• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Korean Journal of Occupational Health Nursing
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• v.13 no.1
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• pp.48-58
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• 2004

Purpose: To identify the factors which are related to compensated low back pain disability. These include individual. workplace. economic and injury factors. Method: Data collection was performed at 13 office of Korea Labor Welfare Corporation and 29 hospitals from 23th June to 4th August 2003. This study used 212 workers with compensated low back pain. Result: From the bivariate analysis, industry kind, type of employment, rest schedule, Job control, compensation, payment of company, diagnosis, cause of occupational injury, duration of compensated low back pain, pattern of pain, operation, other injury is related to low back pain disability. From the multiple regression analysis, rest schedule, compensation, diagnosis, pattern of pain, other injury have statistically significant effect on the low back pain disability. Conclusion: In order to reduce low back pain disability, occupational rehabilitation nursing intervention is necessary to workers with compensated low back pain.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.75.1-75
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• 2002

Several model order reduction methods for large RLC circuits have been developed in the last few years. Krylop subspace based methods are extremely effective for generating the low order models of large system but there is no optimal theory for the resulting models. Alternatively, methods based truncated balanced realization have an optimality property but are too computationally expensive to use on complicated problems such as large RLC circuits. In this paper, we present a method for improving time domain response of reduced order RLC circuits. The method used here is based on combing Krylop subspace based method and truncated balanced realization method plus residualization. The metho...

• The Transactions of the Korean Institute of Power Electronics
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• v.15 no.2
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• pp.159-166
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• 2010

For a grid-connected inverter in distributed generation systems, the current control is essential, and recently, the predictive current control based on a high performance digital signal processors (DSP) to satisfy a fast dynamic response has been widely investigated. However, the performance of predictive current control is degraded by the time delay due to digital implementation, the parameter and measured value errors and the interference of noise, and also theses make system even unstable. Therefore, this paper proposes the predictive current control using grid voltage observer for grid-connected inverter applications. To determine the relevant voltage observer gain, the low-order harmonics of grid voltage are considered, and the effect of filter parameter errors is analyzed. The proposed method has a fast current response capability, the robustness to noise and simple implementation due to voltage sensorless control and the robust current control performance to low-order grid harmonics. The feasibility of the proposed method is verified by simulation and experimental results.

• KOREAN JOURNAL OF CROP SCIENCE
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• v.43 no.4
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• pp.214-222
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• 1998

These experiments were conducted to investigate water uptake, electrical conductivity, germination percentage, seedling growth, and seedling establishment rate in direct seeding cultivation of rice. The rice seeds of six japonica type varieties were coated with 12 kinds of polymers in a standard concentration of 0.2% using seed coating machine. The water absorption of the polymer-coated seeds under saturation conditions was not different among varieties, and was the highest in kulcel, maltrin, and waterlock on the polymer-coated seeds. The electrical conductivity with waterlock (55.0 $\mu scm^{-1}g^{-1}$) was higher than the control plot (45.6 $\mu scm^{-1}g^{-1}$) and other treatments. The germination of the polymer-coated seeds was 95.9% at control plot, 92.7% at low temperature and 35.7% at high temperature. The total dry weight of seed decreased in the order of low temperature, control plot, and high temperature, and was effective in pvp (polyvinyl pyrrolidone), opadry, and sacrust. The seedling establishment rate in direct seeding cultivation ranged from 74.9 to 81.0% in flooded paddy surface, and ranged from 64.7 to 76.6% in dry paddy. In both cases, it decreased in the order of early, medium and medium-late varieties, but was enhanced in daran 8600, sepirect, and sacrust. According to this study the recommended polymers for direct seeding cultivation of rice are daran 8600, sepirect, and sacrust.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.4
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• pp.484-490
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• 2012

