• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.1
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• pp.64-70
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• 1999

When manipulator moves the objects, the object position error can be occurred because of acceleration or negative acceleration according to the direction. So we make manipulator working path for establishing optimal gripper force control preventing occurrence of object position error. And we attached the tactile sensor on the gripper of manipulator which gives us very specific information between manipulator and object. Reasoning of continuous tactile image data, manipulator can sense rotation and slippage and change the grasping force that corrects calculated grasping force and compensation can be possible of the object position error. We use the FSR(Force Sensing Resistor)sensor which consists of 22 by 22 taxels and continuous taxel number is used for filtering and using the moment method for sensing algorithm in our experiment.

• Current Industrial and Technological Trends in Aerospace
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• v.8 no.2
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• pp.39-45
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• 2010

Satellites are generally put in horizontal configuration to install a weighty, large and deploying SAR antenna which is required precise alignment. It is not to damage an antenna deployment mechanism from impellent strength as SAR antenna rotation axis is aligned with the gravity axis and SAR antenna is put in a zero gravity condition. In order to install such a deploying antenna, satellite should be a same condition of the vertical configuration without the deflection of satellite when it is rotated horizontally. In this paper, it is shown how to measure the deflection of satellite and how to get a reaction force value for compensating the deflection.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.244-247
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• 2002

The performance of the precision micro-positioning 4-dof stage is presented. The compact design utilizes the monolithic mechanism to achieve the translation in the Z axis and rotation in the $\theta$ z, $\theta$ x and $\theta$ y axes with high stiffness and high damping. Hysteresis, nonlinearity, and drift of the piezoelectric effects are improved by incorporating the sensors in a feedback control. Experiments demonstrate that the micro-positioning stage is capable of 2nm resolution over the travel range of 25$\mu\textrm$ m in the Z axis, 0.0l7 $\mu\textrm$ rad resolution over the 170$\mu\textrm$ rad in the $\theta$ z and 0.011 $\mu\textrm$ rad resolution over the $\mu\textrm$ rad in the $\theta$ x and $\theta$ y axes. The cross-axis interferences among the axes are at a noise range. This stage is available for positioning error compensation of the XY stage with large stroke.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.3
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• pp.231-242
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• 2001

In this paper, we present a method to improve the torque characteristic of PMSM(Permanent Magnet Synchronous Motor) and its hardware realization. It is based on the compensation of sinusoidal current delay caused by phase winding inductances. Since coordinate transformation is not used, simple hard-wired logic in the controller design is adopted and this scheme can eliminates the delay through the coordinate transformation. The delay components are varied according to rotation speeds, but this method can also make it possible to compensate those, dynamically. The control scheme has been verified by experiments on a 4-pole 3-phase PMSM, and the generated torques are increased at whole operation speed ranges.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.5
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• pp.457-462
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• 2014

Given their low cost, single rolling piston compressors (SRPC) are utilized in low-power room air-conditioning systems. The SRPC cycle is composed of one compression and discharge process per mechanical rotation. The load torque is high during the compression process of the refrigerants and low during the discharge process of the refrigerants. This load torque variation induces a speed ripple and severe vibration, which cause fatigue failures in the pipes and compressor parts, particularly under low-speed conditions. To reduce the vibration, the compressor usually operates at a high-speed range, where the rotor and piston inertia reduce the vibration. At a low speed, a predefined feed-forward load torque compensator is used to minimize the speed ripple and vibration. However, given that the load torque varies with temperature, pressure, and speed, a predefined load torque table based on one operating condition is not appropriate. This study proposes an online load torque compensator for SRPC. The proposed method utilizes the speed ripple as a load torque ripple factor. The speed ripple is transformed into a frequency domain and compensates each frequency harmonic term in an independent feed-forward manner. Experimental results are presented to verify the proposed method.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.341-349
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• 2020

