• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.11
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• pp.73-84
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• 1992

In this paper, an algorithm for recovering the 3-D shape from a single shaded image is proposed. In the proposed algorithm, by using the relation between the height and surface gradient (p, q), a set of linear equations is derived from the linearized reflectance function. Then the 3-D surface is recovered by employing the conjugate gradient technique. In order to improve the convergence speed of the solution, we also employ the hierarchical basis function and multiresolution images in the algorithm. A method for determining the regularization parameter, which is determined by trial and error in the conventional approach, is also introduced. In addition, the proposed algorithm attempts to recover the 3-D surface without requiring the boundary conditions, making it suitable for a real-time implementation. Simulation results for real image as well as synthetic image are provided to demonstrate the performance of the proposed algorithm.

• Journal of Sensor Science and Technology
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• v.9 no.3
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• pp.190-195
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• 2000

The paper presents the constant temperature digital hot-film anemometer that measures easily a wind velocity at the indoor. The output is linearized using microprocessor and analog-to-digital converter, because the fourth root of the wind velocity is the output voltage of the sensor. The comparison result between fabricated and reference anemometer is less than ${\pm}2%$. In the range of air temperature of $23^{\circ}C{\sim}60^{\circ}C$, the error is about ${\pm}1%$ in wind velocity 10m/sec.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.424-427
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• 2002

Pneumatic control systems have the potential to provide high output power to weight and size ratios at a relatively low cost. However, they are mainly employed in open-loop control applications where positioning repeatability is not of great importance. This paper presents precision positioning control of pneumatic servo cylinder with on-off valve, Pneumatic low-friction cylinder with servo valve and DC servo motor under parameter variations. Basically positioning control uses PID controller, where needs a linearized model. A neural network is added to a PID controller to compensator nonlinearity of the system and an influence of friction force is consider as disturbance. The performances of the proposed algorithms were compared by experiments with them of PID controller. From those experiments is was shown that the proposed algorithms are more efficient about settling time, steady 7tate error and overshoot than PID control algorithm.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1846-1847
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• 2011

In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

• Journal of Advanced Marine Engineering and Technology
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• v.24 no.2
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• pp.50-56
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• 2000

This paper presents the design of an optimal state feedback controller for container cranes under some design specifications. To do this, the nonlinear equation of a container crane system is linearized and then augmented to eliminate the steady-state error, and some constraints are derived from the design specifications. Designing the controller involves a constrained optimization problem which classical gradient-based methods have difficulties in handling. Therefore, a real-coding genetic algorithm incorporating the penalty strategy is used. The responses of the proposed control system are compared with those of the unconstrained optimal control system to illustrate the efficiency.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.5
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• pp.21-28
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• 2006

Vibration of a non-linear system with multiple degrees of freedom under random parametric excitations was evaluated by probabilistic method. The non-linear characteristic terms of system structure were quasi-linearized and excitation terms were remained as they were. An analytical method where the expectation values of square mean of error was minimized was used. The numerical results were compared with those obtained by Monte Carlo simulation. A linear congruential generator and Box-Muller method were used in Monte Carlo simulation. The comparison showed the results by probabilistic method agreed well with those by Monte Carlo simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.250-255
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• 1993

In this paper, for detection and isolation of instrument and process faults related with steam generator(S/G) in nuclear power plant, two types of observers are designed based on the linearized dynamic model of S/G : a bank of Dedicated Observers (DOS) for instrument faults detection and a bank of Unknown Input Observers(UIO) for process faults detection. And then, they are combined to decide which one between the above two faults occurs. In principle, the failure in ith instrument(process) can be isolated by monitoring the error between the ith output and its estimation obtained from the ith DOS(UIO). It is shown via computer simulations that the present scheme is feasible in finding out the source of a fault.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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• pp.94-102
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• 1998

A DSP-based robust nonlinear speed control of a permanent magnet synchronous motor(PMSM) is presented. A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller to improve the robustness and performance of the nonlinear speed control of a PMSM is designed and compared with the conventional controller. To show the validity of the proposed control scheme, simulations and experimental works are carried out and compared with the conventional control scheme.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.993-1001
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• 2006

In this paper, a method of accurate position control using a pneumatic cylinder driving apparatus is presented. To overcome the effect of friction force and transmission line, low friction type cylinder applied externally pressurized air bearing structure is used and two control valves attached both side of the cylinder directly. To compensate nonlinear characteristics of control valves, linearized control input derived from the relation between control input and effective area of control valve, and dither signal are applied to the valve. The controller applied to the pneumatic cylinder driving apparatus is composed of a state feedback controller and a disturbance observer. Experimental results show that the effectiveness of the proposed method and position control error of $5{\mu}m$ accuracy could be obtained easily.

• Journal of the Korean Society of Safety
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• v.13 no.1
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• pp.54-63
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• 1998

This paper proposes a theoretical analysis of a closed loop adaptive speed control system for control the inverter driven permanent magnet synchronous motor(PMSM). This control system utilizes a mechanically sensorless state observer for the generation of all controller feedback information. The observer processes measurements of stator frame voltage and current to produce estimates of rotor position and speed and rotor frame currents. It is shown that the identity observer, when properly formulated, has the same linearized error dynamics as the extended kalman filter(EKF). Consequently, it is shown that the gains within the identity observer can be designed in a manner identical to that of the EKF. In this way, the designability of the nonlinear observer is assured, as is the optimality of its performance for small errors. A sequence of simulation are performed and they demonstrate the successful performance.