• International Journal of Aeronautical and Space Sciences
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• 제11권4호
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• pp.338-344
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• 2010

This paper discusses the development of the control system of a mini quadrotor in Konkuk University for indoor applications. The attitude control system consists of a stability augmentation system, which acts as the inner loop control, and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control was experimentally satisfied by a proportional-derivative controller; this was used to support the flight test in order to validate the modeling. This paper introduces the mathematical model for the simulation and design of the optimal control on the outer loop control. To perform the experimental tests, basic electronic hardware was developed using simple configurations; a microcontroller used as the embedded controller, a low-cost 100 Hz inertial sensors used for the inertial sensing, infra-red sensors were employed for horizontal ranging, an ultrasonic sensor was used for ground ranging and a high performance propeller system built on an quadrotor airframe was also employed. The results acquired from this compilation of hardware produced an automatic hovering ability of the system with ground control system support for the monitoring and fail-safe system.

• 센서학회지
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• 제21권5호
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• pp.359-366
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• 2012

Nanopore DNA sequencing is an emerging and promising technique that can potentially realize the goal of a low-cost and high-throughput method for analyzing human genome. Especially, solid-state nanopores have relatively high mechanical stability, simple surface modification, and facile fabrication process without the need for labeling or amplification of PCR (polymerized chain reaction) in DNA sequencing. For these advantages of solid-sate nanopores, the use of solid-state nanopores has been extensively considered for developing a next generation DNA sequencing technology. Solid-state nanopore sequencing technique can determine and count charged molecules such as single-stranded DNA, double-stranded DNA, or RNA when they are driven to pass through a membrane nanopore between two electrolytes of cis-trans chambers with applied bias voltage by measuring the ionic current which varies due to the existence of the charged particles in the nanopore. Recently, many researchers have suggested that nanopore-based sensors can be competitive with other third-generation DNA sequencing technologies, and may be able to rapidly and reliably sequence the human genome for under $1,000.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권12호
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• pp.4643-4660
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• 2014

Integrity authentication of biometric data in Wireless Body Area Network (WBAN) is a critical issue because the sensitive data transmitted over broadcast wireless channels could be attacked easily. However, traditional cryptograph-based integrity authentication schemes are not suitable for WBAN as they consume much computational resource on the sensor nodes with limited memory, computational capability and power. To address this problem, a novel lightweight integrity authentication scheme based on reversible watermark is proposed for WBAN and implemented on a TinyOS-based WBAN test bed in this paper. In the proposed scheme, the data is divided into groups with a fixed size to improve grouping efficiency; the histogram shifting technique is adopted to avoid possible underflow or overflow; local maps are generated to restore the shifted data; and the watermarks are generated and embedded in a chaining way for integrity authentication. Our analytic and experimental results demonstrate that the integrity of biometric data can be reliably authenticated with low cost, and the data can be entirely recovered for healthcare applications by using our proposed scheme.

• 한국자동차공학회논문집
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• 제13권2호
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• pp.37-43
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• 2005

A haptic steering system which reflects steering reaction torque has been developed for a fixed base vehicle simulator. The haptic steering system consists of a steering effort sensor, MR-clutch, AC servo motor and controller. In order to generate realistic steering torque feel to driver and at the same time to meet real-time simulation requirement, 3D torque map is constructed by experimental data and torque generation algorithm using the torque map has been also developed. 3D torque map is constructed using curve fitting and interpolation of the measured values of the steering angle, velocity and steering torque from actual slalom test on the proving ground. In order to carry out performance test of the developed haptic steering system, a fixed based vehicle simulator is constructed by integrating real time vehicle dynamics module, VR-video/audio module, and the haptic steering system. Steering torque and steering angle curves have been obtained from virtual testing in the vehicle simulator and performance of the haptic steering system has been evaluated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.39-42
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• 1994

The application of speed or position control technique in AC drives demands accurate position and velocity feedback information. Generally, resolver and absolute encoders are used as a velocity or position sensor. But they increase cost and when the sampling frequency is faster than sensoer's output frequency we can't Set exact information. In order to solve this problem this thesis proposes a speed and a position observer design for Permanent-Magnet Synchronous Motors(PMSM) specialty in low speed drives. Most literatures on this topic design the observer based on the field_oriented d_q model. But in this thesis, a new approach to machine dynamics is proposed. Since it is difficult to design the observer using the nonlinear model, the machine model is here linearlized at the operating point. The observer designed is implemented by software using Intel's 8097 microprocessor and verifies the proper performance of observer by simulation and experiment.

