• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.6
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• pp.1882-1892
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• 1996

This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.355-358
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• 2004

최근 웨이블릿 변환을 이용하여 저주파수 부대역 신호를 반복적으로 분해하고 삽입된 워터마크 비트에 따라 특정 부대역 신호에 두개의 다른 반향 중 하나를 삽입하는 반향 삽입 기법을 제안하였다. 이 기법은 오디오 신호의 주파수 특성을 고려했기 때문에 시간 영역에서의 기존의 반향 삽입 기법에 비해 비가청성(inaudibility), 워터마크의 강인성(robustness) 및 용적성(capacity)을 모두 증가시킬 수 있다. 기존의 부대역 신호 기반 반향 삽입 기법이 단일 반향 커널만을 이용하였으나, 본 논문에서는 부대역 신호에 다중 반향 커널을 이용한 반향 삽입 기법을 제안한다. 이 기법은 주관적 왜곡(perceptibility)과 SNR(signal to Noise Ratio)과 같은 객관적인 왜곡 면에서, 원본 오디오 신호의 왜곡을 줄일 수 있다. 실험 결과를 통하여 기존의 방법에 비해 제안된 방법이 SNR과 DR(Detection Rate) 모두 좋은 성능을 보여 제안된 방법의 유효성을 입증하였다.

• Journal of the Korea Computer Graphics Society
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• v.7 no.1
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• pp.37-49
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• 2001

We propose an optimization of mutual information for multiresolution image registration to represent useful information as integrated form obtaining from complementary information of multi modality images. The method applies mutual information as cost function to measure the statistical dependency or information redundancy between the image intensities of corresponding pixels in both images, which is assumed to be maximal if the images are geometrically aligned. As experimental results we validate visual inspection for accuracy, changning initial condition and addictive noise for robustness. Since our method uses the native image rather than prior feature extraction, few user interaction is required to perform the registration. In addition it leads to robust density estimation and convergence as applying non-parametric density estimation and stochastic multiresolution optimization.

• Journal of Navigation and Port Research
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• v.44 no.5
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• pp.423-429
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• 2020

A ship's automatic steering system is the basis for addressing control difficulties related to course-changing and course-keeping during navigation through heading angle control, and is a link in realizing unmanned and autonomous ships. This study proposes a robust RCGA-based linear active disturbance rejection controller (LADRC) design method considering environmental disturbances, measurement noise, and model uncertainties in designing a ship heading controller for use when the ship is sailing. The LADRC consisted of a transient profile, a linear extended state observer, and a PD controller. The control gains in the LADRC with the linear extended state observer were adjusted by RCGAs to minimize the integral of the time-weighted absolute error (ITAE), which is an evaluation function of the control system. The proposed method was applied to ship heading control, and its effectiveness was validated by comparing the propulsive energy loss between the proposed method and a conventional linear PD controller. The simulation results showed that the proposed method had the advantages of lower propulsive energy loss, more robustness, and higher tracking precision than the conventional linear PD controller.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.59 no.2
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• pp.173-178
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• 2010

Frequency is an important operating parameter of a power system. Due to the sudden change in generation and loads or faults in power system, the frequency is supposed to deviate from its nominal value. It is essential that the frequency of a power system be maintained very close to its nominal frequency. And monitoring and an accurate estimation of the power frequency by timing synchronized signal provided by FDR is essential to optimum operation and prevention for wide area blackout. As most conventional frequency estimation schemes are based on DFT filter, it has been pointed out that the gain error by change in magnitude could cause the defects when the power frequency is deviated from nominal value. In this paper, an advanced frequency estimation scheme using gain compensation for fault disturbance recorders (FDR) is presented. The proposed scheme can reduce the gain error caused when the power frequency is deviated from nominal value. Various simulation using both the data from EMTP package and user's defined arbitrary signals are performed to demonstrate the effectiveness of the proposed scheme. The simulation results show that the proposed scheme can provide better accuracy and higher robustness to harmonics and noise under both steady state tests and dynamic conditions.

