• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.163-172
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• 2014

This paper proposes a novel guidance law based on the block backstepping sliding mode control and extended state observer (ESO), which also takes into account the autopilot dynamic characteristics of the near space interceptor (NSI), and the impact angle constraint of attacking the maneuvering target. Based on the backstepping control approach, the target maneuvers and the parameter uncertainties of the autopilot are regarded as disturbances of the outer loop and inner loop, respectively. Then, the ESO is constructed to estimate the target acceleration and the inner loop disturbance, and the block backstepping sliding model guidance law is employed, based on the estimated disturbance value. Furthermore, in order to avoid the "explosion of complexity" problem, first-order low-pass filters are also introduced, to obtain differentiations of the virtual control variables. The stability of the closed-loop guidance system is also proven, based on the Lyapunov theory. Finally, simulation results demonstrate that the proposed guidance law can not only overcome the influence of the autopilot dynamic delay and target maneuvers, but also obtain a small miss distance.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.117-123
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• 2001

To improve control performance of a non-linear system, many other reserches have used the sliding model control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However, this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network. The perturbation estimator based on the fuzzy adaptive network generates the control input of compensating unmodeled dynamics terms and disturbance. And the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluation control performance of the proposed approach, tracking control simulation is carried is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.146-151
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• 2001

Optical disk drive has excellent advantage of random accessibility of which performance is measured by access time. However, due to the increased rotational velocity of the disk and constraints of mechanical structure, two-stage seek algorithm which executes coarse and fine seeks sequentially has been adopted in most commercial optical disk drives. Although the laser spot is moved to a target track by a single seek operation, the limited operation range of the fine actuator restricts the application of the fine seek algorithm below a few hundreds of tracks. Especially, excessive movement of the objective lens causes a failure in generation of track-cross pulse and results in an unstable seek operation. In this paper, a new control algorithm for extending the fine seek range is proposed with an appropriate control structure. The coarse actuator is utilized to reduce the misalignment between the objective lens and the laser beam axis, and the fine actuator is controlled to follow the reference velocity trajectory. The proposed algorithm is applied to a CD-ROM drive to show its feasibility and some experimental results are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1684-1688
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• 2005

In this paper, authentication technologies for X-ray inspection images in container merchandises are introduced and a method of authentication for X-ray inspection images is proposed. Until now, X-ray images of container merchandises have been managed without any authentication of inspection results and environments, it means that there was no any action for protection of illegal copy and counterfeiting of X-ray images from inspection results. Here, authentication identifies that who did inspect container X-ray images and, whether the container X-ray images were counterfeited or not. Our proposed algorithm indicates to put important information about X-ray inspection results on an X-ray image without affecting quality of the original image. Therefore, this paper will be useful in determining an appropriate technology and system specification for authentication of X-ray inspection images. As a result of experiment, we find that the information can be embedded to X-ray image without large degradation of image quality. Our proposed algorithm has high detection ratio by Quality 20 of JPEG attack.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• The Journal of Society for e-Business Studies
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• v.2 no.1
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• pp.1-20
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• 1997

This study aims to suggest CALS implementation strategies and policies for information-based management of small and medium companies in Korea. At the turning point from traditional document-based management to recent digital-based one, it is well known that implementation of CALS concept is crucial for advancing business management of small and medium enterprises In order to attack the aim, this paper critically analyzes the empirical difficulties and obstacles of the current information-based management of small and medium companies in Korea. On the basis of the above analysis, this paper suggests the strategic plans and policies of CALS implementation for small and medium enterprises in Korea as follows. First, government should provide the supporting policies and proper system so that the large enterprise can be linked with small and medium companies for sharing necessary information. Second, similar enterprises should be integrated on the basis of information and automation evaluation. Third, implementation strategies and plans should be advanced on the basis of the informationalized phases with respect to the technology level of small and medium enterprises. For more efficient CALS implementation, this paper also proposes the following subsidiary policies. First, it is substantially important to publicize the nation-wide spreading of CALS mind. Second, it is strongly recommended to educate and train CALS specialist on a consistant basis. Third, government should support the enterprises by providing sufficient fund for CALS implementation. Fourth, the ideal CALS implementation models for small and medium enterprises should be developed. Fifth, the consulting and training program for CALS implementation should be established through ECRC (Electronic Commerce Resource Center). My study was based upon the enterprises' responses to the questionaires I made

