• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.173-180
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• 2009

It is difficult to predict non-stationary or chaotic time series which includes the drift and/or the non-linearity as well as uncertainty. To solve it, we propose an effective prediction method which adopts data preprocessing and multiple model TS fuzzy predictors combined with model selection mechanism. In data preprocessing procedure, the candidates of the optimal difference interval are determined based on the correlation analysis, and corresponding difference data sets are generated in order to use them as predictor input instead of the original ones because the difference data can stabilize the statistical characteristics of those time series and better reveals their implicit properties. Then, TS fuzzy predictors are constructed for multiple model bank, where k-means clustering algorithm is used for fuzzy partition of input space, and the least squares method is applied to parameter identification of fuzzy rules. Among the predictors in the model bank, the one which best minimizes the performance index is selected, and it is used for prediction thereafter. Finally, the error compensation procedure based on correlation analysis is added to improve the prediction accuracy. Some computer simulations are performed to verify the effectiveness of the proposed method.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.

• Journal of Power Electronics
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• v.16 no.6
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• pp.2243-2257
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• 2016

This paper presents a two stage three-phase proton exchange membrane fuel cell (PEMFC) generation system. When the system is connected to a three-phase load, it is very sensitive to the characteristics and type of the load. Especially unbalanced three-phase loads, which result in a pulsating power that is twice the output frequency at the inverter output, and cause the dc-link to generate low frequency ripples. This penetrates to the fuel cell side through the front-end dc-dc converter, which makes the fuel cell work in an unsafe condition and degrades its lifespan. In this paper, the generation and propagation mechanism of low frequency ripple is analyzed and its impact on fuel cells is presented based on the PEMFC output characteristics model. Then a novel method to evaluate low frequency current ripple control capability is investigated. Moreover, a control scheme with bandpass filter inserted into the current feed-forward path, and ripple duty ratio compensation based on current mode control with notch filter is also proposed to achieve low frequency ripple suppression and dynamic characteristics improvement during load transients. Finally, different control methods are verified and compared by simulation and experimental results.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.48-56
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• 2014

In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. And haptic surgical robot is also necessary to design a haptic master device. The master device for laparoscope operation with cable-conduit was developed in previous research to give haptic function. It suggested a possibility of developing a master device by using the cable-conduit. However, it is very inconvenient to use. Therefore, this paper suggests a new mechanism design structure to solve the problems of the previous work by new forming a new master device. And it has proved that it's usability is better than previous one. Furthermore it has also experimented and analyzed that a backlash of new master device is compensated by smooth backlash inverse algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1008-1013
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• 2014

This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1418-1425
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• 2014

In ultrasonic medical imaging, spatial compounding of images is a technique where ultrasonic beam is steered to examine patient tissues in multiple angles. In the conventional ultrasonic diagnostic imaging, the steering of the ultrasonic beam is achieved electronically using the phased array transducer elements. In this paper, a spatial compounding approach is presented where the ultrasonic probe element is rotated mechanically and the beam steering is achieved mechanically. In the spatial compounding, target position is computed using the value of the rotation axis and the transducer array angular position. However, in the process of the rotation mechanism construction and the control system there arises the inevitable uncertainties in these values. These geometric parameter errors result in the target position error, and the consequence is a blurry compounded image. In order to reduce these target position errors, we present a spatial compounding scheme where error correcting transformation matrices are computed and applied to the raw images before spatial compounding to reduce the blurriness in the compounded image. The proposed scheme is illustrated using phantom and live scan images of human knee, and it is shown that the blurriness is effectively reduced.

• Molecules and Cells
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• v.43 no.2
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• pp.198-202
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• 2020

Comprehensive inhibition of RUNX1, RUNX2, and RUNX3 led to marked cell suppression compared with inhibition of RUNX1 alone, clarifying that the RUNX family members are important for proliferation and maintenance of diverse cancers, and "cluster regulation of RUNX (CROX)" is a very effective strategy to suppress cancer cells. Recent studies reported by us and other groups suggested that wild-type RUNX1 is needed for survival and proliferation of certain types of leukemia, lung cancer, gastric cancer, etc. and for their one of metastatic target sites such as born marrow endothelial niche, suggesting that RUNX1 often functions oncogenic manners in cancer cells. In this review, we describe the significance and paradoxical requirement of RUNX1 tumor suppressor in leukemia and even solid cancers based on recent our findings such as "genetic compensation of RUNX family transcription factors (the compensation mechanism for the total level of RUNX family protein expression)", "RUNX1 inhibition-induced inhibitory effects on leukemia cells and on solid cancers through p53 activation", and "autonomous feedback loop of RUNX1-p53-CBFB in acute myeloid leukemia cells". Taken together, these findings identify a crucial role for the RUNX cluster in the maintenance and progression of cancers and suggest that modulation of the RUNX cluster using the pyrrole-imidazole polyamide gene-switch technology is a potential novel therapeutic approach to control cancers.

• Current Optics and Photonics
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• v.5 no.5
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• pp.576-582
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• 2021

Dichroic beam-splitter (DBS) with polarization-maintaining took an important role in the free space quantum telecommunication tests on the Micius satellite of China. In this presentation, we designed and prepared a 50 layer polarization-maintaining DBS coating by a dual ion beam sputtering deposition (Dual-IBS) method. In order to solve a stress problem, an 18 layer special anti-reflection (AR) coating with similar physical thickness ratio was deposited on the backside. By stress compensation, the surface flatness RMS value of the DBS sample decreased from 0.341 λ (@632.8 nm) to 0.103 λ while beam splitting and polarization maintaining properties were almost kept unchanged. Further, we discussed the mechanism of film stress and stress compensation by equation deduction and found that total stress had a strong relationship with the total physical thickness and the ratio of layer materials.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.9
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• pp.1699-1709
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• 2015

Moving terminals like high-speed-train undergo high Doppler frequency shift, and this leads to carrier frequency offsets that have to be compensated to avoid degradation of communication performance. In multiple access mechanism like OFDMA, base-stations need complex hardware to compensate the uplink frequency offset. In this paper, we propose a method, which can reduce burden of the base-station and makes frequency offset estimation and compensation simple. This method contains transmitting new synchronization signal, estimating frequency offsets in base-station, transmitting feedback information to terminal, and compensating the offset in uplink transmission. Simulation results show the proposed method operates well in high Doppler frequency shift conditions of 500 km/h which is the requirements of 5G mobile communication.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.3
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• pp.250-257
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• 2001

SRM drives generate large vibration and acoustic noise because it is rotated by step pulse mmf and switching commutation mechanism. The main vibration source of SRM drive is generated by rapidly variation of radial force when phase winding current is extinguished for commutation action. So the rapidly variation of radial force is repressed firstly to reduce vibrating force of SRM drive. This paper suggests an SRM excitation scheme using unidirect-short compensation winding to reduce vibration of the motor. The motor is excited by a two stage commutation method during commutation period. This paper suggests an SRM excitation scheme using unidirect-short compensation winding to reduce vibration of the motor. The motor is excited by a tow stage commutation method during commutation period. This reduction effect of vibration is verified with the result obtained in the test of prototype machine.