• IE interfaces
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• v.24 no.3
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• pp.187-195
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• 2011

The automatic radiopharmaceutical module consists of several 2-way valves, couple of syringes, gas supply unit, heating(cooling) unit and sensors to control the chemical reagents as well as to help the chemical reaction. In order to control the actuators of radiopharmaceutical module, the process is tabulated using spread sheet as like excel. Unlike the common program, a trivial error is too critical to allowed in the process because the error can lead to leak the radioactive reagent and to cause the synthesis equipment failure during synthesizing. Hence, the synthesis process has been validated using graphic simulation while the operator checks the whole process visually and undergoes trial and error. The verification of the synthesis process takes a long time and has a difficulty in finding the error. This study presents a methodology to verify the process algebraically while the radiopharmaceutical module is converted to the network model. The proposed method is validated using actual synthesis process.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.602-608
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• 2005

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1294-1297
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• 2003

With the development of medical field, many kinds of operations have been performed on human articulation. Arthroscopic surgery, which has Irrigation Pumping System for security of operator vision and washing spaces of operation, has been used for more merits than others. In this paper, it is presented that the research on a reliable control algorithm of the pumping system instrument for arthroscopic surgery. Before clinical operation, the flexible artificial articulation model is used for realizing the model the most same as human's and the algorithm has been exploited for it. This system is considered of the following; limited sensing point, dynamic effect by compliance, time delay by fluid flow and so on. The system is composed with a pressure controller, a regulator for keeping air pressure, an airtight tank that can have distilled water packs, artificial articulation and a measuring system, and has controlled by the feedback of pressure sensor on the artificial articulation. Also the system has applied to Smith Predictor for time delay and the parameter estimation method for the most suitable system with both the experiment data and modeling. In this paper, the pressure error that is between an air pressure tank and an artificial articulation was measured so that the system could be presumed and then the controller had developed for performing State-Feedback. Finally, the controller with a real microprocessor has realized. The confidence of system can be proved by applying this control algorithm to an artificial articulation experiment material.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.6
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• pp.783-790
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• 2012

Electric Vehicles(EVs) and Plug-in Hybrid Electric Vehicles(PHEVs) which have the grid connection capability, represent an important power system issue of charging demands. Analyzing impacts EVs charging demands of the power system such as increased peak demands, developed by means of modeling a stochastic distribution of charging and a demand dispatch calculation. Optimization processes proposed to determine optimal demand distribution portions so that charging costs and demand can possibly be managed. In order to solve the problems due to increasing charging demand at the peak time, alternative electricity rate such as Time-of-Use(TOU) rate has been in effect since last year. The TOU rate would in practice change the tendencies of charging time at the peak time. Nevertheless, since it focus only minimizing costs of charging from owners of the EVs, loads would be concentrated at times which have a lowest charging rate and would form a new peak load. The purpose of this paper is that to suggest a scenario of load leveling for a power system operator side. In case study results, the vehicles as regular load with time constraints, battery charging patterns and changed daily demand in the charging areas are investigated and optimization results are analyzed regarding cost and operation aspects by determining optimal demand distribution portions.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• Water for future
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• v.27 no.2
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• pp.155-166
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• 1994

Various Eulerian-Lagrangian numerical models for the one-dimensional longitudinal dispersion equation are studied comparatively. In the model studied, the transport equation is decoupled into two component parts by the operator-splitting approach ; one part governing adveciton and the other dispersion. The advection equation has been solved using the method of characteristics following fluid particles along the characteristic line and the results are interpolated onto an Eulerian grid on which the dispersion equation is solved by Crank-Nicholson type finite difference method. In solving the advection equation, various interpolation schemes are tested. Among those, Hermite interpolation polynomials are superior to Lagrange interpolation polynomials in reducing dissipation and dispersion errors in the simulation.

• Journal of KIBIM
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• v.1 no.1
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• pp.1-5
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• 2011

Earthwork is important in terms of construction time and duration, and highly related to the construction productivity. However, current earthwork system has stick to labor intensive process depending on skilled operator's heuristic decision making, so it is hard to improve overall productivity. To overcome this drawback, this paper presents a BIM based Intelligent Excavation System(IES). The BIM technology is applied in the excavation task planning system, Human-Machine Interface for remote-control/autonomous work environment, and web-based Project Management Information System(PMIS) in the IES integration process, and the results are addressed.

• Journal of Welding and Joining
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• v.14 no.4
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• pp.33-42
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• 1996

In recent years there has been a significant growth in the use of the automated and/or robotic welding system, carried out as a means of improving productivity and quality, reducing product costs and removing the operator from tedious and potentially hazardous environments. One of the major difficulties with the automated and/or robotic welding process is the inherent lack of mathematical models for determination of suitable welding process parameters. Partial-penetration, single-pass bead-on-plate welds were fabricated in 12mm AS 1204 mild steel flats employing five different welding process parameters. The experimental results were used to develop three empirical equations: curvilinear; polynomial; and linear equations. The results were also employed to find the best mathematical equation under weld bend width to assist in the process control algorithms for the Gas Metal Arc Welding(GMAW) process and to correlate welding process parameters with weld bead width of bead-on-plates deposited. With the help of a standard statistical package program. SAS, multipe regression analysis was undertaken for investigating and modeling the GMAW process, and significance test techniques were applied for the interpretation of the experimental data.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.10C
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• pp.921-932
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• 2002

In this research, we seek to identify an effective operation management strategy of telecommunication systems. In order to develop operation management strategies, we implement a quantitative techno-economic analysis. We evaluate related issues and factors, and apply the developed method to PSTN switching systems. In the proposed techno-economic modeling, we apply a well-known factor analysis technique-analytic hierarchy process-to evaluate PSTN operation management strategies. Then, we implement a decision analysis methodology to evaluate the cost of proposed strategies. We evaluate the proposed methodology by using available real data of the PSTN system. The primary impact of this research will be realized in helping PSTN operator select the best operation management strategy of PSTN system.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.8 no.2
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• pp.185-192
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• 1996

In order to simulate the coastal dispersion effectively, hybrid concept of operator split Eulerian-lagrangian concentration model and random-walk particle tracking model are developed. Especially the random-walk model is adequate for region with steep slope of concentration. According to model tests, it agrees perfectly with analytical solution on around the source point for therefore. ▽C $\geq$ 0.005, meanwhile it shows poor results for ▽C$\leq$0.002. trial modeling for real situation therefore, random-walk model is applied for near field henceforth Eulerian-Lagrangian concentration model is adoped for whole domain so that overall performance and accuracy can be achieved by using developed hybrid model.