• Journal of Forest and Environmental Science
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• v.32 no.4
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• pp.377-383
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• 2016

We obtained a total of 36 GPS coordinates of the seven bat species of Rhinolophus ferrumequinum, Myotis ikonnikovi, M. nattereri, M. petax, Murina ussuriensis, Plecotus auritus, and Pipistrellus abramus. Characteristics of forests (forest type, age class, DBH class and crown density), terrain (aspect, slope and distance from mountain stream) and disturbance factors (distance from human residential areas and distance from cultivated areas) that bats have used as their habitats were revealed from the GIS analysis based on GPS coordinates of the 36 positions that bats were found. The bats-preferred forest type is broad-leaf forests (43%) with the trees of the 2th (31%) and 5th (31%) age class, the trees of sapling (36%) and large DBH class (31%), and sparse crown density (67%). Bats prefer the slop direction of the east (39%), the gradient below $15^{\circ}$ (61%), the ranges within 200 m from the mountain streams (92%), the ranges within 200 m near roads (89%), the ranges of 200-400 m from human residential areas (28%), and the ranges within 200 m from cultivated areas (36%).

• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.42-54
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• 2016

A hybrid color and grayscale images encryption scheme based on the quaternion Hartley transform (QHT), the two-dimensional (2D) logistic map, the double random phase encoding (DRPE) in gyrator transform (GT) domain and the three-step phase-shifting interferometry (PSI) is presented. First, we propose a new color image processing tool termed as the quaternion Hartley transform, and we develop an efficient method to calculate the QHT of a quaternion matrix. In the presented encryption scheme, the original color and grayscale images are represented by quaternion algebra and processed holistically in a vector manner using QHT. To enhance the security level, a 2D logistic map-based scrambling technique is designed to permute the complex amplitude, which is formed by the components of the QHT-transformed original images. Subsequently, the scrambled data is encoded by the GT-based DRPE system. For the convenience of storage and transmission, the resulting encrypted signal is recorded as the real-valued interferograms using three-step PSI. The parameters of the scrambling method, the GT orders and the two random phase masks form the keys for decryption of the secret images. Simulation results demonstrate that the proposed scheme has high security level and certain robustness against data loss, noise disturbance and some attacks such as chosen plaintext attack.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.15-20
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.364-377
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• 2008

Due to the difficulty in solving the Hamilton-Jacobi-Isaacs equation, the nonlinear optimal control approach is not very practical in general. To overcome this problem, Ezal et al. (2000) first solved a linear optimal control problem for the linearized model of a nonlinear system given in the strict-feedback form. Then, using the backstepping procedure, a nonlinear feedback controller was designed where the linear part is same as the linear feedback obtained from the linear optimal control design. However, their construction is based on the cancellation of the high order nonlinearity, which limits the application to the smooth ($C^{\infty}$) vector fields. In this paper, we develop an alternative method for backstepping procedure, so that the vector field can be just $C^1$, which allows this approach to be applicable to much larger class of nonlinear systems.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.1
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• pp.52-58
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• 2005

Among various modern control theories, PID control has been well used for several decades. PID algorithms need some tuning methods which are used for selecting PID parameters. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that controllers, output characteristics and disturbance rejection property meet some specifications. In this paper, linear conbinational type of performance index using error signal, time, control input and robustness is used to the PID control of air conditioning system. By use of the 2 DOF PID parmeters minimizing perfromacne index controllers, output characteristics and robustness properties are analyzed. Simulations are done by use of MATLAB with Simulink.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.411-416
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• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• Journal of Korean Neurosurgical Society
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• v.60 no.3
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• pp.380-384
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• 2017

Glioblastoma multiforme (GBM) is located most frequently in the cerebral hemispheres. Glioblastoma presenting as an extraaxial mass of cerebellopontine angle (CPA) is very rare in adults. We report a rare case of GBM arising in the CPA. The patient was a 71-year-old female, who complained of progressive gait disturbance and poor memory. Initial magnetic resonance imaging (MRI) revealed a $1.4{\times}1.3cm$ mass in the left CPA, with broad base to the petrous bone, showing homogenous enhancement. Follow-up MRI showed a rapid increase in size of mass ($2.7{\times}2.2cm$) with a necrotic portion. A stereotactic biopsy was done under the guidance of navigation system, and the histopathologic diagnosis was GBM, World Heath Organization grade IV. Further surgical resection was not performed considering her general condition, and the patient underwent concurrent chemotherapy with radiation therapy. Although rare, the possibility of glioblastoma should be included in the differential diagnosis of atypical CPA tumor.

• Journal of Acupuncture Research
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• v.20 no.3
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• pp.34-44
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• 2003

Objective : Bone homeostasis is maintained by balance of bone formation and resorption. Therefore, bone related diseases arose by disturbance of this balance between osteoblast and osteoclast activities. To develop a successful screening system the therapeutic components based on oriental medicine is essential to set up systematic approach for that purpose. The purpose of this study is to the know the gene expression using cDNA microarray assay. Methods : Cervi Pantotricuhum Cornu Herbal-acupuncture extract was prepared by boiling. human osteosarcoma cells(HOS) were treated with Cervi Pantotricuhum Cornu Herbal-acupuncture solution. Then mRNA was extracted and cDNA microarray assay was performed. Results : Human osteosarcoma cells(HOS) treated with Cervi Pantotricuhum Cornu Herbal-acupuncture solution($500{\mu}g/m{\ell}$) showed that thioredoxin, TAFII31 and two novel genes were increased. However many genes decreased their expression by Cervi Pantotricuhum Cornu Herbal-acupuncture. Conclusions : This type of approach will give a good chance to explore the favorable effects of Cervi Pantotricuhum Cornu Herbal-acupuncture. Further study is needed for investigating the effect of Cervi Pantotricuhum Cornu Herbal-acupuncture.

• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.1 s.24
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• pp.50-59
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• 2006

Lately, there exist growing demands for the use of CTAs(Cased Telescoped Ammunitions) to increase the firepower of mid-calibre automatic guns despite spatial limitations of armament. In this paper, for automatic CTA guns a rotating chamber mechanism is designed based on parallel index concept. Via dynamic simulations it proves capable of smooth operation even at as high a firing rate as 200spm. Subsequently, motor controllers are synthesized to drive the chamber at any constant speed and also to control positions in the presence of large disturbances caused by the intermittently-rotating load. It is remarkable that we successfully adopted a disturbance observer to treat disturbances only with a moderate bandwidth of the closed-loop system.

• Journal of Power Electronics
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• v.18 no.3
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• pp.723-735
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• 2018

Linear proportional-integral (PI) controllers are an attractive choice for controlling the speed of induction machines because of their simplicity and ease of implementation. Fractional-order PI (FO-PI) controllers, however, perform better than PI controllers because of their nonlinear nature and the underlying iso-damping property of fractional-order operators. In this work, an FO-PI controller based on the proposed first-order plus dead-time induction motor model and integer-order (IO) controllers, such as Ziegler-Nichols PI, Cohen-Coon PI, and a PI controller tuned via trial-and-error method, is designed. Simulation and experimental investigation on an indirect field-oriented induction motor drive system proves that the proposed FO-PI controller has better speed tracking, lesser settling time, better disturbance rejection, and lower speed tracking error compared with linear IO-PI controllers. Our experimental study also validates that the FO-PI controller maximizes the torque per ampere output of the induction machine and can effectively control the motor at low speed, in field-weakening regions, and under detuned conditions.