• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2275-2278
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• 2005

In this paper, a control algorithm for a servo manipulator is focused on. A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell. It is driven by servo motors. The torque from a servo motor is transferred through a reducer to the corresponding axis. The PID control algorithm is a simple and effective algorithm for such application. However, since friction degrades the algorithm's performance, friction has to be considered and compensated. The major aberrations are the positional tracking errors and the limit cycle. The authors have considered a switching term to a conventional PID algorithm to reduce the friction's effect. It has been tested by a hardware test.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1723-1728
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• 2005

This article describes the fuzzy control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, describes the design of the fuzzy controller, which does not require the computation time to optimize the distribution of cable tension. The developed controller is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.51-60
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• 2007

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.768-776
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• 2011

This paper considers a data fitting problem for rational function models using the LM (Levenberg-Marquardt) optimization method. Rational function models have various merits on representing a wide range of shapes and modeling complicated structures by polynomials of low degrees in both the numerator and denominator. However, rational functions are nonlinear in the parameter vector, thereby requiring nonlinear optimization methods to solve the fitting problem. In this paper, we propose a data fitting method for rational function models based on the LM algorithm which is renowned as an effective nonlinear optimization technique. Simulations show that the fitting results are robust against the measurement noises and uncertainties. The effectiveness of the proposed method is further demonstrated by the real application to a 3D depth camera calibration problem.

• The Journal of the Acoustical Society of Korea
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• v.11 no.1
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• pp.67-79
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• 1992

For effective on-line ARMA parameter estimation, a covariance type ARMA fast transversal filter (FTF) algorithm is presented. The proposed algorithm is a covariance type implementation of ELS(Extended Least Squares) estimator and it is a fast time update recursion which is based on the fact that the correlation matrix of ARMA model satisfies the shift invariance property in each sub-block. The geometric approach is used in the derivation of the proposed algorithm. It takes small computational burden of 13N+37 MADPR(Multiplication And Division Per Recursion). Also, AR and MA orders can be independetly and arbitrarily specified.

• Journal of the Korea Society of Computer and Information
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• v.23 no.7
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• pp.113-120
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• 2018

The purpose of this study is to derive implications for effective management of the public social worker by investigating the relationship between social support, job attitude and self-esteem of the public social worker. In order to accomplish this research purpose, social support of the public social worker as independent variables, job attitude as a dependent variable, and self-esteem as a parameter were analyzed and the relationship between these variables was analyzed. As a result, emotional, evaluative, material, and informational support, which constitute the social support of the public social worker, have a significant effect on job attitude, and self-esteem has a mediating effect on the relationship between these variables. Based on the results of this analysis, the importance of social support of the public social worker was suggested.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1016-1020
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• 2001

The spinning is a very effective manufacturing technology for short production runs in a variety of sizes and shapes, because it can form the cross-section or tubular parts various shapes. However extensive experimental and analytical research has not been carried out. In this study, and fundamental experiment was conducted to improve productivity with process parameter such as tool path, angle of roller holder(a), feed rate(v) and corner radius of forming roller(Rr). These factors were selected as variables in the experiment because they were most likely expected to have and effect on spring back. The clearance was controlled in order to achieve the precision product which is comparable to deep drawing one. And also thickness and diameter distribution of a multistage cup obtained by shear spinning process were observed and compared with those of a commercial product produced by conventional deep drawing.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 1999.02a
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• pp.65-68
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• 1999

The major deisng parameters that are considered in this paper are: 1) EMF according to width of field coil. 2) EMF according to magnetic shield length. Because of superconducting generator (SG) is actually and air cored machine with its rotor iron and stator iron teeth having been removed. In this case, the desing of the SG must be based on the 3D analysis of the magnetic field. This study presents an effective armature winding type with 3D FEM(Finite Element Method), and compares analyzed and measured results.

• Journal of the Korean Society for Geothermal and Hydrothermal Energy
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• v.14 no.3
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• pp.29-34
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• 2018

To present the design direction of the thermoelectric module (TEM) refrigerator, analysis of the effect of the design parameters on the energy efficiency and performance of the refrigerator is performed. The design parameters considered are the cooling capacity of the TEM and the heat transfer performance of the heating and cooling surface of the TEM. The heat transfer performance is the most effective design parameter for improving cooling power. The smaller ΔT and cooling capacity of the TEM make the higher efficiency of the refrigerator.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.1324-1334
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• 2005

This study investigated the applicability of the Artificial Neural Network (ANN) technique for prediction of tunnel behavior. For training data collection, a series of finite element analyses were conducted for actual tunnel project site. Using the data, optimimzed ANNs were developed through a sensitivity study on internal parameters. The developed ANNs can make tunneling related predictions such as tunnel crown settlement, shotcrete lining stress, ground surface settlement, and groundwater inflow rate. The results indicated that the developed ANNs can be used as an effective and efficient tool for tunnelling related prediction in practical tunneling situations.