• Journal of Mechanical Science and Technology
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• v.16 no.8
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• pp.1053-1063
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• 2002

This paper presents a robust nonlinear controller for a f degree of freedom (DOF) parallel manipulator in the task space coordinates. The proposed control strategy requires information on orientations and translations in the task space unlike the joint space or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls for a more economical alternative. A novel indirect method based on the readily available length information engages as a potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward kinematics and subsequently applying alpha-beta-gamma tracker With the 6 DOF signals available, a robust nonlinear task space control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task space coordinates.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.2
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• pp.194-204
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• 2002

In this paper, a new two-phase space vector RPWM(Random PWM) is proposed. In the proposed RPWM, each of two-phase PWM pulses is located randomly in each switching interval. Based on the space vector modulation technique, the duty ratio of the pulses is calculated. Along with the randomization of the PWM pulses, we can obtain the effects of spread spectra of inverter output voltage, d.c link current and audible switching acoustic noise as in the case of randomly changed switching frequency. To verily the validity of the proposed two-phase RPWM scheme, the experiment based on the Cl67 micro-controller was executed. The performance of the proposed scheme was compared with traditional PWM schemes experimentally.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Korean Journal of Computational Design and Engineering
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• v.16 no.4
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• pp.305-313
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• 2011

This paper proposes a method for reusing kinematic design data for virtual facilities, Making a virtual model of a facility involves two major activities: geometric design (virtual model visualization) and kinematic design that should be remodeled frequently whenever design changes occur, Conventionally, a virtual model of an automated facility focuses on the design level, which mainly deals with design verification, alternative comparison, and geometric model diagnosis, Although a design level model can be designed with the information of past models from PLM system, a simulation level model is not sufficient utilized to be reused for kinematic design purpose, We propose a method for reusing kinematic information of a past simulation model to cope with this problem, We use the concept or the 'center of mass', which is a point representing the mean position of the matter in a body or system. And we also use comparison method of a boundary box to identity which 3D objects have to be involved from the design model to a link structure that is contained in the simulation model. Because a proposed method only use not a historical approach but a geometrical approach, it is more effective to apply to the field.

• Journal of Communications and Networks
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• v.16 no.1
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• pp.18-25
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• 2014

In this paper, we propose a codebook-based interference alignment (IA) scheme in the constant multiple-input multiple-output (MIMO) interference channel especially for the uplink scenario. In our proposed scheme, we assume cooperation among base stations (BSs) through reliable backhaul links so that global channel knowledge is available for all BSs, which enables BS to compute he transmit precoder and inform its quantized index to the associated user via limited rate feedback link. We present an upper bound on the rate loss of the proposed scheme and derive the scaling law of the feedback load to maintain a constant rate loss relative to IA with perfect channel knowledge. Considering the impact of overhead due to training, cooperation, and feedback, we address the effective degrees of freedom (DOF) of the proposed scheme and derive the maximization of the effective DOF. From simulation results, we verify our analysis on the scaling law to preserve the multiplexing gain and confirm that the proposed scheme is more effective than the conventional IA scheme in terms of the effective DOF.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.3
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• pp.373-380
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• 2018

The small coastal vessel registered in Korea, small coastal vessels with a gross tonnage of 10 tons or less account for 94.6 % and among them, aged vessels over 16 years age indicate 40.6 %. In order to reduce GHG emissions from small coast vessels, discussions are underway to replace aging ships' propulsion units with eco - friendly propulsion facilities, and the electric propulsion ship is emerging as one of the measures. The electric propulsion system using the DFE rectifier, which was applied in the conventional large commercial vessel, was effective in reducing the harmonics and improving the DC output voltage of the DC link stage, but it occupied a large volume and caused an increase in the overall system price. Therefore, in this paper, we propose an electric propulsion system using AFE rectifier with a small volume of system that can be applied to a small coastal vessel. In order to analyze the effectiveness of the overall system, the load profile was applied to obtain accurate and rapid speed tracking performance of the propulsion motor affected by the speed load. In addition, the power factor and total harmonic distortion factor of the voltage and current on the improved power output side are derived through simulation.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.16 no.7 s.98
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• pp.697-708
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• 2005

The forward link of the 3G CDMA system may become limited under the increasing of the number of users. The conventional channelization code, Walsh code, has not enough sizes f3r much possible users, therefore, the quasi orthogonal function(QOF), which process optimal crosscorrelation with Walsh code, is considered. In this paper, we investigate quasi orthogonal function on Jacket matrices, which can lead lower correlations values and better performance in 3G CDMA system. Moreover, to simplify the detector and improve the BER performance, a novel detection for QOF CDMA system is proposed. Finally, the simple recursive generation of the bent sequences for QOF mask function is discussed.

• Journal of Mechanical Science and Technology
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• v.16 no.12
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• pp.1633-1642
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• 2002

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. The maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of the typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (linear vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN is generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.2
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• pp.157-171
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• 2014

A organization of social enterprises is to achieve various goals such as private interests, the public nature, and social policy. For fulfilling these goals, we have to understand the various success factors. These success factors were shared among peoples. This study explored a position of structure of social network formed by success factors of Social Enterprises with importance. A position within social network defined a number of link connected other nodes. A position is closely associated with to individual's behaviors, opinions and thinking. We used social network analysis with two mode method for explaining feathers of structure of social network formed by success factors shared among peoples. We choose degree centrality for determining a position within social network. Centrality is a key measure in social network analysis. Results is that shared success factors are operation capital(15.15%) totally, and by Buying experience of products of Social Enterprises, Business Compliance(14.39%) and planning(12.88%), and by usage time of smart devices, Business Support(17.05%) and planning(16.10%). and the dominant success factor was not explored.

• Ocean and Polar Research
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• v.39 no.4
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• pp.245-255
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• 2017

There are a number of pieces of evidences that suggest a link between marine diatoms and microorganisms, but knowledge about related microbial communities is greatly lacking. The present study investigated the microbial community structures related to the growth of the marine diatom Cyclotella meneghiniana. We collected free-living bacteria (FLB) and particle-associated bacteria (PAB) at each growth stage (e.g., lag, exponential, stationary and death) of the diatom, and analyzed their bacterial 16S rDNA using pyrosequencing. Metagenomics analysis showed that community structures of FLB and PAB differed considerably with the progress of growth stages. FLB showed higher diversity than PAB, but variation in the different growth stages of C. meneghiniana was more evident in PAB. The proportion of the genus Hoeflea, belonging to the order Rhizobiales, was dominant in both FLB and PAB, and it gradually increased with the growth of C. meneghiniana. However, Enhydrobacter clade tended to considerably decrease in PAB. In addition, Marinobacter decreased steadily in FLB, but first increased and then decreased in PAB. These results suggest that Hoeflea, Enhydrobacter, and Marinobacter may be closely related to the growth of diatom C. meneghiniana.