• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.29 no.6
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• pp.613-620
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• 2011

In order to perform scientific evaluation of dredge results, it is needed to construct the system which is able to manage and evaluate the work process by monitoring in real-time the dredge process such as dredge ship position, dredge depth and dredge volume. This research aims to develop the hydrographic dredge surveying system adding water depth measurement method to both precise positioning and navigation methods using GPS, which allows a high rate of measurement and long distances between the control point and dredging points, operate in all weather conditions, and does not require line of sight to points. We constructed Beacon DGPS-based hydrographic dredger guidance and position management system and developed the operation program which makes the dredge operation perform as monitoring work situation in real-time. It is expected that this developed system will be able to contributes to reducing ultimately the cost in hydrographic dredging or hydrographic construction industries.

• International Journal of Internet, Broadcasting and Communication
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• v.10 no.2
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• pp.39-44
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• 2018

Wideness variation technique is compounded the smooth diffusivity-vibration status of the fulgurate-space realization level (FSRL) on the wideness realization morph. The realization level condition by the wideness realization morph system is associated with the diffusivity-vibration system. As to search a position of the dot situation, we are acquired of the wideness value with constructed-point point by the diffusivity upper structure. The concept of realization level is composed the reference of fulgurate-space level for variation signal by the wideness vibration morph. Further displaying a smooth variation of the FSRL of the maximum-minimum in terms of the diffusivity-vibration morph, and wideness position vibration that was the a wideness value of the far variation of the $Wid-rm-FA-{\alpha}_{MAX-MIN}$ with $23.24{\pm}3.37units$, that was the a wideness value of the convenient variation of the $Wid-rm-CO-{\alpha}_{MAX-MIN}$ with $7.83{\pm}1.32units$, that was the a wideness value of the flank variation of the $Wid-rm-FL-{\alpha}_{MAX-MIN}$ with $2.99{\pm}0.51units$, that was the a wideness value of the vicinage variation of the $Wid-rm-VI-{\alpha}_{MAX-MIN}$ with $0.51{\pm}(-0.01)units$. The diffusivity vibration will be to evaluate at the smooth ability of the diffusivity-vibration morph with constructed-point by the wideness realization level on the FSRL that is displayed the fulgurate-space morph by the realization level system. Diffusivity realization system will be possible to control of a morph by the special signal and to use a wideness data of diffusivity vibration level.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.32-44
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• 1997

A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control system(VSCS). The MSS was disigned to pass arbitrary initial conditions, and subsequently moved towards a predetermined sliding surface by rotating and/or shifting. This methodology led to fast and robust control responses of the second-order VSCS, especially in a reaching phase. However, the moving algorithm of the MSS was too complicated to be employed to the high-order VSCS. To resolve this problem, a new moving algorithm based on the fuzzy theory is proposed in this paper. For the generalization of the MSS, the conditions for rotating or shifting are firstly investigated. Then the fuzzy algorithm is formulated by adopting the values of the surface function and the total discontinuity gain as input variables, and the variation of the surface function as output variable. The position control problem of an electrohydraulic servomechanism is adopted in order to demonstrate the efficiency and the feasibility of the proposed MSS associated with fuzzy algorithm.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.586-589
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• 2015

A computer presentation system by using hand-motion identification rules is proposed. To identify hand motions of a presenter, a face region is extracted first using haar classifier. A motion status(patterns) and position of hands is discriminated using the center of gravities of user's face and hand after segmenting the hand area on the YCbCr color model. User's hand is applied to the motion detection rules and then presentation control command is then executed. The proposed system utilizes the motion identification rules without the use of additional equipment and it is then capable of controlling the presentation and does not depend on the complexity of the background. The proposed algorithm confirmed the stable control operation via the presentation of the experiment in the dark illumination range of indoor atmosphere (lx) 15-20-30.

• Journal of the Korea Convergence Society
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• v.10 no.12
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• pp.251-255
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• 2019

The QR codes are printed in sticker form and have many advantages in terms of location recognition accuracy or installation cost compared to the location recognition method, which attaches artificial indicators to ceilings or walls for low-cost location recognition, and the way in which the location is recognized by vision, to create robots that are generally applicable to all industries. In this study, it is shown that the two-dimensional square bar code applied to the robot within 3 mm of error allows the robot to be made with high accuracy and accurate location control. In particular, the fusion research, combined with various engineering technologies, describes QR code-aware indoor mobile robot control research centered on the construction of the system.

• IEMEK Journal of Embedded Systems and Applications
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• v.14 no.6
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• pp.347-353
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• 2019

Electric-hydraulic sever cylinders are used in many offshore applications such as wind energy farms, solar farms and plants. Jack-up barges are often used for these offshore system operations. Jack-up barge control is up/down by hydraulic cylinder position control. Working in harsh environments can lead to changes in internal parameters. This nonlinearity makes precise control difficult. In order to overcome the problems, we proposed a method of unknown-parameter estimation algorithm based on measurements obtained by system. In this paper, we employee Unscented Kalman filter (UKF) to estimate states and unknown-parameter from augmented nonlinear equation. Performance of estimation results is verified in simulation on an environments of Matlab. The estimation results of the state and unknown-parameter show that the estimation error of unknown-parameter is reduced according to decreasing the state estimation error.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.106-116
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• 1998

A position control algorithm of a flexible manipulator is studied. The proposed algorithm is based on an ACFAC(Automatic Constructed Fuzzy Adaptive Controller) system based on the neural network learning algorithms. The proposed system learns membership functions for input variables using unsupervised competitive learning algorithm and output information using supervised outstar learning algorithm. ACFAC does not need a dynamic modeling of the flexible manipulator. An ACFAC is designed that the end point of the flexible manipulator tracks the desired trajectory. The control input to the process is determined by error, velocity and variation of error. Simulation and experiment results show a robustness of ACFAC compared with the PID control and neural network algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.422-427
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• 2014

This study provides a method to detect blood vessels shape using image processing techniques with the help of fluoroscopy equipments, providing high precision information about vessels' location and shape of inner path. It will assist for checking and monitoring the position of operating tools during vascular interventional treatment. The blood vessels shapes are gathered with X-ray images when a fluorescent medications are injected into patient's vessel and those images are processed for getting the boundaries of vessels. Then these data are merged with real-time CT-images. These image processing systems and procedures recognize the catheter, though continued computing algorithms are very useful for observer part on the automatic control system.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.271-272
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• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was obtained. In turn, the integral gain of a servo controller can be found out by using the Integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.