• Nuclear Engineering and Technology
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• v.53 no.8
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• pp.2708-2715
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• 2021

The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.754-761
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• 2013

Thermal displacement is an important issue in machine tool systems. During the last several decades, thermal error compensation technology has significantly reduced thermal distortion error; this success has been attributed to the development of a precise, robust thermal error model. A major advantage of using the thermal error model is instant compensation for the control variables during the modeling process. However, successful application of thermal error modeling requires correct determination of the temperature sensor placement. In this paper, a procedure for predicting thermal-mode-based thermal error is introduced. Based on this thermal analysis, temperature sensors were positioned for multiple heat-source models. The performance of the sensors based on thermal-mode error analysis, was compared with conventional methods through simulation and experiments, for the case of a slide table in a transient state. Our results show that for predicting thermal error the proposed thermal model is more accurate than the conventional model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.5
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• pp.365-374
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• 2017

SAR (Synthetic Aperture Radar) is an effective tool for monitoring areas damaged by disasters. Full PolSAR (Polarimetric SAR) enhances SAR's capabilities by providing specific scattering mechanisms. Thus, full PolSAR data have been widely used to analyze the situation when disasters occur. To interpret full PolSAR data, model-based decomposition methods are frequently used due to its easy physical interpretation of PolSAR data and computational efficiency. However, these methods present problems. One of the key problems is the overestimation of the volume scattering component. To minimize the volume scattering component, the OA (Orientation Angle) compensation method is widely utilized. This paper shows that the effect of the OA compensation was analyzed over landslide affected areas. In this paper, the OA compensation is applied by using the OA estimated from the maximum relative Hellinger distance. We conducted an experiment using two full polarimetric ALOS/PALSAR (Advanced Land Observing Satellite/Phased Array type L-band Synthetic Aperture Radar)-2 data collected over Mocoa, Colombia which was seriously damaged by the 2017 Mocoa landslide. After OA compensation, the experimental results showed volume scattering power decreased, while the double-bounce and surface scattering power increased. Particularly, significant changes were noted in urban areas. In addition, after OA compensation, the separability of the double-bounce and surface scattering components are improved over the damaged building areas. Furthermore, changes in the OA can discriminate visually between the damaged building areas and undamaged areas. In conclusion, we demonstrated that the effect of OA compensation improved the influence of the double-bounce and surface scattering components, and OA changes can be useful for detecting damaged building areas.

• Journal of Korean Academy of Nursing
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• v.42 no.3
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• pp.311-321
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• 2012

Purpose: This study was designed to construct and test a structural equation modeling on specific domain health status and the Selection Optimization Compensation (SOC) strategy affecting successful aging in elderly people. Methods: The model construction was based on the SOC model by Baltes and Baltes. Interviews were done with 201 elderly people aged 65 or older. Interview contents included demographics, functional health status, emotional health status, social health status, SOC strategies, and successful aging. Data were analyzed using SPSS 15.0 and AMOS 7.0. Results: Model fit indices for the modified model were GFI=.93, CFI=.94, and RMSEA=.07. Three out of 7 paths were found to have a significant effect on successful aging in this final model. Functional health status had a direct and positive effect on successful aging. Emotional health status influenced successful aging through SOC strategies. Conclusion: This study suggests that interventions for improving functional health status and for strengthening SOC strategies are critical for successful aging. Continuous development of a variety of successful aging programs using SOC strategy is suggested.

• Journal of Mechanical Science and Technology
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• v.15 no.11
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• pp.1482-1489
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• 2001

Thermally-induced errors originating from machine tool errors have received significant attention recently because high speed and precise machining is now the principal trend in manufacturing proce sses using CNC machine tools. Since the thermal error model is generally a function of temperature, the thermal error compensation system contains temperature sensors with the same number of temperature variables. The minimization of the number of variables in the thermal error model can affect the economical efficiency and the possibility of unexpected sensor fault in a error compensation system. This paper presents a thermal error model with minimum number of variables using a fuzzy logic strategy. The proposed method using a fuzzy logic strategy does not require any information about the characteristics of the plant contrary to numerical analysis techniques, but the developed thermal error model guarantees good prediction performance. The proposed modeling method can also be applied to any type of CNC machine tool if a combination of the possible input variables is determined because the error model parameters are only calculated mathematically-based on the number of temperature variables.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.7
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• pp.141-148
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• 1994

This paper presents a new method for reducing the blocking artifacts there by increasing the prediction gains of the block-based motion compensation keeping the amount of the motion information to be transmitted intact. The new method improves the motion compensation along the edges of moving objects by segmenting the motion field at the pixel resolution based on the model that the motion compensated image is the maximum a poseriori estimate of the current frame.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Smart Structures and Systems
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• v.24 no.5
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• pp.649-657
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• 2019

Recently, an advanced video deflectometer based on the principle of off-axis digital image correlation was presented and advocated for remote and real-time deflection monitoring of large engineering structures. In engineering practice, measurement accuracy is one of the most important technical indicators of the video deflectometer. However, it has been observed in many outdoor experiments that data drift often presents in the measured deflection-time curves, which is caused by the instability of imaging system and the unavoidable influences of ambient interferences (e.g., ambient light changes, ambient temperature variations as well as ambient vibrations) in non-laboratory conditions. The non-ideal unstable imaging conditions seriously deteriorate the measurement accuracy of the video deflectometer. In this work, to perform high-accuracy deflection monitoring, potential sources for the drift error are analyzed, and a drift error model is established by considering these error sources. Based on this model, a simple, easy-to-implement yet effective reference point compensation method is proposed for real-time removal of the drift error in measured deflections. The practicality and effectiveness of the proposed method are demonstrated by in-situ deflection monitoring of railway and highway bridges.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.55 no.6
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• pp.221-226
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• 2006

The current flowing though a power line is measured by a current transformer (CT). Since a CT is a kind of transformer, saturation of magnetic flux in the core may occur when a large primary current flows. This saturation makes the secondary current of a CT distorted and causes problems in the protection point of view. Because of the current distortion, a protection relay cannot collect the correct information showing how the primary power system changed. Consequently, the current distortion may cause the mal-operation or operation time delay of protective relay. In this paper, an algorithm based on AR model and LSQ is proposed to compensate the saturated CT secondary currents. Various test results indicate that the proposed algorithm can accurately compensate a severely distorted secondary current and is not affected by remanence.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.10
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• pp.1487-1493
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• 2013

A new simple control method for active power filter, which can realize the complete compensation of harmonics is proposed. In the proposed scheme, a model-based digital current control strategy is presented. The proposed control system is designed and implemented in a form referred to as internal model control structure. This method provides a convenient way for parameterizing the controller in term of the nominal system model, including time-delays. As a result, the resulting controller parameters are directly set based on the power circuit parameters, which make tuning of the controllers straightforward task. In the proposed control algorithm, overshoots and oscillations due to the computation time delay is prevented by explicit incorporating of the delay in the controller transfer function. In addition, a new compensating current reference generator employing resonance model implemented by a DSP(Digital Signal Processor) is introduced. Resonance model has an infinite gain at resonant frequency, and it exhibits a band-pass filter. Consequently, the difference between the instantaneous load current and the output of this model is the current reference signal for the harmonic compensation.