• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.435-437
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• 1998

In this productive system, it needs to control the each axis motion harmoniously to perform accurately for the manufacturing, transporting and printing. Independent Axis Control usually used for this objection. However, if Independent Axis Control mismatched the parameter of each axis system or in the case of free curve tracking or the case of high speed control, there would be big contour error so that cannot achieve control objection. As a result, there is Contour Control method suggested to supply for this defect. This paper carried modeling of biaxial system and implemented Independent Axis Control & Contouring Control on straight line, circular, and coner path by simulation and experiment. If feedrate increased, contour error growed. In consequence, according to this factor, we introduced contouring controller, so we could find the fact that contour error was reduced more than that of independent axis control about each path.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.423-430
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• 2011

In adaptive filtering, the sparseness of impulse response and input signal characteristics are very important factors of it's performance. This paper presents a subband improved proportionate normalized least square (SIPNLMS) algorithm which combines IPNLMS for impulse response sparseness and subband filtering for prewhitening the input signal. As drawing and combining the advantage of conventional approaches, the proposed algorithm, for impulse responses exhibiting high sparseness, achieve improved convergence speed and tracking ability. Simulation results, using colored signal(AR(4)) and speech input signals, show improved performance compared to fullband structure of existing methods.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.6
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• pp.553-562
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• 2017

GPS (Global Positioning System) receiver among various sensors mounted on UAV (Unmanned Aerial Vehicle) helps to perform various functions such as hovering flight and waypoint flight based on GPS signals. GPS receiver can be used in an environment where GPS signals are smoothly received. However, recently, the use of UAV has been diversifying into various fields such as facility monitoring, delivery service and leisure as UAV's application field has been expended. For this reason, GPS signals may be interrupted by UAV's flight in a shadow area where the GPS signal is limited. Multipath can also include various noises in the signal, while flying in dense areas such as high-rise buildings. In this study, we used analytical photogrammetry and auto tracking total station technique for 3D positioning of UAV. The analytical photogrammetry is based on the bundle adjustment using the collinearity equations, which is the geometric principle of the center projection. The auto tracking total station technique is based on the principle of tracking the 360 degree prism target in units of seconds or less. In both techniques, the target used for positioning the UAV is mounted on top of the UAV and there is a geometric separation in the x, y and z directions between the targets. Data were acquired at different speeds of 0.86m/s, 1.5m/s and 2.4m/s to verify the flight speed of the UAV. Accuracy was evaluated by geometric separation of the target. As a result, there was an error from 1mm to 12.9cm in the x and y directions of the UAV flight. In the z direction with relatively small movement, approximately 7cm error occurred regardless of the flight speed.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.689-690
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• 2008

In the present study, a micro holographic PTV (HPTV) system was used to experimentally investigate the structure of 3D flow within a curved micro-tube with varying Dean number. The employed HPTV system incorporated a high-speed digital camera to measure the temporal evolution of the 3D velocity fields of micro-scale fluid flows. With increasing Dean number, flow in the curved tube is transformed from a steady flow to a secondary flow with two counter-rotating vortices. In this study, to analyze the 3D flow characteristics in the curved section of tube at a high Dean number, the trajectories of fluid particles were obtained experimentally using the whole 3D velocity field data obtained by the micro HPTV technique. The mean velocity field distribution was then obtained by ensemble averaging the instantaneous velocity fields. These results would be helpful in the design of various passages within micro-scale devices or micro-chips and in understanding the mixing phenomena that occur in curved conduits along the trajectories of fluid particles.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.3
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• pp.251-256
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• 2018

In the case of a radar repeater that used for the trajectory tracking of a high-speed aircraft, it emits pulses of short width. For phase displacement of these signals a branch type phase shifter is used. The phase on the transmission line is changed by utilizing the variable reactance at the end of the displacement branch transmission line. Further, it is easy to control the high output signal, and there is an advantage that the insertion loss is not large even when the reactance fails. In this paper, we will discuss the fabrication test results of a 400 W class phase shifter that sequentially displaces the phase at $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, $90^{\circ}$.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.1
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• pp.15-22
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• 2002

