• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.133-140
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• 2008

In this paper, a small and effective attitude estimation system for a humanoid robot was developed. Four small inertial sensors were packed and used for inertial measurements(3D accelerometer and three 1D gyroscopes.) An effective 3D pose estimation algorithm for low cost DSP using an extended Kalman filter was developed and evaluated. The 3D pose estimation algorithm has a very simple structure composed by 3 modules of a linear acceleration estimator, an external acceleration detector and an pseudo-accelerometer output estimator. The algorithm also has an effective switching structure based on probability and simple feedback loop for the extended Kalman filter. A special test equipment using linear motor for the testing of the 3D pose sensor was developed and the experimental results showed its very fast convergence to real values and effective responses. Popular DSP of TMS320F2812 was used to calculate robot's 3D attitude and translated acceleration, and the whole system were packed in a small size for humanoids robots. The output of the 3D sensors(pitch, roll, 3D linear acceleration, and 3D angular rate) can be transmitted to a humanoid robot at 200Hz frequency.

• Journal of the Ergonomics Society of Korea
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• v.16 no.1
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• pp.107-117
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• 1997

It is necessary to evaluate HMI inaspects of human factors in the design stage of MMIS(man machine interface system) and feedback the result of evaluation because operators performance is mainly influenced by the HMI. Therefore, the MMIS design should be reflected the operators psychological, behavioral and physiological characteristics in the interaction with human machine interface(HMI) in order to improve the safety and availability of the MMIS of a nuclear power plant(NPP) by reduction of human error. The development of human factors experimental evaluation techniques and integrated test facility(ITF) for the human factors evaluation become an important research field to resolve hi,am factors issues on the design of an advanced control room(ACR). We developed am ITF, which is aimed to experiment with the design of the ACR and the human machine interaction as it relates to the control of NPP. This paper presents the development of an ITF that consists of three rooms such as main test room(MTR), supporting test room(STR) and experiment control room(ECR). And, the ITF has a various facilities such as a human machine simulator(HMS), experimental measurement systems and data analysis and experiment evaluation supporting system(DAEXESS). The HMS consists of full-scope simulation model of Korean standard NPP and advanced HMI based on visual display nits (VDUS) such as touch color CRT, large scale display panel(LSDP), flat panel display unit and so on.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.104-111
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• 2000

A fuzzy logic Run-by-Run(RbR) controller and an in -line wafer characteristics prediction scheme for the rapid thermal processing system have been developed for the study of process repeatability. The fuzzy logic RbR controller provides a framework for controlling a process which is subject to disturbances such as shifts and drifts as a normal part of its operation. The fuzzy logic RbR controller combines the advantages of both fuzzy logic and feedback control. It has two components : fuzzy logic diagnostic system and model modification system. At first, a neural network model is constructed with the I/O data collected during the designed experiments. The wafer state after each run is assessed by the fuzzy logic diagnostic system with featuring step. The model modification system updates the existing neural network process model in case of process shift or drift, and then select a new recipe based on the updated model using genetic algorithm. After this procedure, wafer characteristics are predicted from the in-line wafer characteristics prediction model with principal component analysis. The fuzzy logic RbR controller has been applied to the control of Titanium SALICIDE process. After completing all of the above, it follows that: 1) the fuzzy logic RbR controller can compensate the process draft, and 2) the in-line wafer characteristics prediction scheme can reduce the measurement cost and time.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Proceedings of the IEEK Conference
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• 2002.06a
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• pp.167-170
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• 2002

The design and fabrication of Q-band 3-stage monolithic microwave integrated circuit(MMIC) driver and power amplifiers for WLAN are presented using 0.2${\mu}{\textrm}{m}$ AlGaAs/InGaAs/GaAs pseudomorphic high electron mobility transistor(PHEMT). In each stage of the MMIC DA, a negative feedback is used for both broadband and good stability. The MMIC PA has employed a balanced configuration to overcome these difficulties and achieve high power with low VSWR over a wide frequency range. In the MMIC DA, the measurement results arc achieved as an input return loss under -4dB, an output return loss under -l0dB, a gain of 14dB, and a PldB of 17dB at C-band(36~ 44GHz). The chip size is 28mm$\times$1.3mm. The developed MMIC PA has the l0dB linear gain over 360Hz to 420Hz band and 22dBm PldB performance at 400Hz. The size of fabricated MMIC PA is 4mm x3mm. These results closely match with design results. This MMIC DA Sl PA will be used as the unit cells to develop millimeter-wave transmitters for use in wideband wireless LAN systems.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.896-904
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• 2017

