• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.

• The Transactions of the Korea Information Processing Society
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• v.5 no.5
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• pp.1345-1356
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• 1998

Prolog tailoring technique, an optimization method to improve the execution speed of a procedure, is proposed in this paper. When a procedure is frequently and repeatedly called and the machine has a lot of callee-saved registers, optimizing prolog and epilog can become an important step of optimization. Epilg tailoring supported by IBM XL C Compiler has been known to improve procedure's execution speed by reducing register restore instructions on execution paths, but no algorithms for prolog tailoring has been proposed yet. The prolog generated by the prolog tailoring algorithm proposed in this paper executes considerably smaller number of register save instructions at run-time. This means the total number of instructions to be executed is decreased resulting in an improvement on the procedure's execution speed. To maintain the correctness of code, prolog code should not be inserted inside diamond structures of loop structures. This paper proposes a prolog tailoring technique which generates register save instructions at the best position in a control flow graph while not allowing the insertion of any prolog code inside diamond structures of loop structures.

• Korean Chemical Engineering Research
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• v.43 no.3
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• pp.360-365
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• 2005

SMB (simulated moving bed) is a continuous chromatographic process by shifting periodically port position. Binary of mixture, Blue dextran and Orange G, was separated by SMB. These components have unique color individually, that is, Blue dextran is blue and Orange G is orange. It is easy to understand SMB process by observing the shift of color changes in SMB. These components was not adsorbed to stationary phase and isolated by difference of size exclusion factor. Mass transfer coefficient was determined by single pulse test under several flow rate conditions. Operation condition was obtained by standing wave theory and optimized for high purities in extract and raffinate streams. Experiment was performed in open loop 4 zone (2-2-2-2) SMB. There are several advantages in open loop SMB, where extract is product for high purity. It is also easy to control flow rate and monitor experimental state during operation. Experimental, extract and raffinate history is well fitted with simulation results, however, column concentration profile is a little different from simulation results. Purities were 99.5％ for extract and 98.9％ for raffinate and extract and raffinate yields were obtained as 98.9％ and 99.4％ respectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1417-1423
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• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Journal of Sensor Science and Technology
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• v.12 no.6
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• pp.249-257
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• 2003

The bio-telemetry technologies, that use the wireless miniaturized telemetry module implanted in the human body and transmits several biomedical signal from inside to outside of the body, have been expected to solve the problem such as the patient's inconvenience and the limit for diagnosis. In the case of transceiver system using the wireless RF transmission method, the method of three-dimensional localization for implantable miniaturized telemetry module is necessary to detect the exact position of disease. A new method for three-dimensional localization using small loop antenna in the implantable miniaturized telemetry module was proposed in this paper. We proposed a method that can accurately determine the position of telemetry module by analyzing the differences in the strength of signal, which is received at each of the small size RF receiver array installed on the body surface.

• Korean Journal of Computational Design and Engineering
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• v.21 no.1
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• pp.42-50
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• 2016

Traditional tactile controls that include push buttons and rotary switches may cause significant visual and biomechanical distractions if they are located away from the driver's line of sight and hand position, for example, on the central console. Gestural controls, as an alternative to traditional controls, are natural and can reduce visual distractions; however, their types and numbers are limited and have no feedback. To overcome the problems, a driver interface combining gestures and visual feedback with a head-up display has been proposed recently. In this paper, we investigated the effect of this type of interface in terms of driving performance measures. Human-in-the-loop experiments were conducted using a driving simulator with the traditional tactile and the new gesture-based interfaces. The experimental results showed that the new interface caused less visual distractions, better gap control between ego and target vehicles, and better recognition of road conditions comparing to the traditional one.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.2
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• pp.120-130
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• 1999

In this paper, we show that the instantaneous phase current of the bifiler-wound hybrid stepping motor is dependent of lead angle and that the information of motor position is obtained from the instantaneous phase current at ${\pi}/2$ by the theoretical formular and its computer simulation results. From the facts, we design the microcontroller-based motor position sensorless controller of optimal lead angle, which generates the excitation pulses for the closed-loop drives. The controller is consist of microcontroller which has the function of A/D converter, programmable input/output timer, and the transfer table which has the values of optimal lead angle depending on motor velocity, and ROM which has the transfer table of the values of lead angle depending on velocity of motor and the values of instantaneous phase current at ${\pi}/2$. From the design of microcontroller-based controller, we minimize the external interface circuit and obtain flexibility by changing the contents of ROM transfer tables and the control software. We confirm that the designed controller drives the bifilar-wound hybrid stepping motor is the mode of optimal lead angle by comparing the instananeous phase current experimental results and computer simulation results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.10-18
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• 2000

This paper proposes a fuzzy logic cross-coupled controller using a new contouring modeling for a two-axis servo system. The general decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties. The cross-coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However, the conventional cross-coupled controllers cannot overcome friction, backlash, and parameter variations. Also since, it is difficult to obtain an accurate mathematical model of multi-axis system, here we investigate a fuzzy logic cross-coupled controller of servo system. In addition, new contouring error vector computation method is presented. The experimental results are presented to illustrate the performance of the proposed algorithm.

• Journal of Advanced Navigation Technology
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• v.15 no.1
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• pp.32-38
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• 2011

In this paper, code and carrier tracking error which resulted from spoofing signal was analyzed by simulation. For a start, the types of spoofing signals and methods were classified. For the simulation, search spoofing method is assumed because a perfect position and velocity are not generally informed to spoofing device. In most cases, the tracking error is increased but a complete deception does not happen because of the inherent anti-spoofing characteristics of the GPS signal.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.719-726
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• 1997

The proportional pressure control valve having versatile functions and higher performance is an essential conponent in the open loop controlled rear wheel steering gear of the four wheel steering system in a passenger car. In this study, the authors suggest a new type of load pressure feedback mechanism which can make it easy to change the range of controlled pressure without changing the capacity of solenoid. The concept of suggested mechanism, composed of the pressure chamber with throttles in series, was described. The mathematical model was derived from the rear wheel steering gear consisting of a valve and a cylinder for the purpose of analyzing the valve characteristics. And the programme for computing the characteristic of the valve was developed. Experiments were performed to confirm the performance of the valve and computations were carried out to ascertain the usefulness of the developed programme. The results from computations fairly coincide with those from experiments. And the results from experiments and computations show that the performance of new valve was as good as that of the already developed one and the new valve has advantages such as the easiness of changing the range of controlled pressure and the decrease of power loss at neutral position without the decline of performance.