This paper introduces a compensating system for machining error, which is resulted from chucking with separated jaws. In machining the chucked cylindrical workpiece, the deterioration of machining accuracy, such as out-of-roundness is inevitable due to the variation of the radial compliance of the chuck workpiece system which is caused by the position of jaws with respect to the direction of the applied force. To compensate the chucking compliance induced error, firstly roundness profile of workpiece due to chucking compliance after machining needs to be predicted. Then using this predicted profile, the compensated tool feed trajectory can be generated. And by synchronizing the cutting tool feed system with workpiece rotation, the chucking compliance induced error can be compensated. To satisfy the condition that the cutting tool feed system must provide high speed and high position accuracy, brushless linear DC motor is used. In this study, firstly through the force-deflection experiment in workpiece chucked lathe, the variation of radial compliance of chuck workpiece system is obtained. Secondly using the mathematical equation and cutting experiment result, the predicted profile of workpiece and its compensation tool trajectory are generated. Thirdly the configuration of compensation system using linear motor is introduced, and to improve the system performance, PID controller is designed. Finally the tracking performance of system is examined by experiment. Through the real cutting experiment, roundness is significantly improved.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.759-763
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.210-219
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• 2011

This paper studies how to combine devices such as monocular/stereo cameras, motors for panning/tilting, fisheye lens and convex mirrors, in order to solve vision-based robotic problems. To overcome the well-known trade-offs between optical properties, we present two mixed versions of the new systems. The first system is the robot photographer with a conventional pan/tilt perspective camera and fisheye lens. The second system is the omnidirectional detector for a complete 360-degree field-of-view surveillance system. We build an original device that combines a stereo-catadioptric camera and a pan/tilt stereo-perspective camera, and also apply it in the real environment. Compared to the previous systems, we show benefits of two proposed systems in aspects of maintaining both high-speed and high resolution with collaborative moving cameras and having enormous search space with hybrid configuration. The experimental results are provided to show the effectiveness of the mixing collaborative and hybrid systems.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.6
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• pp.286-295
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• 2006

This paper presents a design of a real-time software GPS receiver which runs on a PC. The software GPS receiver has advantages over conventional hardware based receivers in terms of flexibility and efficiency in application oriented system design and modification. In odor to reduce the processing time of the software operations in the receiver, a shared memory structure is used with a dynamic data control, and the byte-type IF data is processed through an Open Multi-Processing technique in the mixer and integrator which requires the most computational load. A high speed data acquisition device is used to capture the incoming high-rate IF signals. The FFT-IFFT correlation technique is used for initial acquisition and FLL assisted PLL is used for carrier tracking. All software modules are operated in sequence and are synchronized with pre-defined time scheduling. The performance of the designed software GPS receiver is evaluated by running it in real-time using the real GPS signals.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.453-459
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• 2008

The neural network is currently being used throughout numerous control system fields. However, it is not easy to obtain an input-output pattern when the neural network is used for the system of a single feedback controller and it is difficult to obtain satisfactory performance with when the load changes rapidly or disturbance is applied. To resolve these problems, this paper proposes a new mode to implement a neural network controller by installing a real object for control and an algorithm for this, which can replace the existing method of implementing a neural network controller by utilizing activation function at the output node. The real plant object for controlling of this mode implements a simple neural network controller replacing the activation function and provides the error back propagation path to calculate the error at the output node. As the controller is designed using a simple structure neural network, the input-output pattern problem is solved naturally and real-time learning becomes possible through the general error back propagation algorithm. The new algorithm applied neural network controller gives excellent performance for initial and tracking response and shows a robust performance for rapid load change and disturbance, in which the permissible error surpasses the range border. The effect of the proposed control algorithm was verified in a test that controlled the speed of a motor equipped with a high speed computing capable DSP on which the proposed algorithm was loaded.