ziegler-Nichols step tuning method is one method tuning in PID controller. Use step tuning method find a the first gain and did experiment in steering mobile robot. and Make a new the second gains from the first gains. After appling the second gain in PID controller, Where perform observe for convergence time and stabilization error. Experiments result the second gain are useful in real steering mobile robot system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.10
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• pp.5221-5229
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• 2013

This study focused on the construction of Korean Evacuation load Model for reflecting Korean Evacuation behaviors. For the purposes, several evacuation experiments are executed according to the ages, and the level and types of disabilities. We accumulated the data on the evacuation velocity and behavior patterns according the ages, and the level and types of disabilities. From these results, we proposed the Korean Evacuation Load Model and compared with several popular evacuation simulation model such SIMULEX. As results of these studies, we found the possibility of construction of Korean Evacuation Simulation System based on the Korean Evacuation Model including the evacuation velocity and human behaviors.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.1
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• pp.19-24
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• 2007

In this paper, we propose a tuning method of PID-PD controller to satisfy design specifications in frequency domain as well as time domain. The proposed tuning method of PID-PD controller consists of the convex set of PID and PI-PD controller. PID-PD controller controls the closed-loop response to be located between the step responses, and Bode magnitudes of closed-loop transfer functions controlled by PID and PI-PD controller. The controller is designed by the optimum tuning method to minimize the proposed specific cost function subject to sensor noise insensitivity and robust stability. Its effectiveness is examined by the case study and analysis.

• Journal of KIISE:Software and Applications
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• v.34 no.11
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• pp.961-970
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• 2007

Since the usual conventional edge detectors employ the local differential derivatives, the detected edges are not uniform in their widths or some edges are missed out of the detection on magnified images. We employ a mapping from the exactly monotonic intensity distributions of ramp edges to the simple step functions of intensity, which is referred to as perfect sharpening map of ramp edges. This map is based on the non-local feature of intensity distribution and used to introduce a modified differentiation, in terms of which we can construct an efficient edge detector adaptive to the variation of edge width. By adopting the operator MADD in this paper, we developed an edge detector that works stably against the magnification of image or the variation of edge width. It is shown by comparing to the conventional algorithms that the proposed one is very excellent.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.10
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• pp.330-338
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• 2018

The proportional-integral-derivative(PID) controller has been widely used in the industry because of its robust performance and simple structure in a wide range of operating conditions. However, the AVR(Automatic Voltage Regulator) as a control system is not robust to variations of the power system parameters. Therefore, it is necessary to use PID controller to increase the stability and performance of the AVR system. In this paper, a novel design method for determining the optimal PID controller parameters of an AVR system using the particle swarm optimization(PSO) algorithm is presented. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. In order to assist estimating the performance of the proposed PSO-PID controller, a new performance criterion function is also defined. This evaluation function is intended to reflect when the maximum percentage overshoot, the settling time are given as design specifications. The ITAE evaluation function should impose a penalty if the design specifications are violated, so that the PSO algorithm satisfies the specifications when searching for the PID controller parameter. Finally, through the computer simulations, the proposed PSO-PID controller not only satisfies the given design specifications for the terminal voltage step response, but also shows better control performance than other similar recent studies.

• Journal of the Korean Society for Nondestructive Testing
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• v.19 no.5
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• pp.356-362
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• 1999

Based on the assumption that film density increases exponentially with exposure in the industrial radiographic film. an equation representing the characteristic curves of industrial radiographic films and a new density-thickness relation are suggested. The accuracy and reliability of the suggested relation has been tested using radiographs of a carbon steel step wedge with known thickness variation by polychromatic X-ray and ${\gamma}$-ray ($Ir^{192}$). The experimental results were well agreed to the proposed relation in the range of film densities from 1.0 to 3.5 and it was more accurate than the conventional relation. It is also found that ${\gamma}$-ray is more effective in this purpose than polychromatic X-ray, which results in variation of effective linear absorption coefficient due to beam hardening effect as thickness increases. Therefore using the equation and experimentally determined parameters the quantitative evaluation of thickness variation is possible and it can be used to evaluate the depth of local corrosion of pressure vessels in plants.