• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.7
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• JSTS:Journal of Semiconductor Technology and Science
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• v.14 no.3
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• pp.331-338
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• 2014

A charge-pump circuit using a current-bypass technique, which suppresses charge sharing and reduces the sub-threshold currents, helps to decrease phase-locked loop (PLL) jitter without resorting to a feedback amplifier. The PLL shows no stability issues and no power-up problems, which may occur when a feedback amplifier is used. The PLL is implemented in 0.11-${\mu}m$ CMOS technology to achieve 0.856-ps RMS and 8.75-ps peak-to-peak jitter, which is almost independent of ambient temperature while consuming 4 mW from a 1.2-V supply.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.3
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• pp.517-526
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• 1987

This paper proposes a new testable design for Zipper CMOS circuits. This design provides an additional feedback loop (called self oscillation loop) whichin the circuit, for testability. The circuit is tested only by observing the oscillation on the loop. The design can be applied to the multistage as well as the single stage, and can detect multiple faults which are undetectable by the conventional testing method. The application and evaluation of test patterns become easy and fault-free responses are not necessary. If the conventional testing method is applied to the sequential Zipper CMOS circuit with the LSSD design technique, it has the serious defect that the initial value may change due to intermediate test patterns and much time taken to apply the necessary test patterns. By using the proposed design, however, the sequential Zipper CMOS circuit with the LSSD design technique can be easily tested without such a defect. Also, the validity of the design is verified by performing the circuit level simulation.

• Archives of Reconstructive Microsurgery
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• v.8 no.1
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• pp.92-96
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• 1999

Neuroma is formed by abnormal, incomplete nerve regeneration after nerve injury. A painful neuroma in the hand can be psychologically and physically disabling. The goal of treating painful neuroma is to relieve pain and to restore nerve function. A numerous treatment modality was reported for alleviating the problem. These treatments include crushing the neuroma, ligating it, burying in soft tissue, bone, and muscle, injecting it with alcohol, phenol, and steroid, capping it with silicone cuff. But, none of these methods has been uniformly successful, although each has its advocates. No one technique reliably prevents formation of a painful neuroma. However, the principles of treatment is resection of neuroma and proximal stump of the nerve is transposed to appropriate adjacent tissue. Our current technique was resection of neuroma with partial normal neural tissue, and then the nerve ending was transposed and sutured to the side of the proximal stump with 10-0 nylon, so end-to-side neurorrhaphy was made. The nerve ending had to be placed and fixed into the proximal nerve epineurium like as a figure of a loop. We believe this technique is another useful method for the treatment of painful neuroma.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.4
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• pp.356-363
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• 2004

This paper presents a precision voltage control technique of a single phase PWM inverter for a constant voltage and constant frequency(CVCF) applications. The proposed control scheme employs an additional phase-locked loop(PLL) compensator which is constructed using the output capacitor voltage and current. The computer simulation and experiment are carried out for the actual single-phase PWM inverter and it is well demonstrated from these results that the steady-state performance and total harmonic distortion(THD) are remarkably improved by employing the proposed technique.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.15 no.9
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• pp.743-749
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• 2002

A 1.5V 70㏈ 100MHz CMOS class-AB complementary operational amplifier is presented. For obtaining the high gain and the high unity gain frequency, the input stage of the amplifier is designed with rail-to-rail complementary differential pairs which are symmetrically parallel-connected with the NMOS and the PMOS differential input pairs, and the output stage is designed to the rail-to-rail class-AB output stage including the elementary shunt stage technique. With this design technique for output stage, the load dependence of the overall open loop gain is improved and the push-pull class-AB current control can be implemented in a simple way. The designed operational amplifier operates perfectly on the complementary mode with 180$^{\circ}$ phase conversion for 1.5V supply voltage, and shows the push-pull class-AB operation. In addition, the amplifier shows the DC open loop gain of 70.4 ㏈ and the unity gain frequency of 102 MHz for $C_{L=10㎊∥}$ $R_{L=1㏁}$ Parallel loads. When the resistive load $R_{L}$ is varied from 1 ㏁ to 1 ㏀, the DC open loop gain of the amplifier decreases by only 2.2 ㏈.a$, the DC open loop gain of the amplifier decreases by only 2.2 dB.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.54-65
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• 1993

