• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.131-136
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• 1997

This paper represent the variable structure adaptive mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in contiuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. the sampling process often forces the trajectory to oscillate in the neighborhood of the sliding surface. Adaptive control technique is particularly well-suited to robot manipulators where dynamic model is highly complex and may contain unknown parameters. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple sturcture is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control, Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.

• Proceedings of the Korean Association for Survey Research Conference
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• 2002.11a
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• pp.255-274
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• 2002

We classify rotation sampling designs into two classes. The first class replaces sample units within the same rotation group while the second class replaces sample units between different rotation groups. The first class is specified by the three-way balanced design which is a multi-level version of previous balanced designs. We introduce an extended generalized composite estimator (EGCE) and derive its variance and mean squared error for each of the two classes of design, cooperating two types of correlations and three types of biases. Unbiased estimators are derived for difference between interview time biases, between recall time biases, and between rotation group biases. Using the variance and mean squared error, since any rotation design belongs to one of the two classes and the EGCE is a most general estimator for rotation design, we evaluate the efficiency of EGCE to simple weighted estimator and the effects of levels, design gaps, and rotation patterns on variance and mean squared error.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.319-326
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• 2002

In switched reluctance motor(SRM) drive, it is important to synchronize the stator phase excitation with the rotor position; therefore, the information about rotor position is essential. Generally, optical encoders or resolvers are used to provide the information. However, these sensors are expensive and are not suitable for high-speed operation. The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor. In the high-speed region, switching angles are fluctuated back and forth out of the preset value, which is caused by the sampling period of the microprocessor. In this paper, a low cost linear encoder suitable far the practical and stable SRM drive is proposed and also the control algorithm to generate the switching signals using a simple digital logic is presented. The validity of the proposed linear encoder with a proper logic controller is verified through the experiments.

• Nuclear Engineering and Technology
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• v.42 no.2
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• pp.163-174
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• 2010

As pointed out in the OECD BEMUSE Program, when a high computation time is taken to obtain the relevant output values of a complex physical model (or code), the number of statistical samples that must be evaluated through it is a critical factor for the sampling-based uncertainty analysis. Two alternative methods have been utilized to avoid the problem associated with the size of these statistical samples: one is based on Wilks' formula, which is based on simple random sampling, and the other is based on the conventional nonlinear regression approach. While both approaches provide a useful means for drawing conclusions on the resultant uncertainty with a limited number of code runs, there are also some unique corresponding limitations. For example, a conclusion based on the Wilks' formula can be highly affected by the sampled values themselves, while the conventional regression approach requires an a priori estimate on the functional forms of a regression model. The main objective of this paper is to assess the feasibility of the ACE-RSM approach as a complementary method to the Wilks' formula and the conventional regression-based uncertainty analysis. This feasibility was assessed through a practical application of the ACE-RSM approach to the LOFT L2-5 LBLOCA PCT uncertainty analysis, which was implemented as a part of the OECD BEMUSE Phase III program.

• Journal of Korean Biological Nursing Science
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• v.4 no.2
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• pp.127-137
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• 2002

The purpose of this study was to compare the hand disinfection effect of waterless alcohol gel hand washing agent with that of soap and water, 4% chlorhexidine gluconate, and 10% povidone-iodine. Hands of fourty subjects were artificially contaminated with Acinetobacter baumannii $5m{\ell}$ and randomly distributed to each hand washing methods. Samples were collected from gloved hand by glove juice sampling procedure. Mean log reduction after hand washing were compared with baseline values. Number of microorganisms were converted to log and tested by ANOVA in SPSSWIN 10.0. Mean log reduction of soap and water, alcohol gel, 4% chlorhexidine gluconate, 10% povidone-iodine were $2.76{\pm}0.62$, $2.97{\pm}0.56$, $4.66{\pm}1.70$, $4.60{\pm}0.91$, respectively. The bactericidal effect of alcohol gel was similar to that of soap and water, but the effect was much less than chlorhexidine gluconate and povidone-iodine(p<0.001). In terms of microorganism reduction, the efficacy of waterless alcohol gel was almost the same as soap and water hand washing. Further evaluation of the bactericidal effect of waterless alcohol gel is needed because waterless alcohol gel is simple, convenient, and non-irritating hand washing agent and also very effective in busy hospital environment.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.243-249
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• 2015

