• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.43-53
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• 2002

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Journal of Electrical Engineering and Technology
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• v.9 no.6
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• pp.2126-2133
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• 2014

We present a scalable object tracking framework, which is capable of removing shadows and tracking the people. The framework consists of background subtraction, fuzzy based shadow removal and boundary tracking algorithm. This work proposes a general-purpose method that combines statistical assumptions with the object-level knowledge of moving objects, apparent objects, and shadows acquired in the processing of the previous frames. Pixels belonging to moving objects and shadows are processed differently in order to supply an object-based selective update. Experimental results demonstrate that the proposed method is able to track the object boundaries under significant shadows with noise and background clutter.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.8
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• pp.1059-1065
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• 2013

Doubly Fed Induction Generator(DFIG) systems occupy the largest proportion of worldwide wind energy generation market. DFIG systems are very sensitive to grid disturbances especially to voltage dips due to the structure of the stator connected to grid. In the past, when a grid fault occurs generators are separated from grid(trip method) in order to protect the systems. Nowadays, due to the growing penetration level of wind power, many countries have made some requirements that wind turbines are required to have Low Voltage Ride Through(LVRT) capability during grid faults. In this paper, a flux tracking LVRT control strategy based on system modeling equations is proposed. The validity of the proposed strategy is verified through computer simulations.

• Journal of Korean Society for Atmospheric Environment
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• v.14 no.5
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• pp.397-410
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• 1998

Tracer experiments were performed 4 times in December 1992 on the relatively flat terrain and nearby building area adjacent to the Taedok Science Town in Korea. Each experiment was continued for relatively short period of 1 or 2 hours with intermittent release of SF6 up to 2.07g/s at 10m height. Movement of tracer plume was tracked by a continuous tracer analyzer installed on an air monitoring van. Simulation with INPUFF was carried out to analyze and predict experiments. Measured profiles of tracer plume were narrow and sharp while predicted profiles by INPUFF were broad and slowly varied. Tracer plumes were detected at a short distance of 0.5 to 2.2 km mainly due to intermittent release and high value of lower detectable limit. Various experimental conditions were tested by INPUFF simulation in order to find desirable conditions. Higher wind speed and less variable wind direction could yield longer distance of plume tracking only when the lower detectable limit was sufficiently low. Distance of plume tracking was long and did not much depend on the lower detectable limit in stable atmospheric conditions.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.644-650
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• 2010

In this paper, an experimental study is performed in order to determine the effects of interaction between vehicle and structure. For this purpose a wheel tracking machine and an adequate precast concrete deck single span bridge are designed. Results presented in the paper show that interaction between vehicle and structure produce additional effects on dynamic behavior of structure including reversal and contrary behavior.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.162-170
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• 2003

In this paper, we propose a robust controller for trajectory control of n-link robot manipulators using feature based on visual feedback. In order to reduce tracking error of the robot manipulator due to parametric uncertainties, integral action is included in the dynamic control part of the inner control loop. The desired trajectory for tracking is generated from feature extraction by the camera mounted on the end effector. The stability of the robust state feedback control system is shown by the Lyapunov method. Simulation and experimental results on a 5-link robot manipulator with two degree of freedom show that the proposed method has good tracking performance.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.33-35
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• 2005

We propose an eye gaze tracking system under natural head movements. The system consists of one CCD camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman predictor to estimate next eye position from the current eye image. In the results, our system allows the subjects head to move 50cm horizontally and 40cm vertically, with the speed about 10cm/sec and 6cm/sec, respectively. And spatial gaze resolutions are about 4.5 degree and 4.5 degree, respectively, and the gaze estimation accuracy is 92% under natural head movements.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.374-381
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• 2016

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.6
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• pp.375-382
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• 2016

This paper realizes control of the motion of a swimming robot fish in order to implement an underwater robot fish aquarium. And it implements positional control of a two-axis trajectory path of the robot fish in the aquarium. The performance of the robot was verified though certified field tests. It provided excellent performance in driving force, durability, and water resistance in experimental results. It can control robot motion, that is, it recognizes an object by using an optical flow object-detecting algorithm, which uses a video camera rather than image-detecting sensors inside the robot fish. It is possible to find the robot's position and control the motion of the robot fish using a radio frequency (RF) modem controlled via personal computer. This paper proposes realization of robot fish motion-tracking control using the optical flow object-detecting algorithm. It was verified via performance tests of lead-lag action control of robot fish in the aquarium.