• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.63-67
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• 2004

The problem is improving the positioning precision of a permanent magnet linear synchronous motor (PMLSM). Thus, this paper presents the design and realization of an adaptive dither to reduce the force ripple in PMLSM. A composite control structure is used, consisting of three components: a simple feed-forward component, a PID feedback component and an adaptive feed-forward compensator (AFC). Especially adaptive feed-forward component cancel out detent force using wavelet transformation. Computer simulation results verify the effectiveness of the proposed scheme for high precision motion trajectory tracking using the PMLSM

• Journal of Electrical Engineering and Technology
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• v.8 no.2
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• pp.385-392
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• 2013

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

• Steel and Composite Structures
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• v.11 no.5
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• pp.423-434
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• 2011

Tongwamen Bridge is a critical link between Dongmen Island and the land in Shipu town, Zhejiang province, China. It is a 238 m span, half-through, concrete-filled steel tubular (CFST) X-type arch bridge. The width of the deck is only 10 m, yielding a width-to-span ratio of 1/23.8. The plane truss type section rib was adopted, which made of two CFST chords and web member system. The lateral stability is the key issue to this bridge. However, the existing researches on Tongwamen Bridge's lateral stability are all the deterministic structural analysis. In this paper, a new strategy for positioning sampling points of the response surface method (RSM), based on the composite method combining RSM with geometric method for structural reliability analysis, is employed to obtain the reliability index of lateral stability. In addition the correlated parameters were discussed in detail to find the major factors. According to the analysis results, increasing the stiff of lateral braces between the arch ribs and setting the proper inward-incline degree of the arch rib can enhance obviously the reliability of lateral stability. Moreover, the deck action of non-orienting force is less than the two factors above. The calculated results indicate that the arch ribs are safe enough to keep excellent stability, and it provides the foundation that the plane truss rib would be a competitive solution for a long-span, narrow, CFST arch bridge.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.646-652
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• 2013

EU's Galileo project is a market-based GNSS (Global Navigation Satellite System) that is under development. It is expected that Galileo will provide the positioning services based on new technologies in 2020s. Because Galileo E1 signal for OS (Open Service) shares the same center frequency with GPS L1 C/A signal, CBOC (Composite Binary Offset Carrier) modulation scheme is used in the E1 signal to guarantee interoperability between two systems. With E1 signal consisting of a data channel and a pilot channel at the same frequency band, there exist several options in designing signal acquisition for Assisted-Galileo receivers. Furthermore, compared to SNR worksheet of Assisted-GPS, some factors should be examined in Assisted-Galileo due to different correlation profile and code length of E1 signal. This paper presents SNR worksheets of Galileo E1 signals in E1-B and E1-C channel. Three implementation losses that are quite different from GPS are mainly analyzed in establishing SNR worksheets. In the worksheet, hybrid long integration of 1.5s is considered to acquire weak signal less than -150dBm. Simulation results show that the final SNR of E1-B signal with -150dBm is 19.4dB and that of E1-C signal is 25.2dB. Comparison of relative computation shows that E1-B channel is more profitable to acquire the strongest signal in weak signal environment. With information from the first satellite signal acquisition, fast acquisition of the weak signal around -155dBm can be performed with E1-C signal in the subsequent satellites.

• Structural Engineering and Mechanics
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• v.16 no.5
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• pp.519-531
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• 2003

Piezoelectric actuators have long been recognised for use in aerospace structures for control of structural shape. This paper looks at active control of the swept shock wave/turbulent boundary layer interaction using smart flap actuators. The actuators are manufactured by bonding piezoelectric material to an inert substrate to control the bleed/suction rate through a plenum chamber. The cavity provides communication of signals across the shock, allowing rapid thickening of the boundary layer approaching the shock, which splits into a series of weaker shocks forming a lambda shock foot, reducing wave drag. Active control allows optimum control of the interaction, as it would be capable of positioning the control region around the original shock position and unimorph tip deflection, hence mass transfer rates. The actuators are modelled using classical composite material mechanics theory, as well as a finite element-modelling program (ANSYS 5.7).