In direct vehicle teleoperation, a human operator drives a vehicle at a distance through a pair of master and slave device. However, if there is time delay, it is difficult to remotely drive the vehicle due to slow response. In order to address this problem, we introduced a novel methodology of shared vehicle teleoperation using a virtual driving interface. The methodology was developed with four components: 1) virtual driving environment, 2) interface for virtual driving environment, 3) path generator based on virtual driving trajectory, 4) path following controller. Experimental results showed the effectiveness of the proposed approach in simple and cluttered driving environment as well. In the experiments, we compared two sampling methods, fixed sampling time and user defined instant, and finally merged method showed best remote driving performance in term of completion time and number of collision.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.6
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• pp.2289-2301
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• 2015

Mobile devices are becoming powerful enough to realize augmented reality (AR) application. This paper introduces two AR methods to estimate an environmental illumination distribution of a scene. In the first method, we extract the lighting direction and intensity from input images captured with a front-side camera of a mobile device, using its orientation sensor. The second method extracts shadow regions cast by three dimensional (3D) AR marker of known shape and size. Because previous methods examine per pixel shadow intensity, their performances are much affected by the number of sampling points, positions, and threshold values. By using a simple binary operation between the previously clustered shadow regions and the threshold real shadow regions, we can compute efficiently their relative area proportions according to threshold values. This area-based method can overcome point sampling problem and threshold value selection. Experiment results demonstrate that the proposed methods generate natural image with multiple smooth shadows in real-time.

• ALGAE
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• v.24 no.3
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• pp.149-161
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• 2009

Characteristics of benthic microalgae and sediment properties were investigated for the intertidal flats of Kwangyang Bay, Korea. Sampling stations were selected every 100 m in the intertidal flats from land-side to open ocean at two different sampling sites. Samples were collected in June 2004, July, September, November, February and May 2005. Sediments properties were measured including temperature, water contents, sediment bulk density, nutrient concentrations in porewater. Chlorophyll a concentrations in surface sediment (0.5 cm) were measured and relationships between the chlorophyll a and various sediment properties were analyzed to identify major mechanisms regulating biomass of benthic microalgae in the intertidal flats using simple linear regression analysis. Sediment chlorophyll a concentrations were maximum during winter and minimum during warm seasons ranging from 4.4 mg $m^{-2}\;to\;81.2\;mg\;m^{-2}$. No clear spatial variations were observed for the sediment chlorophyll a in the study sites. Results from regression analysis suggested that benthic microalgae biomass was affected by sediment temperature and nutrients especially ammonium and silicate. Grazing effect was estimated using chlorophyll: pheopigments ratio, indirect indicator of grazing activity, and the positive correlation of the ratio and chlorophyll a implied that microalgae biomass is affected by grazing of zoobenthos although direct measurement of grazing activity is required to determine the importance of top-down controls in the benthic microalgae dynamics.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.4
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• pp.1276-1291
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• 2014

In the field of visible light communication (VLC), light-emitting diodes (LEDs) are used for transmitting data via visible light. In this study, we analyze pulse dual slope modulation (PDSM) as a means of delivering information in VLC. PDSM involves the modulation of symmetrical slope pulses to encode binary 0s and 1s, and owing to the moderately increasing and decreasing pulse shapes that are created, this method enables more spectral efficiency than the variable pulse position modulation (VPPM) technique currently adopted in IEEE 802.15.7. In particular, PDSM allows for the avoidance of intra-frame flicker by providing idle pulses in a spectrum-efficient way. A simple detection scheme is proposed for PDSMsignals, and its bit error rate (BER) is analyzed mathematically at varying slopes to validate the process through simulation. The BER performance of PDSM detection using dual sampling is compared to the performances of PDSM and VPPM using correlation detection. It is found that, when the probability of idle pulse transmission is less than 0.08 and higher than 0, the BER of dual sampling PDSM is lower than that of PDSM using correlation detection over the entire light intensity range.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.81.2-81.2
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• 2011

Motivated by recent attempts to derive geomagnetic activity from hourly mean data in long term studies, we test the recursive Kalman filter method to obtain the regular solar variation curve of the geomagnetic field. Using a simple algorithm, we are able to assign a quiet day curve to every day separately, without the need for additional input parameter(s) to define the geomagnetically quiet days. We derive a digital counterpart AhK of the analog range index Ak at the subauroral Sodankyl$\ddot{a}$ station and compare it to the earlier digital estimate Ah and the local Ak index. We find that the new method outperforms the former estimate in every aspect studied and provides a robust, straightforward manner of estimating and verifying the manually scaled Ak index, based on readily available hourly values. The model is independent of sampling; thus, for shorter term studies where high-sampling data are available, more accurate estimates can also be obtained when needed. Therefore, in contrast to other recent approaches, we do not provide a method to quantify irregular activity directly but derive the actual quiet day curves in the traditional manner. In future applications the same algorithm may be used to define a wide variety of geomagnetic indices (such as Ak, Dst, or AE).