• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.5
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• pp.366-372
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• 2018

Three-port dual-active bridge (DAB) converter in a DC microgrid was studied due to its high power density and cost-effectiveness. The other advantages of DAB include galvanic isolation and bidirectional power conversion capability using simple control modulation. The three-port DAB converter consists of a three winding transformer and three bridges. The transformer has three phases, which means that the ports are coupled. Thus, the three-port DAB converter causes unwanted power flows when the load connected to each port changes. The basic operational principles of the three-port DAB converter are presented in this study. The decoupling control strategy of the independent port power transfer is presented with a mathematical power model to overcome the unexpected power flow problem. The validity of the proposed analysis and control strategy is verified with PSIM simulation and experiments using a 1-kW prototype power converter.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1668-1671
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• 2003

A novel dual-frequency microstrip printed-dipole antenna operating at 5 GHz and 10 GHz is presented. This antenna is designed for wireless and mobile communication. The balance step coplanar strip is used to be a transmission line at the center of dipole with matching impedance at 50 ohm. Using the conductor strip align on the other side of antenna and adjust the width of step coplanar strip line to improved input impedance matching. By modification for matching impedance of dual frequency antenna are not affected to the radiation patterns. The Finite Difference Time Domain (FDTD) technique is applying to analyze the basic characteristic properties such as $S_{11}$ , input impedance , VSWR and radiation patterns. And these parameters are discussed. The analyze problem space are $51{\times}197{\times}175$ cells and cell dimension are ${\Delta}x=0.3\;mm$ and ${\Delta}y={\Delta}z=0.15\;mm$.

• ETRI Journal
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• v.34 no.1
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• pp.98-101
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• 2012

The directional medium access control (MAC) protocol improves the throughput of mobile ad hoc networks but has a deafness problem and requires location information for neighboring nodes. In the dual-channel directional MAC protocol [12], the use of omnidirectional packets does not require the exact location of destination node. In this letter, we propose a tone dual-channel MAC protocol with directional antennas to improve the throughput of mobile ad hoc networks. In the proposed MAC protocol, we use a directional CTS and an out-of-band directional DATA tone with a new blocking algorithm to improve the spatial reuse. We confirm the throughput performance of the proposed MAC protocol by computer simulations using the Qualnet simulator.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.57-69
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• 2022

Recently, as interest in self-driving cars has increased worldwide, research and development on the Advanced Driver Assist System is actively underway. Among them, the purpose of Adaptive Cruise Control (ACC) is to minimize the driver's driving fatigue through the control of the vehicle's longitudinal speed and relative distance. In this study, for the research of the ACC test in the real environment, the real-road test was conducted based on domestic-road test scenario proposed in preceding study, considering ISO 15622 test method. In this case, the distance measurement method using the dual camera was verified by comparing and analyzing the result of using the dual camera and the result of using the measurement equipment. As a result of the comparison, two results could be derived. First, the relative distance after stabilizing the ACC was compared. As a result of the comparison, it was found that the minimum error rate was 0.251% in the first test of scenario 8 and the maximum error rate was 4.202% in the third test of scenario 9. Second, the result of the same time was compared. As a result of the comparison, it was found that the minimum error rate was 0.000% in the second test of scenario 10 and the maximum error rate was 9.945% in the second test of scenario 1. However, the average error rate for all scenarios was within 3%. It was determined that the representative cause of the maximum error occurred in the dual camera installed in the test vehicle. There were problems such as shaking caused by road surface vibration and air resistance during driving, changes in ambient brightness, and the process of focusing the video. Accordingly, it was determined that the result of calculating the distance to the preceding vehicle in the image where the problem occurred was incorrect. In the development stage of ADAS such as ACC, it is judged that only dual cameras can reduce the cost burden according to the above derivation of test results.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.7
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• pp.23-31
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• 2012

Resource allocation, such as joint rate control and scheduling, is an important issue in cognitive radio networks. However, it is difficult to jointly consider the rate control and scheduling problem due to the stochastic behavior of channel availability in cognitive radio networks. In this paper, we propose an asymmetric joint rate control and scheduling technique under reliability constraints in cognitive radio networks. The joint rate control and scheduling problem is formulated as a convex optimization problem and substantially decomposed into several sub-problems using a dual decomposition method. An algorithm for secondary users to locally update their rate that maximizes the utility of the overall system is also proposed. The results of simulations revealed that the proposed algorithm converges to a globally optimal solution.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.501-506
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• 1993

An efficient solution algorithm of the optimal load distribution problem with joint torque constraints is presented. Multiple robot system where each robot is rigidly grasping a common object is considered. The optimality criteria used is the sum of weighted norm of the joint torque vectors. The maximum and minimum bounds of each joint torque in arbitrary form are considered as constraints, and the solution that reduces the internal force to zero is obtained. The optimal load distribution problem is formulated as a quadratic optimization problem in R, where I is the number of robots. The general solution can be obtained using any efficient numerial method for quadratic programming, and for dual robot case, the optimal solution is given in a simple analytical form.

• ETRI Journal
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• v.36 no.6
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• pp.960-967
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• 2014

In this paper, an analytical framework is proposed for the optimization of network performance through joint congestion control, channel allocation, rate allocation, power control, scheduling, and routing with the consideration of fairness in multi-channel wireless multihop networks. More specifically, the framework models the network by a generalized network utility maximization (NUM) problem under an elastic link data rate and power constraints. Using the dual decomposition technique, the NUM problem is decomposed into four subproblems - flow control; next-hop routing; rate allocation and scheduling; power control; and channel allocation - and finally solved by a low-complexity distributed method. Simulation results show that the proposed distributed algorithm significantly improves the network throughput and energy efficiency compared with previous algorithms.

• Journal of Korean Society of Water and Wastewater
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• v.21 no.4
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• pp.485-491
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• 2007

The fluctuation of inlet flow to a water treatment plant makes a serious problem that it can change the filtration rate abruptly, and ultimately occur the breakthrough of the detained particles inside filter media. Also, since it takes very short time (about 10 minutes) for the surface wave occurred from the fluctuation of inlet flow to reach the filtration process, it is impossible to control the filtration rate stably. Therefore, this study was conducted to evaluate the effect of daily flow-rate fluctuation on the performance of sand filtration process, and to suggest the dual media composition for coping with that effect. Comparative column tests have been carried out for various dual media (sand and anthracite) compositions. From the results of column tests, dual media, especially in the case of sand 45cm/anthracite 30cm, is more effective to cope with the effect of flow-rate fluctuation on the performance of filtration than single media (only sand). In addition, irrespective of dual media composition, managing ability to cope with that fluctuation tends to be weak at the end of allowable filtration duration time,