• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.3
• /
• pp.64-69
• /
• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Smart Structures and Systems
• /
• v.30 no.5
• /
• pp.521-535
• /
• 2022

Efficient management of deteriorating civil infrastructure is one of the most important research topics in many developed countries. In particular, the remote displacement measurement of bridges using linear variable differential transformers, global positioning systems, laser Doppler vibrometers, and computer vision technologies has been attempted extensively. This paper proposes a remote displacement measurement system using closed-circuit televisions (CCTVs) and a computer-vision-based method for in-situ bridge bearings having relatively large displacement due to temperature change in long term. The hardware of the system is composed of a reference target for displacement measurement, a CCTV to capture target images, a gateway to transmit images via a mobile network, and a central server to store and process transmitted images. The usage of CCTV capable of night vision capture and wireless data communication enable long-term 24-hour monitoring on wide range of bridge area. The computer vision algorithm to estimate displacement from the images involves image preprocessing for enhancing the circular features of the target, circular Hough transformation for detecting circles on the target in the whole field-of-view (FOV), and homography transformation for converting the movement of the target in the images into an actual expansion displacement. The simple target design and robust circle detection algorithm help to measure displacement using target images where the targets are far apart from each other. The proposed system is installed at the Tancheon Overpass located in Seoul, and field experiments are performed to evaluate the accuracy of circle detection and displacement measurements. The circle detection accuracy is evaluated using 28,542 images captured from 71 CCTVs installed at the testbed, and only 48 images (0.168%) fail to detect the circles on the target because of subpar imaging conditions. The accuracy of displacement measurement is evaluated using images captured for 17 days from three CCTVs; the average and root-mean-square errors are 0.10 and 0.131 mm, respectively, compared with a similar displacement measurement. The long-term operation of the system, as evaluated using 8-month data, shows high accuracy and stability of the proposed system.

• Journal of Pharmaceutical Investigation
• /
• v.39 no.3
• /
• pp.177-183
• /
• 2009

A rapid and sensitive reversed-phase high performance liquid chromatography (HPLC) method was developed for the determination of piroxicam in the rabbit plasma. After a treatment of plasma sample by liquid-liquid extraction, the drug was analyzed on an HPLC system with ultraviolet detection at 330 nm. HPLC was carried out using reversed-phase isocratic elution with a C18 column, a mobile phase of a mixture of acetonitril, doubly deionized water and acetic acid 43.74:56.00:0.26 v/v%) at a flow rate of 1.1 mL/min. The chromatograms showed good resolution and sensitivity and no interference of plasma. The calibration curve for the drug in plasma sample was linear over the concentration range of 0.01-2.0 ${\mu}$g/mL. The intra- and inter-day assay accuracies of this method ranged from 86.82% to 108.33% of normal values and the precision did not exceed 13% of relative standard deviation. The plasma concentration of piroxicam decreased to below the quantifiable limit at 12 hr after the i.v. bolus administration to rabbits following dose of 0.375 mg/kg yielding a apparen t plasma half life of 1.38 hr. The transdermal route prolongs plasma levels of piroxicam. The bioavailability, calculated from the dose-adjusted ratio of the $AUC_{transdermal}$ to the $AUC_{i.v.}$, was 7.44%. The plasma concentration of piroxicam was detected by 48 hr after the transdermal administration of patch at a dose of 32 mg/kg. This method was suitable for cutaneous absorption studies of piroxicam in the rabbit after transdermal administration of different types of dosages of the drug.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.11 no.7
• /
• pp.1128-1138
• /
• 2000

This paper presents two different approaches for channel estimation of IMT-2000 pilot symbol-assisted W-CDMA reverse link over Rayleigh fading channels of one and two paths. By obtaining BER performance through computer simulations, the proposed algorithms of 2-point second-order interpolation and IDD BWMA are compared with the performance of existing interpolation and adaptive algorithms. The BER performance of the proposed algorithms is superior to WMSA, linear and second-order Gaussian interpolation, LMS, and RLS algorithm in fast fading channels. In particular, the BER performance of the IDD BWMA algorithm is nearly insensitive for Doppler frequency within simulation range $E_b/N_0$ = 28 dB. The two proposed algorithms also have relatively simple structure and similar processing delay in comparison to the existing algorithms. Therefore, these algorithms are more suitable for high-speed mobile communication environments.

