• Journal of Korea Multimedia Society
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• v.12 no.8
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• pp.1089-1098
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• 2009

Recently, many researches of making more comfortable input device based on gaze detection technology have been performed in human computer interface. Previous researches were performed on the computer environment with a large sized monitor. With recent increase of using mobile device, the necessities of interfacing by gaze detection on mobile environment were also increased. In this paper, we research about the gaze detection method by using UMPC (Ultra-Mobile PC) and an embedded camera of UMPC based on face and facial feature detection by AAM (Active Appearance Model). This paper has following three originalities. First, different from previous research, we propose a method for tracking user's gaze position in mobile device which has a small sized screen. Second, in order to detect facial feature points, we use AAM. Third, gaze detection accuracy is not degraded according to Z distance based on the normalization of input features by using the features which are obtained in an initial user calibration stage. Experimental results showed that gaze detection error was 1.77 degrees and it was reduced by mouse dragging based on the additional facial movement.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.8
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• pp.710-716
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• 2010

This note represents a new disturbance observer to reduce effects of external disturbances. In case of conventional disturbance observers, additional stabilizing filters, so-called Q-filter, should be used because the conventional ones don't guarantee stability. But, the proposed one doesn't need the stabilizing filter, which is a fundamentally different research result from previous methods. Experimental verifications show this approach is realizable and valid to enhance precise positioning.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.825-828
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• 1998

경혈을 대상으로 인체를 진단하는 의료기기들은 경혈점에 미세한 직류전류를 인가하고, 이 점에서의 전기저항과 세포의 분극에 의해 반응하는 경락체계의 균형상태를 측정하여 인체를 종합적으로 진단한다. 따라서 전 과정이 정확한 경혈의 위치에서 이루어져야만 치료효과와 진단의 신뢰성이 보장된다. 그러나 대부분의 경락관련 치료기들이 정확한 혈위식별에 어려움이 있고 사용자의 전문적 숙련을 요구한다. 따라서 선행연구에서 일정한 주파수로 교호되는 자극패턴(SPAC) 방식을 사용하여 식별률을 높인 혈위식별기 DM96A-1를 개발하였다. DM96A-1은 단일전원이 양방향으로 교호되는 전류로 자극펄스를 출력하고 측정범위가 0.5∼50㎂인 전류메터와 레벨메터를 이용하여 혈위의 전류량을 표시한다. 이에 따라 방향전환 소자의 두 채널 제어신호가 교호되는 과도기에서 두 자극패턴의 중첩 도통에 의해서 누설전류가 발생하는 경우가 있으며 이를 제거하기 위하여 정밀한 조정을 필요로 하는 불편이 있었다. 따라서 이와 같은 단점들을 보완하여 신뢰성 있는 출력 파라메터를 얻을 수 있도록 마이크로프로세서 i80c196kc를 사용하여 DM96A-2를 재 설계하였으며 임상실험에 의하여 개선된 최적 파라메터의 타당성을 검증하였다.

• Proceedings of the KIPE Conference
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• 2003.07a
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• pp.393-397
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• 2003

This paper presents neural load torque observer tha used to deadbeat load torque observer and regulation of the compensation gun by parameter estimator. As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is adopted. The parameter compensator with RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller. The parameter estimator li combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.67-74
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• 2015

Two-wheeled driying mobild robots are precise controlled in terms of linear contol methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and heavy influence the overall driving performance. This study describes the nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the optimal control outperforms in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly conrtibutes to the driving performance and stability.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.2 no.2
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• pp.45-48
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• 2001

It is a quite duality concerning to control the temperature of single crystalline growth as it does when we get most of heat treating products. It is also important factor to control the temperature when we make the $Al_2$O$_3$(single crystalline) used to artificial jewels. glass of watches, and heat resistant transparent g1asses. Thus, it is a major interest to get the proper temperature in accordance with the time process while we are making mixture of oxygen and hydrogen to have the right temperature. In this paper. we will study of electrical valve positioning system with DC-Motor for the gas mixture to improve the quality of products.

• Proceedings of the KIPE Conference
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• 2004.07a
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• pp.279-282
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• 2004

This paper presents load torque observer that is used to deadbeat load torque observer in the induction motor position control system. The simulation has been obtained by simulink. A digital control is composed by trigger method in the continuous block diagram. The results show that proposed system has good effectiveness for the disturbance in induction servo motor system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.348-350
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• 2006

In this paper, we design a new controller for an ultra-precision positioning system. In general, time optimal control enables to reach a target position faster than others. However it shows a weakness to chattering effect. In order to solve the problem, a new control algorithm based on sliding mode control is proposed. The suggested controller is composed of LQR control and sliding mode control. By performing some simulations, we prove that the proposed controller is more robust than time optimal control under the circumstance of parameter uncertainties and external disturbances.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2006.10a
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• pp.178-183
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• 2006

Effect of coulomb friction and backlash on the single loop posit ion control has been studied for the precision position control. We studied and showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, We made an inner loop with a classical velocity and torque controller which was forcing the $i_d$ current to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear sensor for sensing a position of the loader. We have been shown a good result by using the dual loop through numerical simulation method.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.799-804
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• 2003

Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip, stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the position of the system. The motion of friction in the sliding region can be described as the LuGre model. But the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely. Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is proposed in this paper. And simulation and experimental results show the effectiveness of the proposed friction model for precise tracking control systems.