• Journal of KSNVE
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• v.8 no.2
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• pp.313-323
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• 1998

This paper addresses a sliding mode control of vibration in a flexible structure using ER(electro-rheological) dampers. A clamped-clamped flexible structure system supported by two short columns is considered. Three ER dampers to be operated in shear mode are designed on the basis of Bingham model of the arabic gum-based ER fluid, and attached to the flexible beam structure. After deriving the governing equation of motion and associated boundary conditions, a sliding mode controller is formulated to effectively suppress the vibration of the beam structure caused by sinusoidal and random excitations. In the formulation of the controller, parameter variations such as natural frequency deviation are treated to take into account the robustness of control system. The effectiveness of the proposed control system is confirmed by both simulation and experimental results.

• Journal of Astronomy and Space Sciences
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• v.27 no.3
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• pp.221-230
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• 2010

A 4+12+16 amplitude phase shift keying (APSK) modulation outperforms other 32-APSK modulations in a nonlinear additive white Gaussian noise (AWGN) channel because of its intrinsic robustness against AM/AM and AM/PM distortions caused by the nonlinear characteristics of a high-power amplifier. Thus, this modulation scheme has been adopted in the digital video broadcasting-satellite2 European standard. And it has been considered for high rate transmission of telemetry data on deep space communications in consultative committee for space data systems which provides a forum for discussion of common problems in the development and operation of space data systems. In this paper, we present an improved bits-to-symbol mapping scheme with a better bit error rate for a 4+12+16 APSK signal in a nonlinear AWGN channel and propose a simple signal detection algorithm for the 4+12+16 APSK from the presented bit mapping.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.1
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• pp.131-136
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• 2018

Reliable velocity estimation technology for trains is one of technologies used to operate trains safely and effectively. Various sensors such as tachometers, doppler radars, and global positioning systems are used to estimate velocity of a train. Tachometer is widely used to estimate velocity of a trains due to its simplicity, small volume, cost-effectiveness, continuously measurement at high speed, and robustness against noise. Accuracy in the velocity calculation using a tachometer depends on quantization error, measurement error of wheel radius or diameter, and tachometer's imperfection from manufacturing or installation process. In this paper, we present an accurate velocity estimation method using a low-resolution tachometer, which is commonly installed on a high-speed train. Baseline estimation method is proposed to accurately calculate the velocity of the high-speed train from tachometer's pulses. HEMU-430x test train is used for the experiment and verification of the proposed method. Experimental results with several routes show that the proposed method is more accurate than a conventional method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.4
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• pp.1171-1177
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• 2010

This paper presents a robust design procedure for minimizing warpage in plastic injection-molded products, where the Pick-the-Winner rule based on Taguchi's Orthogonal Array experiments and the Design Space Reduction Method are integrated for optimization. Two-step optimization approach is applied to reduce warpage in the part design stage and additionally to minimize the warpage in the process conditions design stage. Taguchi's S/N ratio is introduced as a design metric to evaluate robustness against process variations. The effectiveness of proposed optimization process is shown with an example of warpage minimization problem.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.1
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• pp.69-73
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• 2011

In the defence wireless communications, conventional Anti-Jamming techniques(Frequency Hopping/Spread Spectrum or Direct Sequence/Spread Spectrum) are used to overcome a intentional interfering signals which are single/multitone or partial band jammer etc. DS/SS techniques is very strong on tone jamming signal but not to be on a partial band jammer. So FH/SS AJ performances are expected method of an substitution of DS/SS, however FH/SS could not have good performance on some BMTJ(Band Multi-tone Jammer). So this paper proposes FH-CSS (Frequency Hopped - Chirp Spread Spectrum) to get more robustness against jammers(BMTJ, PBNJ) and analyze the AJ performances.