• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.4
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• pp.659-666
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• 2006

Servo-motors are used as key components of automated system by performing precise motion control as accurate positioning and accurate speed regulation in response to the commands from computers and sensors. Especially, the linear brushless servo-motors have numerous advantages over the rotary servo motors which have connection with the friction induced transfer mechanism such as ball screws, timing belts, rack/pinion. This paper proposes an estimation method of unknown motor system parameters using the informations from the sinusoidal driving type linear brushless DC motor dynamics and outputs. The estimated parameters can be used to tune the controller gain and a disturbance observer. In order to meet this purpose high performance Digital Signal Processor, TMS320F240, designed originally for implementation of a Field Oriented Control(FOC) technology is adopted as a controller of the liner BLDC servo motor. Having A/D converters, PWM generators, rich I/O port internally, this servo motor application specific DSP play an important role in servo motor controller. This linear BLDC servo motor system also contains IPM(Intelligent Power Module) driver and hail sensor type current sensor module, photocoupler module for isolation of gate signals and fault signals.

• The Journal of the Korean dental association
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• v.47 no.5
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• pp.282-290
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• 2009

The purpose of this study was to evaluate the measurement error between conventional films, digital cephalographs and hardcopy. The material consisted of 29 cephalographs which used image modality of Asahi CX-90SP in the Kyung Hee University Dental Hospital. One observer measured fiducial measurements at an interval of four weeks. Measurement error was tested by Dahlberg's formula. A paired t-test was used to detect it between each modality. The results are as follows; 1. The monitor-displayed digital image showed enlargement compared with the conventional image. The cephalometric measurements of the monitor-displayed digital image and conventional image were no statistically significant difference except SNB. 2. In conventional image, measurement errors of linear and angular measurements were 0.23mm, $0.36^{\circ}$, respective. In monitor-displayed digital image, measurement errors of linear and angular measurements were 0.63mm, $0.48^{\circ}$ respective. 3. The reduction ratio of hardcopy was 1.01% compared to the monitor-displayed digital image. Based on the results, it indicates that the digital cephalographs and hardcopy using storage phosphor digital radiography showed the same accuracy as the conventional films in clinical use.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.27 no.2
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• pp.83-90
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• 1997

This study was performed to demonstrate the effect of linear or nonlinear contrast enhancement on subtraction images. Three different textures were radiograped on dental film. The first radiograph was taken without the presence of an object. the second, which showed trabucular bone, was taken of the molar area of a human. the third radiograph was taken of the coronal part of molars. Each film was digitized into a 1312 x 1024 pixel x 8 bit depth matrix by means of a Nikon 35 mm film scanner(LS-3510AF, Japan) with fixed gain and internal dark current correction to maintain constant illumination. The scanner was interfaced to a Macintosh Le ill computer(Apple Computer, Charlotte, N.C) This resulted in three pairs of images, including different textures-plain, bone and enamel. Digital regular, linearly and nonlinearly enhanced subtraction was performed. Computer software was ,used to simulate lesions in the shape of a 2D-Gaussian curve on each of a pair of images. The each subtraction images were presented in a random sequence to two groups of 10 observers(students and dentists). ROC analysis was used to compare observer performance. The following results were obtained ; 1. All of LCE subtraction, equalized subtraction and regular subtraction images of plain texture were diagnosed the best by far. 2. The data revealed a siginificant LCE effect in both the student group and the expert group. 3. Clinical expertise was a helphul factor for the observers in this study.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.638-643
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• 2012

This paper presents an intelligent reduction method for external noise. The main idea comes from PSO-FCM (Particle Swam Optimization Fused fuzzy C-Means) clustering. The data of the target is transformed from the antenna coordinates to the vessel one and to the system coordinates. In the conversion, the overall noises hinder observer to get the exact position and velocity of the maneuvering target. While the filter is used for tracking system, unexpected acceleration becomes the main factor which makes the uncertainty. In this paper, the tracking efficiency is improved with the PSO-FCM and the compensation methodology. The acceleration is approximated from the external noise splitted by the proposed clustering method. After extracting the approximated acceleration, the rest in the noise is filtered by the filter and the compensation is added to after that. Proposed tracking method is applicable to the linear model and nonlinear one together. Also, it can do to the on-line system. Finally, some examples are provided to examine the reliability of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.324-327
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• 1996

