• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• Journal of the korean academy of Pediatric Dentistry
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• v.35 no.4
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• pp.713-717
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• 2008

Albinism is a disease caused by partial or complete failure of melanin production in the skin, hair and eyes despite the presence of normal number, structure and distribution of melanocytes. Typical aspects are white-colored skin, blonde-brown hair, blue-brown irides and a prominent red reflex. Three main categories of albinism are oculocutaneous, ocular and localized albinism, and also they are divided into many subgroups. Therefore, appropriate treatment plan and dental direction would be differentiated according to them. This case report was about oral conditions and treatment of the oculocutaneous albinism patient with mental retardation who was refered due to developmental delay of teeth and treated with teeth extraction, restoration and space maintenance etc.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.4
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• pp.645-651
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• 2009

In this paper, we present bit error rate(BER) performance of an adaptive decision feedback equalizer(DFE) using experimental data. The experiment was performed at the shore of Geoje in November 2007. The BER of the adaptive DFE whose tap weight is updated by RLS is described with change of feedforward filter length, feedback filter length, training sequence length, and delay, which shows that the uncoded average BER is $4{\times}10^2\;and\;1.5{\times}10^{-2}$ with transmission range of 9.7km and 4km, respectively. The BER of the adaptive DFE can be lower than 10-3 by a forward error correction code and therefore the adaptive DFE may be a good candidate for a high speed AUV communications since the volume and weight of the underwater acoustic modem should be small because of the restricted space and power in the battery-operated AUV.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.11
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• pp.2575-2580
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• 2013

In this paper, we watch out key measure of the level of transportation service about travel time and delay time. And we measured vehicle traffic by moving vehicle method using CCTV which is one of the travel time measure. We should be measured in place of continuous traffic flow characteristics with wide traffic light interval. In addition, traffic flow on the other side of the interval must be sufficiently identifiable and at the end of this section must be possible U-turn. This method it requires only the driver of the vehicle because of the CCTV measure. In addition, We cannot require time, distance, and traffic equipment that can be recorded. Because equipped with the software to do that. In addition to traffic, average travel time, average space speed, traffic density are also available.

• Explosives and Blasting
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• v.26 no.2
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• pp.29-37
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• 2008

In general, the size of tunnel cross section in construction site is $50{\sim}200m^2$. But, electric cable tunnel, telecommunication cable tunnel, mine tunnel. Waterproof tunnel have small cross section less than $20m^2$. There are so many problem at small sectional tunnel: restriction of equipment, dead pressure by precompression, loss of efficiency, increase of work time. Especially, explosives remainder by precompression of previous detonation is serious problem. To find its measures of dead pressure (explosives remainder), the following series of progress have been conducted: (1) survey of previous study (2) investigate causes of dead pressure (3) set up of its measures (4) application and appraisal at tunnel site. The measures, change of cut pattern, hole space over 40cm, adjustment of delay time, are proved by experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.1
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• pp.41-46
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• 2017

Magnetically levitated (Maglev) vehicles maintain a constant air gap between guideway and car bogie, and thereby achieves non-contact riding. Since the straightness and the flatness of the guideway directly affect the stability of levitation as well as the ride comfort, it is necessary to monitor the status of the guideway and to alert the train operators to any abnormal conditions. In order to develop a signal processing algorithm that extracts guideway irregularities from sensor data, virtual testing using a simulation model would be convenient for analyzing the exact effects of any input as long as the model describes the actual system accurately. Simulation model can also be used as an estimation model. In this paper, we develop a state-space dynamic model of a maglev vehicle system, running on the guideway that contains jumps. This model contains not only the dynamics of the vehicle, but also the descriptions of the power amplifier, the anti-aliasing filter and the sampling delay. A test rig is built for the validation of the model. The test rig consists of a small-scale maglev vehicle, tracks with artificial jumps, and various sensors measuring displacements, accelerations, and coil currents. The experimental data matches well with those from the simulation model, indicating the validity of the model.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.119-124
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• 2010

The MAC layer in ad-hoc network which makes network of nodes without infrastructure for a time has became an issue to reduce delay, allocate fairly bandwidth, control TX/RX power and improve throughput. Specially, the problem to reduce power consumption in ad-hoc network is very important part as ad-hoc devices use the limited battery. For solution of the problem, many power control algorithms, such as distribute power control, PCM (Power Control MAC) and F-PCF (Fragmentation based PCM), are proposed to limit power consumption until now. Although the algorithms are designed to minimize power consumption, the latency communication zone is generated by power control of RX/TX nodes. However the algorithms don't suitably reuse the space. In this paper proposes the algorithm to improve data throughput through Spatial Reuse based on a power control method.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.90-94
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• 2007

The conventional single-reference station positioning is affected by systematic errors such as ionospheric and tropospheric delay, so that the rover must be located within 10 km from the reference station in order to acquire centimeter-level accuracy. The medium-range real-time kinematic has been proven feasible and can be used for high precision applications. However, the longer of the baseline, the more of the time for resolving the integral ambiguity is required. This is due to the fact that systematic errors can not be eliminated effectively by double-differencing. Recently, network approaches have been proposed to overcome the limitation of the single-reference station positioning. The real-time systematic error modeling can be achieved with the use of GPS network. For expanding the effective range and decreasing the density of the reference stations, Land Survey Bureau, Ministry of the Interior in Taiwan set up a national GPS network. In order to obtain the high precision positioning and provide the multi-goals services, a GPS network including 66 stations already been constructed in Taiwan. The users can download the corrections from the data center via the wireless internet and obtain the centimeter-level accuracy positioning. The service is very useful for surveyors and the high precision coordinates can be obtained real time.

• Tunnel and Underground Space
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• v.19 no.4
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• pp.355-365
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• 2009

This paper proposes an elasto-plastic finite difference method which is useful for the stability evaluation of concrete lining installed in a deep circular tunnel. Mohr-Coulomb criterion is assumed for the condition of yielding in both the rock mass and concrete lining. In order to take into account the installation delay of lining after the excavation, the outer boundary pressure acting on the lining was calculated with the consideration of the convergence occurred before the lining installation. The distributions of stress and displacement in the rock mass and lining were calculated based on the method proposed Lee & Pietruszczak (2008). The applicability of the proposed method was demonstrated by conducting the elasto-plastic analysis of concrete lining supporting an imaginary compressed air storage tunnel. The analysis result revealed that the exact determination of the boundary pressures acting on the concrete lining is of importance in the stability analysis of concrete lining.

• Journal of Korea Society of Industrial Information Systems
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• v.7 no.2
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• pp.74-81
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• 2002

In general, a multipath generator consists of a time delay generator, phase rotator, and amplitude attenuator, and is implemented mostly in an analog manner. Analog, or partially analog versions of a multipath generator is disadvantageous in that they may suffer from problems associated with component aging and adjustment, signal fidelity degradation stemming from repeated A/D and D/A conversion use of high frequency to achieve fine i.e., subsample fractional tin delays. This paper presents the design and implementation methodology of a full digital multipath generator which can be used in performance evaluations of digital terrestrial television as well as communications, receivers. In particular, an efficient practical method is proposed which can achieve both integer and fractional time delays simultaneously, without placing restrictions on the allowable system master clock frequency. The proposed algorithm lends itself to minimizing hardware implementation cost by relegating some fixed put of the computation involved to an IBM PC. The proposed multipath generator occupies only a single digital board space, and its experimental results are provided to corroborate the proposed implementation methodology.