• Journal of the Korean Society for Precision Engineering
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• v.27 no.1
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• pp.58-63
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• 2010

A new contact force estimation technique is proposed. Keeping the contact force at a certain level between finishing tool and the object is essential since the quality of the finished surface is very sensitive to the contact force during the finishing process. However, the contact force measurement cannot be obtained by simply installing load cells under machine table or in the middle of tool linkage. The reason is that the weight of the machine table and the tool linkage are much heavier than the force to be measured. To that end, a method for estimating disturbance is proposed for a system that is similar to the mechanism of the finishing machine, and the same method is applied to estimate the contact force of the brush-type finishing machine. To verify the effectiveness of the proposed method, a small scale test set-up has been built and the method has been tested.

• Journal of the Korean Statistical Society
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• v.31 no.2
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• pp.177-198
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• 2002

The estimation of variance components or variance ratios in linear model is an important issue in plant or animal breeding fields, and various estimation methods have been devised to estimate variance components or variance ratios. However, many traits of economic importance in those fields are observed as dichotomous or polychotomous outcomes. The usual estimation methods might not be appropriate for these cases. Recently threshold linear model is considered as an important tool to analyze discrete traits specially in animal breeding field. In this note, we consider a hierarchical Bayesian method for the threshold animal model. Gibbs sampler for making full Bayesian inferences about random effects as well as fixed effects is described to analyze jointly discrete traits and continuous traits. Numerical example of the model with two discrete ordered categorical traits, calving ease of calves from born by heifer and calving ease of calf from born by cow, and one normally distributed trait, birth weight, is provided.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.6
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• pp.1211-1219
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• 2001

The electro-rheological(ER) fluids for smart hydraulic system are a class of colloidal dispersion which exhibit large reversible Changes in their rheological behavior when they are subjected to external electrical fields. This paper presents experimental results on material properties of an ER fluids subjected to electrical fatigues. As a first step, ER fluid is made of methyl cellulose(MC) choosing 25% of particle weight-concentration. Following the construction of test mechanism for durability estimation, the dynamic yield shear stress and the current density for the ER fluids of MC component are experimentally distilled as a function of electric field. In addition, the surface roughness of the employed electrode are evaluated as a function of the number of the electric-field cycles.

• Journal of Industrial Technology
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• v.16
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.440-445
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• 1992

The major purpose here is to estimate the drying time required in the fish-drying process employed. The basic element of the prediction of the drying time is the model or the equation, which governs the change in weight. By an intuitive consideration on the mechanism of dehydration, a mathematical model of the fish-drying process is built, which is described by a system of linear differential equations. Further, a modified system of linear differential equations for a model of drying is also proposed for more accurate estimation. The parameter estimation of this system of equations provides the prediction of necessary drying time.

• ETRI Journal
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• v.34 no.5
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• pp.795-798
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• 2012

This letter proposes a new low-complexity motion estimation method. The proposed method classifies various nonmatching pixel pairs into several categories and assigns an appropriate weight for each category in the matching stage. As a result, it can significantly improve performance compared to that of the conventional methods by adding only one 1-bit addition and two Boolean operations per pixel.

• Journal of Power System Engineering
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• v.5 no.4
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• pp.61-66
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• 2001

Electro-Rheological(ER) fluids undergo a phase-change when subjected to an external electric field, and this phase-change typically manifests itself as a many-order-of magnitude change in the rheological behavior. This paper presents experimental results on material properties for an ER fluids of arabic gum components subjected to electrical fatigues. As a first step, ER fluids are made of arabic gum 25% of particle weight-concentration. Following the construction of test mechanism for estimated durability of ER fluid, the dynamic yield stress, shear stress and current density of the ER fluids are experimentally distilled as a function of DC electric field. The durability estimation of operated ER fluids are distilled and compared with those of unused ER fluids. In addition, the surface roughness of the employed electrode for copper and aluminum are evaluated as a function of the number of the electric-field cycles.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.485-489
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• 2006

In last decades, several linearization methods for the AOA measurements have been proposed, for example, Gauss-Newton method and closed-form solution. Gauss-Newton method can achieve high accuracy, but the convergence of the iterative process is not always ensured if the initial guess is not accurate enough. Closed-form solution provides a non-iterative solution and it is less computational. It does not suffer from convergence problem, but estimation error is somewhat larger. This paper proposes a self-tuning weighted least square AOA algorithm that is a modified version of the conventional closed-form solution. In order to estimate the error covariance matrix as a weight, two-step estimation technique is used. Simulation results show that the proposed method has smaller positioning error compared to the existing methods.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.88-92
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• 2023

Lithium-ion batteries are actively used in various industrial sites such as field robots, drones, and electric vehicles due to their high energy efficiency, light weight, long life span, and low self-discharge rate. When using a lithium-ion battery in a field, it is important to accurately estimate the SoC (State of Charge) of batteries to prevent damage. In recent years, SoC estimation using data-based artificial neural networks has been in the spotlight, but it has been difficult to deploy in the embedded board environment at the actual site because the computation is heavy and complex. To solve this problem, neural network lightening technologies such as network pruning have recently attracted attention. When pruning a neural network, the performance varies depending on which layer and how much pruning is performed. In this paper, we introduce an optimized pruning technique by improving the existing pruning method, and perform a comparative experiment to analyze the results.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.30 no.2
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• pp.169-172
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• 2019

Frequency-modulated continuous wave(FMCW) radars with array antennas are widely used because of their light weight and relatively high resolution. A usual approach for the joint range and angle estimation of a target using an array FMCW radar is to create a range-angle matrix with the deramped received signal, and subsequently apply two-dimensional(2D) frequency estimation methods such as 2D fast Fourier transform on the range-angle matrix. However, such frequency estimation approaches cause bias errors since the frequencies in the range-angle matrix are not independent. Therefore, we propose a new maximum likelihood-based algorithm for joint range and angle estimation of targets using array FMCW radar, and demonstrate that the proposed algorithm achieves the Cram?r-Rao bounds, both for range as well as angle estimation.