This paper describes the robust controller design methods applied to the problem of an automatic system for tow-vehicle/trailer combinations. This study followed an inverse Linear Quadratic Regulator(LQR) approach which combines pole assignment methods with conventional LOR methods. It overcomes two concerns associated with these separate methods. It overcomes the robustness problems associated with pole placement methods and trial and error required in the application of the LQR problem. Moreover, a Kalman filter is used as the observer, but is modified by using the loop transfer recovery (LTR) technique with modified transmission zero assignment. The proposed inverse LQG,/LTR controllers enhances the forward motion stability and maneuverability of the combination vehicles. At high speeds, where the inherent yaw damping of the vehicle system decreases, the controller operates to maintain an adequate level of yaw damping. At backward moton, both 4WS (2WS tow-vehicle, 2WS trailer) and 6WS (4WS tow-vehicle, 2WS trailer) control laws are proposed by using inverse LQG/LTR method. To evaluate the stability and robustness of the proposed controllers, simulations for both forward and backward motion were conducted using a detailed nonlinear model. The proposed controllers are significantly more robust than the previous controllers and continues to operate effectively in spite of parameter perturbations that would cause previous controllers to enters limit cycles or to loose stability.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.923-934
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• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Journal of Environmental Science International
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• v.9 no.5
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• pp.385-388
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• 2000

Visibility reduction is a barometer of air pollution which people can notice easily. First of all we need to measure quantified visibility continuously in order to examine visibility reduction. Prevailing visibility is not practical to measure visibility depending on observer's expertness. Scattering visibility using Forward Scattering Meter(Belfort Visibility Sensor 6230) has been measured at Kwangan-Dong in Pusan and analysed since July 1998. According to the analysis the correlation coefficient(R) between prevailing visibility and scattering visibility was 0.7235. The visibility appeared that each frequency of poor visibility(under 6km) and good visibility(over 25km) was 10.6%, 9.7% on summertime in Pusan and the visibility range from 10km to 20km ranked high frequency as a half of whole ranges. The order of correlation coefficients between visibility an air pollutants are ranking CO. PM10 and NO2 that values are 0.5878, 0.5369,l 0.5284 respectively. In meteorolgical factor the case of poor visibility presented more weakly wind speed and higher relative humidity than the case of good visibility. The correlation coefficient between calculated visibility of multiple linear regression model and observed visibility was 0.7215. But the trend of calculated and observed visibility variation was similar with the exception of several good visibility cases.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.4
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• pp.397-406
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• 2011

Purpose : Recently ultrasound images has been used to measure the subacromial space with a linear measurement of the acromiohumeral distance. The purpose of this study was to comparison of distance of subacromial space using ultrasonographic measurement on arm positions of shoulder injured patients. Methods : The subjects were 30 shoulder injured patients (19 males and 11 females). Ultrasonography was performed to measure subacromial space during each shoulder resting position, $45^{\circ}$ abduction, internal rotation with $45^{\circ}$ abduction and external rotation with $45^{\circ}$ abduction. Results : Subacromial space was a significantly difference between injured arm and normal arm at shoulder resting position. At $45^{\circ}$ abduction, subacromial space was narrowing significantly between injured arm and normal arm. At external rotation with $45^{\circ}$ abduction, subacromial space were wider in normal arm than in injured arm but it was not significantly. Intra-observer reliability for ultrasonography measurement of subacromial distance was excellent (.96~.99). Conclusion : These results identified that positions of injured shoulder was related to subacromion space.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.1
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• pp.20-28
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• 2014

This paper presents static output feedback LQ and $H_{\infty}$ controllers for rollover prevention. Linear quadratic static output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if $H_{\infty}$ controller is designed. To avoid full-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static output feedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple to calculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim.

• Science of Emotion and Sensibility
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• v.5 no.3
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• pp.1-10
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• 2002

This paper concerns with the relationship between the visual perception of the degree of pucker or wrinkles of garment surfaces and the geometrical parameters of surfaces. In this study, four potentially relevant parameters of the surface profile are considered, namely, the variance ($\sigma$$^2$), the cutting frequency (F$\_$c/), the effective disparity curvature (D$\_$ce/) (Defined as the average disparity curvature of the wrinkled surface over the eyeball distance of the observer) and the frequency component of the disparity curvature ( D$\_$cf/). Based on the experiments using garment seams having varying degree of pucker (i.e. the wrinkles along a seam line), it was found that, while the logarithm of each of these four parameters has a strong linear relationship with the visually perceived degree of wrinkles, following the Web-Fetchner Law, the effective disparity curvature ( D$\_$ce/) and the frequency component of the disparity curvature (D$\_$cf/) appeared to have stronger relationships with the visual perception. This finding is in agreement with the suggestion by Rogers '||'&'||' Cagenello that human visual system may compute the disparity curvature in discriminating curved surfaces. It also suggested an objective method of measuring the degree of surface wrinkles.