This paper is devoted to investigate the feasibility of using a medium power ground-based laser to produce a torque on LEO satellites of various shapes. The laser intensity delivered to a satellite is calculated using a simple model of laser propagation in which a standard atmospheric condition and linear atmospheric interaction mechanism is assumed. The laser force is formulated using a geocentric equatorial system in which the Earth is an oblate spheroid. The torque is formulated for a cylindrical satellite, spherical satellites and for satellites of complex shape. The torque algorithm is implemented for some sun synchronous low Earth orbit cubesats. Based on satellites perigee height, the results demonstrate that laser torque affecting on a cubesat has a maximum value in the order of $10^{-9}$ which is comparable with that of solar radiation. However, it has a minimum value in the order of $10^{-10}$ which is comparable with that of gravity gradient. Moreover, the results clarify the dependency of the laser torque on the orbital eccentricity. As the orbit becomes more circular it will experience less torque. So, we can conclude that the ground based laser torque has a significant contribution on the low Earth orbit cubesats. It can be adjusted to obtain the required control torque and it can be used as an active attitude control system for cubesats.

• JSTS:Journal of Semiconductor Technology and Science
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• v.16 no.5
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• pp.675-681
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• 2016

A 41dB gain control range $6^{th}$-order band-pass receiver front-end (RFE) using CMOS switched frequency translated impedance (FTI) is presented in a 40 nm CMOS technology. The RFE consists of a frequency tunable RF band-pass filter (BPF), IQ gm cells, and IQ TIAs. The RF BPF has wide gain control range preserving constant filter Q and pass band flatness due to proposed pre-distortion scheme. Also, the RF filter using CMOS switches in FTI blocks shows low clock leakage to signal nodes, and results in low common mode noise and stable operation. The baseband IQ signals are generated by combining baseband Gm cells which receives 8-phase signal outputs down-converted at last stage of FTIs in the RF BPF. The measured results of the RFE show 36.4 dB gain and 6.3 dB NF at maximum gain mode. The pass-band IIP3 and out-band IIP3@20 MHz offset are -10 dBm and +12.6 dBm at maximum gain mode, and +14 dBm and +20.5 dBm at minimum gain mode, respectively. With a 1.2 V power supply, the current consumption of the overall RFE is 40 mA at 500 MHz carrier frequency.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1844-1854
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• 2003

This paper discusses details of modeling and robust control of an AMB (active magnetic bearing) spindle, and part I presents a modeling and validation process of the AMB spindle. There are many components in AMB spindle : electromagnetic actuator, sensor, rotor, power amplifier and digital controller. If each component is carefully modeled and evaluated, the components have tight structured uncertainty bounds and achievable performance of the system increases. However, since some unknown dynamics may exist and the augmented plant could show some discrepancy with the real plant, the validation of the augmented plant is needed through measuring overall frequency responses of the actual plant. In addition, it is necessary to combine several components and identify them with a reduced order model. First, all components of the AMB spindle are carefully modeled and identified based on experimental data, which also render valuable information in quantifying structured uncertainties. Since sensors, power amplifiers and discretization dynamics can be considered as time delay components, such dynamics are combined and identified with a reduced order. Then, frequency responses of the open-loop plant are measured through closed-loop experiments to validate the augmented plant. The whole modeling process gives an accurate nominal model of a low order for the robust control design.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.955-957
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• 1998

Switched reluctance motor(SRM) has the advantages of simple structure, low rotor inertia, and high poer rate per unit volume. However, position sensor isessential in SRM in order to synchronize the phase excitation to the rotor position. The position sensors increase the cost of drive system, and tend to reduce system reliability. This paper investigtes the speed control of sensorless SRM. The proposed system consists of position detection circuit, dwell angle controller, digital logic commutator, PI speed controller and 4-phase inverter. The performances in the proposed system are verified through the experiment.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.233-236
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• 2001

In this paper, a robust controller for UPS inverter is designed using CDM (Coefficient Diagram Method) developed by S. Manabe, by which a low order controller guaranteeing the stability and robustness is easily designed. The proposed controller consists of two control loops, the inner current control loop and the outer voltage control loop. The robustness of the proposed controller is verified through the theoretic evolution and its simulation.