• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.6
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• pp.28-36
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• 2001

A robust adaptive sliding mode robot control algorithm is derived, which consists of a feed-forward compensation part and discontinuous control part. The unknown parameters is categorized into two groups, with group containing the parameters estimated on-line, and group containing the parameters not estimated on-line. Then a sliding control term is incorporated into the torque input in order to account for the effects of uncertainties on the parameters not estimated on-line and of disturbances. Moreover, the algorithm is computationally simple, due to an effective exploitation of the structure of manipulator dynamics. It is shown that, despite the existence of the parameter uncertainty and external disturbances, the controller is globally asymptotically stable and guarantees zero tracking errors.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.2
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• pp.53-60
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• 2004

This paper is the study for the automatic pulse-power diagnostic system to discriminate the four constitutions with the piezo-sensor module and digital signal processing hardware attached on the patient arm-neck and the statistical decision software instead of the fingers and intelligence of a traditional korean doctor. This system can be used as a important medical equipment because this automatically diagnostic system has shown the excellent performance of the 65∼76% correctness against the 50∼66% correctness which the general korean doctors with knowledge and experiences have shown. Additionally, this paper has discussed the excellent characteristics of the automatic discrimination algorithm of the four constitutions.

• Smart Structures and Systems
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• v.15 no.5
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• pp.1233-1252
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• 2015

This study investigates the problem of crack detection in post-buckled beam-type structures. The beam under the axial compressive force has a crack, assumed to be open and through the width. The crack, which is modeled by a massless rotational spring, divides the beam into two segments. The crack detection is considered as an optimization problem, and the weighted sum of the squared errors between the measured and computed natural frequencies is minimized by the bees algorithm. To find the natural frequencies, the governing nonlinear equations of motion for the post-buckled state are first derived. The solution of the nonlinear differential equations of the two segments consists of static and dynamic parts. The differential quadrature method along with an arc length strategy is used to solve the static part, while the same method is utilized for the solution of the linearized dynamic part and the extraction of the natural frequencies of the cracked beam. The investigation includes several numerical as well as experimental case studies on the post-buckled simply supported and clamped-clamped beams having open cracks. The results show that several parameters such as the amount of applied compressive force and boundary conditions influences the outcome of the crack detection scheme. The identification results also show that the crack position and depth can be predicted well by the presented method.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.39-44
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• 2007

In this paper, satellite searching and tracking method for the satellite antenna in naval vessels system are proposed. For fast searching satellite, Wide Range Search(WRS) algorithm is proposed where the signal strength of side-lobe is utilized as well as that of main-lobe. Satellite tracking algorithm to stabilize satellite antenna is based on conical-scanning which is accomplished by the use of the sub-reflector located in front of the focus of the reflector. The sub-reflector rotates about a slightly tilted axis by means of a motor and shapes the antenna beam to utilize stabilization. To show the validity of the proposed method, an experimental example is represented.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.14-21
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• 2007

Sight Stabilization system is the control system to preserve Line of Sight for the targets though many nonlinear disturbances and vibrations are generated. In this paper, we identified Stabilization system using RLS algorithm, one of the system identification algorithm and found out the modeling of system. Considering nonlinear operational condition this paper proposes two Knowledge-base controllers - Fuzzy controller, Fuzzy PI Gain Scheduling controller, and simulates the performances of proposed controllers compare with Lead PI controller being used in Sight system of NFIV.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.1
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• pp.51-56
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• 2014

PV cell modeling is necessary both for software and hardware simulators in analyzing and testing the performance of PV generation systems. Unique I-V curve of a PV cell identifies its own characteristics by electrical equivalent model that is composed of diode constants ($I_o$, $v_t$), photo-generated current ($I_{ph}$), series resistance ($R_s$), and shunt resistance ($R_{sh}$). Photo-generated current can be easily estimated since it is proportional to irradiation level. However, other electrical parameters should be solved from the manufacturer's data sheet that is consisted with three remarkable operating points such as open circuit voltage ($V_{oc}$), short circuit current ($I_{sc}$), and maximum power voltage/current ($V_{MPP}/I_{MPP}$). This paper explains and analyzes mathematical process of a novel PV cell modeling algorithm that was proposed by the authors with the name of "K-algorithm".

• Journal of the Architectural Institute of Korea Structure & Construction
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• v.34 no.5
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• pp.3-11
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• 2018

Since the tensegrity structure is flexible and variable, the study on the mobility to the tensegrity has been conducted. However, it is difficult to apply the tensegrity to the architecture field due to several limits. This paper describes the methodology for the analysis of the shape change process of single prism tensegrity structure as an initial study. To apply the tensegrity structure to the architectural field, the assemblage and mathematical formulation procedures of the single prism tensegrity structures are carried out. And single prism tensegrity are presented to the computational strategies for simulate the shape change of those structures. Next, the investigation of structural behaviors through various cases of target displacements is described. Also, the summary of these methods in algorithms is illustrated. As a result it is confirmed that the single prism tensegrity structure model converges 99% on average to a given target node by using the proposed algorithm. Therefore, it is confirmed that the proposed algorithm and program are suitable for shape change analysis of single prism tensegrity structure model.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.91-98
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• 2011

This paper proposes an efficient and accurate vision based recognition and tracking framework for texture free objects. We approached this problem with a two phased algorithm: detection phase and tracking phase. In the detection phase, the algorithm extracts shape context descriptors that used for classifying objects into predetermined interesting targets. Later on, the matching result is further refined by a minimization technique. In the tracking phase, we resorted to meanshift tracking algorithm based on Bhattacharyya coefficient measurement. In summary, the contributions of our methods for the underwater robot vision are four folds: 1) Our method can deal with camera motion and scale changes of objects in underwater environment; 2) It is inexpensive vision based recognition algorithm; 3) The advantage of shape based method compared to a distinct feature point based method (SIFT) in the underwater environment with possible turbidity variation; 4) We made a quantitative comparison of our method with a few other well-known methods. The result is quite promising for the map based underwater SLAM task which is the goal of our research.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.38 no.6
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• pp.1-8
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• 2001

Recently, Ryu et al. proposed a multiple target angle tracking algorithm using the angular innovation extracted from the estimated signal subspace. This algorithm obtains the angles of targets and associates data simultaneously. Therefore, it has a simple structure without data association problem. However it requires the calculation of the inverse of a real matrix with dimension (2N+1)${\times}$(2N+1) to obtain the angular innovations of N targets. In this paper, a new linear equation for angular innovation is proposed using the fact that the projection error is zero when the target steering vector is projected onto the signal subspace. As a result, the proposed algorithm dose not require the matrix inversion and is computationally efficient.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.2 s.314
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• pp.39-45
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• 2007

This paper presents a novel scheme that quickly searches for the sweet spot of multiple array antennas, and locks on to it for high-speed millimeter wavelength transmissions, when communications to another antenna array are disconnected. The proposed method utilizes a modified genetic algorithm, which selects a superior initial group through preprocessing in order to solve the local solution in agenetic algorithm. TDD (Time Division Duplex) is utilized as the transfer method and data controller for the antenna. Once the initial communication is completed for the specific number of individuals, no longer antenna's data will be transmitted until each station processes GA in order to produce the next generation. After reproduction, individuals of the next generation become the data, and communication between each station is made again. Simulation results of 1:1, 1:2, 1:5 array antennas confirmed the efficiency of the proposed method. The 16bit split is 8bit, but it has similar performance as 16bit gene.