The paper describes and alternative method based on a new idea to measure the circular movement of machining centers. ISO has employed three testing methods for the acceptance tests of machine tools; the first is a rotating one-dimensional probe method, the second is a two-dimensional probe and a master circular ring, and the third is a kinematic ball bar. The last two methods were proposed and introduced by W. Knapp and J. B. Bryan, respectively. The newly developed method is superior to above two methods; the rotating angle can be detected and the rotating radius is variable. Circular movement errors of machining centers were investigated by the analysis of data measured by R- .THETA. method. Followint observations are obtained 1) The errors which depend on positions, i.e., periodical errors by the pitch of ball screws, errors by compensation of backlash and errors by perpendicularity of X and Y-axis, were analyzed. 2) The errors which depend on NC control system, i.e., errors by the unbalance of position-loop-gaians, errors by velocity-loop-gains and errors by feed speeds, were quantiatively analyzed. 3) The method of extracting error information, which uses moving technique of averaging angle and fourier's analysis data mesured by the R- .THETA. method, was proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.727-732
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• 2008

In this paper, the state-space representation of generalized complimentary filter is proposed. Complementary filter has the suitable structure to merge information from sensors whose frequency regions are complementary. First, the basic concept and structure of complementary filter is introduced. And then the structure of the generalized filter and its state-space representation are proposed. The state-space representation of complementary filter is able to design the complementary filter by applying modern filtering techniques like Kalman filter and $H_{\infty}$ filter. To show the usability of the proposed state-space representation, the design of Inertial Navigation System(INS) vertical channel damping loop using Global Positioning System(GPS) is described. The proposed GPS/INS damping loop lends the structure of Baro/INS(Barometer/INS) vertical channel damping loop that is an application of complementary filter. GPS altitude error has the non-stationary statistics although GPS offers navigation information which is insensitive to time and place. Therefore, $H_{\infty}$ filtering technique is selected for adding robustness to the loop. First, the state-space representation of GPS/INS damping loop is acquired. And next the weighted $H_{\infty}$ norm proposed in order to suitably consider characteristics of sensor errors is used for getting filter gains. Simulation results show that the proposed filter provides better performance than the conventional vertical channel loop design schemes even when error statistics are unknown.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.216-223
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• 1996

The active power factor control AC/DC converter needs a current loop compensator to obtain better dynamic characteristics and power factor performance, but the optimal design of a current loop compensator is difficult because the AC/DC converter is a nonlinear system having periodically varying poles and zeros. The predictive current control scheme generates a control input using the dynamic equations of the AC/DC converter so that the dynamic of the AC/DC converter is included in the controller and the necessary bandwidth and the gain characteristics of the current control loop are satisfied. And as a result, a compensator becomes unnecessary and the current loop shows the improved current loop characteristics. In this paper, a power factor controller without current loop compensator by adopting a predictive current control scheme is designed and the designed power factor controller is modelled by using a small signal perturbation modelling technique, and simulated to investigate its small signal characteristics. A 200 W power factor control AC/DC converter is built to verify the effectiveness of the proposed power factor controller.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.466-469
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• 2001

In this paper, closed loop V/f control of induction motor has been implemented by the estimated speed. Closed loop V/f control improve the performance of induction motor drive system at low speed compared to open loop V/f control. However, closed loop V/f control need speed sensor. By using the estimated speed, closed loop V/f control is possible without speed sensor. Rotor speed is calculated from the difference between synchronous frequency and slip angular frequency. 3-phase voltage reference is obtained from synchronous frequency. And the PWM technique using space vector PWM is applied in this scheme. In the space vector PWM, effective time of 3-phase voltage reference is used to simplify the calculation of effective voltage time. This scheme is simple to implement and one chip microprocessor was used in experimental system.