Lean premixed combustion was successful in meeting current NOx emission regulations. However, these often leads to combustion instability. This phenomena results from the feedback relationship between heat release perturbations and acoustic pressure oscillations in the combustor. Researches on the combustion instability in an annular combustor have recently received great attention due to the enhanced NOx requirement in aero-engines. In this study, the thermoacoustic network model has been developed in order to calculate the acoustics for longitudinal as well as circumferential modes in the annular combustor. The combustion model in the network model is calculated by flame transfer function(FTF). Numerical and analytical results are compared to an measurement data.

• Korea Journal of Hospital Management
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• v.16 no.1
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• pp.77-100
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• 2011

The purpose of this study is to the improvement of general hospital outpatients waiting time using Theory Of Constraints(TOC) methodology and to the development of a Reception Desk in general hospital. This study is to provide decision-making guidelines for hospital managers and to provide feedback for the efficiency of job process. The target people of the study are outpatients and Cashiers on Chungnam national university hospital in Daejeon. The methods of study are summarized as follows. First, The team managers from a Reception Desk group were appointed. This team managers have the adjustment authority to the Outpatients schedule of doctor and Cashier members. Second, The consolidation of the general Reception desk and special inspection the Reception Desk. A movement line and waiting time of patients were simple and fast to accept. As a result of study, it shows that the TOC is the method for a job process and waiting time improvement, patients' satisfaction increase and we need an objective measurement indexes in the medical treatment industry.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.996-1003
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• 1999

This paper propose a position-speed controller with an estimator which can estimate states and disturbance. The overall control system consists of two parts: the position-speed controller and an estimator. The Kalman filter applied as state-feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear, unbiased and minimum error variance recursive algorithm to optimally estimate the unknown state. Therefore, we consider the error problem about the servo system modeling and the measurement noise as a stochastic system and implement a optimal state observer, and enhance the estimate performance of position and speed using that. Using two-degree-of freedom(TDOF) conception, we design the command input response and the closed loop characteristics independently. The servo system is to improve the closed loop characteristics without affecting the command imput response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer using a inverse-transfer matrix. Therefore, the performance of overall position-speed controller is enhanced. Finally, the performance of the proposed controller is exemplified by some simulations and by applying the real servo system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 1998.05a
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• pp.371-376
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• 1998

This paper describes an approach to a speed estimation method to remove speed sensor of underwater robot's AC drive systems. AC motors have been widely used in the field of underwater robot's manipulator or propulsion system. Most of these AC motors for underwater use have usually filled oil to compensate the high pressure in deep-sea operation, where a resolver is adopted to feed back the speed of rotor But this kind of speed feedback devices gives rise to some defects arising from their mechanical complexity and numerous signal lines; a resolver needs 6 or 7 signal lines for proper operation. This paper presents a speed estimation method to improve these problems of induction motor, which is adopted as a prototype of AC motor. The proposed speed estimation method is based on the RFO(rotor flux orientation) vector control method of voltage-fed AC drives. Using the controller of voltage-fed AC drives, it is unnecessary to measure the voltage for the estimation of rotor speed, which reduces the effects of measurement error Numerical simulation is carried out to investigate the validity of the method and the effects of rotors resistance variation.

• Proceedings of the KIPE Conference
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• 2012.07a
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• pp.399-400
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• 2012

The proposed battery charger presented in this paper is suitable for Lead-Acid Battery and the dc/dc buck converter topology is applied as a charger circuit. The technique adopted in this charger is constant current & constant voltage dual mode, which is decided by the value of voltage of proposed battery. Automatic mode change function is detected by the percentage value of level of battery charging. CC Mode (Constant Current Mode) is operated when charging level is below 80% of the total charging of Battery voltage and above 80% of battery voltage charging, CV Mode (Constant Voltage Mode) is automatically operated. As the charging level exceeds 120%, it automatically terminates charging. The feedback signal to the PWM generator for charging the battery is controlled by using the current and voltage measurement circuits simultaneously. This technique will degrade the damage of proposed type of battery and improve the power efficiency of charger. Finally, a prototype charger circuit designed for a 12-V 7-Ah lead acid battery is constructed and tested to confirm the theoretical predictions. Satisfactory performance is obtained from simulation and the experimental results.