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.316-321
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• 2000

Die Casting is one of the forming methods to manufacture large number of products with short period time and clean surface by high forming pressure and temperature of cast alloy. Die design is composed of selection of cast alloy, design of die casting product, runner and gate design etc. In reality, however, die design of die casting has been performed by trial and error method, which cause economic and time loss. This paper describes a research work of developing computer-aided design of die casting product and die design. Approach to the CAD system has been written in AutoLISP on the AutoCAD with personal computer. In this study, die design system for gate of die casting process has been developed to present algorithm for automation of die design, especially runner-gate system. As forming process and die design system using 3-D geometry handling are integrated with technology of process planning, die design is possible to set. In addition, specific rules and equations for the runner-gate system have been presented to avoid too many trails and errors with expensive equipment. It is possible for engineers to make automatic and efficient die design of die casting and it will result in reduction of expense and time to be required. An example is applied to cap-shaped casting using proposed algorithm.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.647-653
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• 2020

Stainless steel is used commonly in nuclear applications for shielding radiation, so in this study, three different types of new stainless steel samples were designed and developed. New stainless steel compound ratios were determined by using Monte Carlo Simulation program Geant 4 code. In the sample production, iron (Fe), nickel (Ni), chromium (Cr), silicium (Si), sulphur (S), carbon (C), molybdenum (Mo), manganese (Mn), wolfram (W), rhenium (Re), titanium (Ti) and vanadium (V), powder materials were used with powder metallurgy method. Total macroscopic cross sections, mean free path and transmission number were calculated for the fast neutron radiation shielding by using (Geant 4) code. In addition to neutron shielding, the gamma absorption parameters such as mass attenuation coefficients (MACs) and half value layer (HVL) were calculated using Win-XCOM software. Sulfuric acid abrasion and compressive strength tests were carried out and all samples showed good resistance to acid wear and pressure force. The neutron equivalent dose was measured using an average 4.5 MeV energy fast neutron source. Results were compared to 316LN type stainless steel, which commonly used in shielding radiation. New stainless steel samples were found to absorb neutron better than 316LN stainless steel at both low and high temperatures.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.334-337
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• 2004

차세대 생산 시스템(Next Generation Manufacturing System： NGMS)의 핵심 개념은 분산 생산 시스템과 다품종 소량의 유연 생산 시스템의 지원이다. 이러한 시스템의 구성을 위하여 실시간 데이터에 기반한 예측 모델이 필수적인데, 이러한 예측 기능을 통하여 생산공정의 관리와 운영, 특히 전체 공정관리를 효율적으로 수행할 수 있다. 한편, 공정으로부터 전송된 데이터는 특정한 형태의 지식으로 표현된다. 이러한 지식들은 시스템에 대한 다양한 정보를 가지고 있으므로 정보를 이용하여 시스템 상태를 빠르고 쉽게 진단할 수 있다. 공정 진단은 현재 공정 상태에서 생산되는 제품의 품질을 추정할 수 있는 정보로 활용된다. 본 논문에서는 이러한 개념이 바탕이 되어 공정관리 시스템을 설계하였다. 제안된 시스템의 적용 대상은 반도체 제조 공정의 단위 공정인 에칭 공정이다. 에칭 공정은 공정 중에 연속적인 검사가 수행되지 않고 최종 제품에 대한 검사가 수행되므로 불량 원인을 찾는 것이 쉽지 않다. 따라서 본 논문에서는 공정관리를 위한 의사지원시스템을 통해 공정의 연속적인 간접진단을 수행하고자 하였다. 본 연구에서 사용된 의사지원시스템은 각 공정에서 얻어지는 데이터와 경험적 지식을 토대로 공정시스템의 해석과 진단이 가능한 시스템이다.