• Journal of Broadcast Engineering
• /
• v.16 no.6
• /
• pp.977-985
• /
• 2011

Recent works on multiuser transmission techniques have shown that the linear growth of capacity in single user MIMO system can be translated to the multiuser MIMO scenario as well. In this paper, we propose a method pursuing performance gain of vector perturbation in multiuser downlink systems. Instead of employing maximum number of mobile users for communication, we use small part of them as virtual users for improving reliability of users participating communication. By controlling parameters of virtual users including information and perturbation vector, we obtain considerable improvement in the effective SNR, resulting in large gain in bit error rate performance. Simulation results on the realistic multiuser downlink systems show that the proposed method brings substantial performance gain over the standard vector perturbation with marginal overhead in computations.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.1
• /
• pp.24-31
• /
• 2015

A differential codebook using M-ary phase shift keying (M-PSK) constellation as its codeword elements, is proposed for Long term evolution (LTE), LTE-Advanced (LTE-A), and/or WiMAX systems. Due to the temporal correlation of the adjacent channel, the consecutive precoding matrices are likely to be similar. This approach quantize only the differential information of the channel instead of the whole channel subspace, which virtually increase the codebook size to realize more accurate quantization of the channel. Especially, the proposed codebook has the same properties of LTE release-8 codebook that is, constant modulus, complexity reduction, and nested property. The mobile station can be designed by using a less expensive non-linear amplifier utilizing the constant modulus property. Computer simulations show that the capacity of the proposed codebook performs better than LTE release-8 codebook with the same amount of feedback information.

• Applied Chemistry for Engineering
• /
• v.8 no.3
• /
• pp.403-409
• /
• 1997

The equilibrium constants of five deoxyribonucleosides (dDyd, dUrd, dGuo, dThd, dAdo) were estimated by the plate theory and the moment method under isocratic conditions of the Reversed-Phase High Performance Liquid Chromatography (RP-HPLC). The mobile phase in this system was composed of water and organic modifiers(acetonitrile and methanol) The plate theory of linear adsorption isotherm was treated on the basis of continuous flow of eluent through the plates of the column. The moment method was utilized to find the equilibrium constant from the first absolute moment of experimental data. The equilibrium constants of five deoxyribonucleosides in the two methods were very close, and also the equilibrium constants calculated by capacity factor were similar to those by both the plate theory and the moment method. The equilibrium constant was expressed as a semi-log function of the quantity of organic modifier. Excellent agreements between the calculated elusion profile by the plate theory and the experimental data were observed.

• Journal of the Korean Chemical Society
• /
• v.32 no.5
• /
• pp.458-463
• /
• 1988

The solubility parameter theory for retention behaviors of phenols in a reversed phase liquid chromatography can be applied to limited ranges of the aqueous solvent system. The many examples of the exception to this theory were found to show no agreement with the retention behavior of phenols. Therefore, a new solute-solvent interaction parameter, ${\delta}_{im}$ is added to the Schoenmakers equation of the solubility parameter theory in LC to approach the equation to the real one. The new solute-solvent interaction pararneter, ${\delta}_{im}$ depends on the kinds of solvent, the solvent composition and the structure of solutes. The parameter, ${\delta}_{im}$ has the linear relationship with the solubility parameter of mobile phase, ${\delta}_{im}$. The prediction of retention behavior by this modified equation turns out to be greater than the previous one.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.27 no.4A
• /
• pp.310-315
• /
• 2002

The Bark Coherence Function (BCF) defies a coherence function within perceptual domain as a new cognition module, robust to linear distortions due to the analog interface of digital mobile system. Our previous experiments have shown the superiority of BCF over current measures. In this paper, a new BCF suitable for VoIP is developed. The unproved BCF is based on the wavelet series expansion that provides good frequency resolution while keeping good time locality. The proposed Wavelet based Bark Coherence function (WBCF) is robust to variable delay often observed in packet-based telephony such as Voice over Internet Protocol (VoIP). We also show that the refinement of time synchronization after signal decomposition can improve the performance of the WBCF. The regression analysis was performed with VoIP speech data. The correlation coefficients and the standard error of estimates computed using the WBCF showed noticeable improvement over the Perceptual Speech Quality Measure (PSQM) that is recommended by ITU-T.

• Spatial Information Research
• /
• v.14 no.2 s.37
• /
• pp.245-260
• /
• 2006

A practical use of the location information and user requirement are increased in a mobile environment which supports the portability. And Various service which GIS is related with a Spatial DB have been processed. Generally, logical relation of a traffic network which organizes the Road DB uses a basic node-link structure. In this way, Designed structure can not be flexible at various model apply and are not efficient with a database retrieval in a maintenance management side. In this research, We supplement with the problem of a existing network model and the limitation of the building through the design of a network model which uses dynamic segmentation. And we tried to implement efficient hierarchy model at the retrieval of the network and presentation. Designed model supports a stage presentation of various level and a hierarchy entity relation and We are expected to supplement a network spatial modelling function which the GIS has.