• 제어로봇시스템학회논문지
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• 제14권2호
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• Journal of electromagnetic engineering and science
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• 제1권1호
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• pp.67-72
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• 2001

In this paper, the plano-convex lens antenna fed by a single patch is studied for a microwave remote-traffic monitoring sensor with constraints of small size and low cost. Measurement of an AUT (Antenna Under Test) involves the considerations of a triangular groove for matched layer and metallic shielding effects. A formulation for extracting the parameters of a piano-convex lens antenna, based on geometrical optics, is introduced using Fermat`s principle of the equi-phased ray condition. Teflon ($\varepsilon_{{\gamma}}$/ =2.0) is chosen as a material of a plano-convex lens antenna for adjustment of aberrations on the lens surfaces automatically. A fabricated plano-convex lens shows 3-dB beamwidth of 7.5 degree and side-lobe level of -29 dB with an aperture distribution of the parabolic-squared taper on pedestal. This lens supports easier integration with the planar microwave circuits by using a microstrip single patch as a primary feeder of the lens antenna.feeder of the lens antenna.

• 한국전기전자재료학회논문지
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• 제18권5호
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• pp.431-438
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• 2005

In this paper, we propose the built-in current testing circuit for improving reliability As the integrated CMOS circuits in a chip are increased, the testability on design and fabrication should be considered to reduce the cost of testing and to guarantee the reliability In addition, the high degree of integration makes more failures which are different from conventional static failures and introduced by the short between transistor nodes and the bridging fault. The proposed built-in current testing method is useful for detecting not only these failures but also low current level failures and faster than conventional method. In normal mode, the detecting circuit is turned off to eliminate the degradation of CUT(Circuits Under Testing). The differential input stage in detecting circuit prevents the degradation of CUT in test mode. It is expected that this circuit improves the quality of semiconductor products, the reliability and the testability.

• Journal of Advanced Marine Engineering and Technology
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• 제26권6호
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• pp.695-704
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• 2002

Generally, induction motor controller requires rotor speed sensor for commutation and current control, but it increases cost and size of the motor. So in these days, various researches including speed sensorless vector control have been reported and some of them have been put to practical use. In this paper a new speed estimation method using neural networks is proposed. The optimal neural network structure was tracked down by trial and error, and it was found that the 8-16-1 neural network has given correct results for the instantaneous rotor speed. Supervised learning methods, through which the neural network is trained to learn the input/output pattern presented, are typically used. The back-propagation technique is used to adjust the neural network weights during training. The rotor speed is calculated by weights and eight inputs to the neural network. Also, the proposed method has advantages such as the independency on machine parameters, the insensitivity to the load condition, and the stability in the low speed operation.

• Journal of Magnetics
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• 제21권2호
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• pp.173-178
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• 2016

Six-step commutation control widely used in brushless DC (BLDC) motor can be applied to consequent pole permanent magnet (CPPM) belt starter generator (BSG) with trapezoidal back electromotive force (EMF) in the starter state. However, rotor position detection with three Hall sensors in BLDC motor can hardly be employed in CPPM BSG due to asymmetric flux distribution in each pole side of CPPM BSG. This paper presents a low-cost rotor position detection method for CPPM BSG in which six Hall sensors are proposed to be used based on the analysis of flux distribution by 3D FEA. In the method, the six Hall sensors are divided into three groups and two signals in each group are combined through performing logic operations. In addition, offset angle between back EMF and the related Hall signal can be compensated by moving the Hall sensors. Experiments of a 2 kW CPPM BSG prototype have also been performed to verify the proposed method.