• Advances in nano research
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• v.1 no.2
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• pp.71-82
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• 2013

A simple chemical precipitation technique is reported for the synthesis of a hybrid nanostructure of single-wall carbon nanotubes (SWCNT) and titania ($TiO_2$) nanocrystals of average size 5 nm, which may be useful as a prominent photocatalytic material with improved functionality. The synthesized hybrid structure has been characterized by transmission electron microscopy (HRTEM), energy-dispersive X-ray analysis (EDAX), powder X-ray diffractometry (XRD), Fourier transform infrared spectroscopy (FTIR) and Raman spectroscopy. It is clearly revealed that nearly monodispersed titania nanocrystals (anatase phase) of average size 5 nm decorate the surfaces of SWCNT bundles. The UV-vis absorption study shows a blue shift of 16 nm in the absorbance peak position of the composite material compared to the unmodified SWCNTs. The photoluminescence study shows a violet-blue emission in the range of 325-500 nm with a peak emission at 400 nm. The low temperature electrical transport property of the synthesized nanomaterial has been studied between 77-300 K. The DC conductivity shows semiconductor-like characteristics with conductivity increasing sharply with temperature in the range of 175-300 K. Such nanocomposites may find wide applications as improved photocatalyst due to transfer of photo-ejected electrons from $TiO_2$ to SWCNT, thus reducing recombination, with the SWCNT scaffold providing a firm and better positioning of the catalytic material.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.977-987
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• 2012

One of the most significant errors in the pseudo-range measurement performance of GNSSes (Global Navigation Satellite Systems) is their multipath error for high-precision applications. Several schemes to mitigate this error have been studied. Most of them, however, have been focused on the GPS (Global Positioning System) L1 C/A (Coarse/Acquisition) signal that was designed in the 1970s and is still being used for civil navigation. Recently, several modernized signals that were especially conceived to more significantly mitigate multipath errors have been introduced, such as Time Multiplexed and Composite Binary Offset Carrier (TMBOC and CBOC, respectively) signals. Despite this advantage, however, a problem remains with the use of TMBOC and CBOC modulations: the ambiguity of BOC (Binary Offset Carrier)-modulated signal tracking. In this paper, a novel unambiguous multipath error mitigation scheme for these modernized signals is proposed. The proposed scheme has the same complexity as HRCs (High Resolution Correlators) but with low ambiguity. The simulation results showed that the proposed scheme outperformed or performed at par with the HRC in terms of their multipath error envelopes and running averages in the static and statistical channel models. The ranging error derived by the mean multipath error of the proposed scheme was below 1.8 meters in an urban area in the statistical channel model.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.71-76
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• 2005

The defects evaluation of the interior and the surface would be considered as vital characteristics in predicting the total life span of the steel structure. More importantly, the understandings in the interior composite of welding zone and the notifications in the presence, the formation, and the positioning of the non-metallic inclusion are necessary as well, since there were signs of relatively high defect frequency presented in the welding zone. The ultrasonic testing is a highly recommended technique chosen from among other techniques because of variety of advantages in conducting the non-destructive testing for the welding zone. However, the ultrasonic testing had technical disadvantages referred as followings; the problems due to the couplant between the PZT and the specimen, the formations that were miniature and complex, the moving subject, and the high temperature surrounding the specimen. This research was conducted to resolve the technical disadvantages of the contact ultrasonic testing by studying the non-contact ultrasonic testing where the ultrasonic waves were transferred by the laser, and revealing the specimen defects at its interior part and its surface part. The ultimate goal of this research was to develop a non-destructive evaluation applying the laser manipulated ultrasonic method for the steel structure.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.1
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• pp.57-63
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• 2012

A surfaced permanent magnet spherical motor is capable of operating as three degree of freedom that used for the joints of the robot's arm, leg, and eyes. Ongoing research like new concept is essential part of motor field, it will make a great contribution in the future the overall portion of the motor, is becoming expected. The author analysis torque characteristics in spherical motor with state of rotating and positioning. And future design direction is smaller motors with equivalent or higher output. Solutions as torque and efficiency improvements are selecting the core with special processing type like powder metallurgy materials. Their special characteristic is high permeability and low eddy current losses at high speed, so improved the torque and efficiency.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.4
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• pp.167-178
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• 2023

Our society is rapidly changing, and there is a growing demand for various convenience services in our daily lives. Among these services, railway and subway stations require tailored wayfinding services to accommodate individuals with disabilities. Currently, signage and information desks are the primary means of navigation. However, individuals with disabilities often rely on assistance from others due to physical discomfort or cognitive impairments. In this paper, we propose a customized wayfinding system within railway stations to assist individuals with disabilities. This system aims to ensure safe and convenient mobility in complex indoor environments, including transfer facilities.