• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.2050-2058
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• 2000

A method for the inverse dynamic analysis of constrained multibody systems considering friction forces acting on kinematic joints is presented in this paper. The stiction and the sliding which represent zero and non-zero relative motions are considered during the inverse dynamic analysis. Actuating forces to control the position or the orientation of constrained multibody systems are usually calculated in the inverse dynamic analysis. An iterative procedure need to be employed to calculate the actuating forces when the friction is considered. Furthermore, the actuating forces are not uniquely determined during the stiction. These difficulties are resolved by the method presented in this paper.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• Journal of the Korea Society of Computer and Information
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• v.23 no.3
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• pp.33-40
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• 2018

In this paper, we propose a method to effectively split the adjacent baggage that is moving on high speed conveyor of airport. The proposed method calculate the Angle Histogram(AH) that inspects background pixels within radius r based on the center point of the adjacent baggage. After that, the adjacent baggage is segmented by finding split angles at the AH. We also improved the split quality of adjoining baggage by repeatedly correcting the center point to correctly split adjacent baggage of asymmetric size. And the calculation time of AH is reduced about 1/3 by using the symmetry property of the circle. Experiments have shown that 93% of all adjacent baggage images are correctly segmented and the proposed method is effective.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1765-1766
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• 2008

본 논문에서는, 전동기를 이용하는 위치제어 시스템을 이용하여, 이너루프 제어기 유무에 따라 시간 응답 특성 개선 효과에 대하여 실험을 통해 검증하고자 한다. 실험 플랜트로서, 전동기의 속도에 따라 진자의 위치를 제어하는 다중 안정도를 가지고 비선형 시스템인 아라고 진자 시스템을 이용한다. 이 시스템은 속도 정보를 알 수 있는 측정 장치가 없는데, 칼만필터로 전동기의 속도를 추정하고 속도 제어기를 설계하도록 한다. 또한, 선형 시스템을 고려하기 위하여 안정영역 동작점인 진자의 각도가 지면으로 부터 45$^{\circ}$인 선형화 모델을 이용한다.

• Journal of the Korea Computer Industry Society
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• v.9 no.3
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• pp.129-136
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• 2008

This paper implement image gradient detection algorithm with high-performance DSP. First the NTSC color image convert to B/W image. The image gradient detect with Hough transform after edge detection image from the B/W images. The value of image gradient detection control the servo motor to original position of the NTSC camera if camera base to the left or right tilt.

• Journal of Drive and Control
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• v.12 no.4
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• pp.15-20
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• 2015

Unlike a typical metal spring, a gas spring uses compressed gas contained in a cylinder and compressed by a piston to exert a force. A common application includes automobiles where gas spring are incorporated into the design of open struts that support the weight of tail gate. They are also used in furniture such as office chairs, and in medical and aerospace applications. The gas spring works by the application of pressurized gas (nitrogen) contained in a cylinder. The internal pressure of the gas spring greatly exceeds atmospheric pressure. This differential in pressure exists at any rod position and generates an outward force on the rod, making the gas spring extend. In this paper, we investigated the dynamic characteristics of a gas spring on an automotive tail gate system.

• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.4 s.23
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• pp.14-23
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• 2005

In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.539-539
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• 2000

This paper shows how to implement force reflection for a needle insertion problem. The target is a needle spine biopsy simulator for tumor inspection by needle insertion. Simulated force is calculated from the relationship of volume graphic data and the orientation and Position of the needle, and it is generated using PHANTOM$^{TM}$. To generate realistic force reflection, the directional force of the needle has been generated by tissue model. The other rotational force is generated using a pivot to keep the needle in the initial inserted direction after puncturing the skin. Since the used haptic device has limitation for generating high stiffness and large damping, scale downed model and digital filter are used to stabilize the system.m.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.451-451
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• 2000

This study aims for the optimization of process conditions in a fixed-bed catalytic reactor system with a circulating molten salt bath, in which partial oxidation of propylene to acrolein takes place. Two-dimensional pseudo-homogeneous model is adopted with estimation of suitable parameters and its validity is corroborated by comparing simulation result with experimental data. The temperature of the molten salt and the feed composition are found to exercise significant influence on the yield of acrolein and the magnitude of hot spot. The temperature of the molten salt is usually kept constant. This study, however, suggests that the temperature of the molten salt must be axially adjusted so that the abrupt peak of hot spot should not appear near the reactor entrance. The yield of acrolein is maximized and the position and the magnitude of hot spot are optimized by the method of the iterative dynamic programming (IDP).

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.522-522
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• 2000

In this paper, two pre-filtering techniques are presented for accurately estimating the impact location of a loose part. The reason why a pre-filterng technique Is necessary in a Loose Part Monitoring System is that the effects of background noise on the signal to noise ratio (SNR) can be reduced considerably resulting in improved estimation accuracy. The first method is to take d moving average operation in the time domain. The second one is to adopt band-pass filters designed in the frequency domain such as a Butterworth filter, Chebyshev filter I & II and an Elliptic Filter. To show the effectiveness, the impact test data (signals) from the YGN3 power plant are first preprocessed and then used to estimate the loose pan impact position. Resultantly. we observed that SNR is much improved and the average estimation error is below 7.5%.