Recently, interest in ground subsidence in urban areas has increased after a large sinkhole occurred near the high-story building area in Jamsil, Seoul, Korea, in 2014. If a massive sinkhole occurs in an urban area, it is crucial to assess its risk rapidly. Access to humans for on-site safety diagnosis may be difficult because of the additional risk of collapse in the disaster area. Generally, inspection using drones equipped with high-speed lidar sensors can be utilized. However, if the sinkhole is created vertically to a depth of 100 m, similar to the sinkhole in Guatemala, the drone cannot be applied because of the wireless communication limit and turbulence inside the sinkhole. In this study, a three-dimensional (3D) scanning system was fabricated and operated using a towed cable in a massive vertical sinkhole to a depth of 200 m. A high-speed lidar sensor was used to obtain a continuous cross-sectional shape at a certain depth. An inertial-measuring unit was applied to compensate for the error owing to the rotation and pendulum movement of the measuring unit. A reconstruction algorithm, including the compensation scheme, was developed. In a vertical hole with a depth of 180 m in the mining area, the fabricated system was applied to scan 0-165 m depth. The reconstructed shape was depicted in a 3D graph.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.120-121
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• 2006

In this paper, We have designed a face recognition system based on the embedded Linux. This paper has an aim in embedded system to recognize the face more exactly. At first, the contrast of the face image is adjusted with lightening compensation method, the skin and lip color is founded based on YCbCr values from the compensated image. To take advantage of the method based on feature and appearance, these methods are applied to the eyes which has the most highly recognition rate of all the part of the human face. For eyes detecting, which is the most important component of the face recognition, we calculate the horizontal gradient of the face image and the maximum value. This part of the face is resized for fitting the eye image. The image, which is resized for fit to the eye image stored to be compared, is extracted to be the feature vectors using the continuous wavelet transform and these vectors are decided to be whether the same person or not with PNN, to miminize the error rate, the accuracy is analyzed due to the rotation or movement of the face. Also last part of this paper we represent many cases to prove the algorithm contains the feature vector extraction and accuracy of the comparison method.

• Journal of Korea Society of Digital Industry and Information Management
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• v.14 no.1
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• pp.77-85
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• 2018

This paper proposes a robust digital video stabilization algorithm to extract and track an object, which uses a phase correlation-based motion correction. The proposed video stabilization algorithm consists of background stabilization based on motion estimation and extraction of a moving object. The motion vectors can be estimated by calculating the phase correlation of a series of frames in the eight sub-images, which are located in the corner of the video. The global motion vector can be estimated and the image can be compensated by using the multiple local motions of sub-images. Through the calculations of the phase correlation, the motion of the background can be subtracted from the former frame and the compensated frame, which share the same background. The moving objects in the video can also be extracted. In this paper, calculating the phase correlation to track the robust motion vectors results in the compensation of vibrations, such as movement, rotation, expansion and the downsize of videos from all directions of the sub-images. Experimental results show that the proposed digital image stabilization algorithm can provide continuously stabilized videos and tracking object movements.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.1
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• pp.43-48
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• 2001

In conventional wind generation systems, since the blade rotates at low speed when the velocity of wind decreases their operations are possible only under limited conditions. Therefore they are in trouble of self-generation without the help of auxiliary generation devices outside. In addition, most of them have very low usage efficiency because of the characteristic changes of wind. For the solution of these problems and for enough generation regardless of districts and geographical features the rotation energy stored in a spring drives a compact generator and then electric power is stored at battery and supplied to the load continuously according to the lack of wind force. In this paper, the fabricated system consisting of a wind generator and power storage apparatus was introduced and its operation characteristics were analyzed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.7
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• pp.1311-1315
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• 2016

Induction motor requires a rotating magnetic field for rotation. Current required to generate the rotating magnetic field is immediately magnetizing current. This magnetizing current is associated with the reactive power. Induction motor is always required reactive power. If reactive power is supplied only to the power supply side, the power factor is low. Therefore, it is to compensate the power factor by connecting capacitors in parallel to the motor terminal. If the capacitor current is greater than the magnetizing current of the motor, there is a possibility that the self-excitation occurs. High voltage generated by the self-excitation leads to insulation failure on the motor. So it is necessary to calculate the power factor correction capacitor capacity the most suitable to the extent that the magnetizing current does not exceed the capacitor current. In this study, we first computed the magnetization current and the reactive power of the induction motor and then calculates a limit of the maximum power factor by comparing the magnetizing current and the capacitor current installed in order to achieve the target power factor.