• International Journal of Computer Science & Network Security
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• v.21 no.12
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• pp.264-268
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• 2021

In the context of globalization of information processes, the prevalence of information wars and terrorism, there are new threats to national interests in the information sphere, which actualizes providing the information sovereignty of modern states. Therefore, the purpose of the article is an in-depth analysis of the features and content of information sovereignty as a component of state sovereignty, its relationship with freedom of information and information security, as well as a characterization of the bases and directions of providing information sovereignty. The information sovereignty of the modern state includes its activities to determine national interests in the information sphere, the formation and implementation of information policy, providing information security, regulation and control of information processes. The realization of information sovereignty should be based on real freedom of information, information privacy and the state obligation to provide them. Ensuring information sovereignty also requires solving the problems of formation of modern information legislation, which would comprehensively establish the bases and directions of providing information sovereignty, exceptional cases of restriction of freedom of information.

• Journal of Positioning, Navigation, and Timing
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• v.5 no.2
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• pp.97-107
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• 2016

Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1632-1642
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• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.3
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• pp.110-116
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• 2005

Linear dynamic simulations with one and two degrees of freedom were built from SIMULINK in MATLAB commercial program. Before starting the simulations, initial conditions and system parameters which are mass, spring constant and coefficient of damping are easily inputted by user through each pop-up window, and the conditions for the simulation including time step, analysis methodology and so on can be modified with ease. Also, as soon as the simulations are started, the windows for animations which shows deformed motions dynamically with real time are popped-up and the graphical results are shown in time and frequency domains, simultaneously, The results of the simulations were verified through some examples of textbooks of mechanical vibrations. It was found that the programs would help us to solve any kind of linear dynamic simulation for one and two degrees of freedom.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1545-1548
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• 1997

A Force-refecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the desgn and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar paprallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to comput the Jacobin. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.9
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• pp.1385-1391
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• 2017

This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1312-1315
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• 1996

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it also demands high precision. Therefore it is operated by skilled worker in handiwork. But workers avoid polishing work gradually because of the poor environments such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, researches for automation of polishing have been pursued in the developed countries such as Japan. In this research we develop a polishing robot with 2 degrees of freedom motion and pneumatic system, and attach it to machining center with 3 degrees of freedom to form an automatic polishing system which keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. The developed polishing robot is controlled by real time sliding mode control using DSP(digital signal processor). A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A performance experiment for polishing work is executed by the developed polishing robot.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.195-201
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• 1989

Voltage collapse is a serious concern to the electirc utility industry. It is common to associate steady-state stability with the ability of the transmission system to transport real power and to associate voltage collapse with the inability to provide reactive power at the necessary locations within the system. An algorithm to directly calculate the critical point of system voltage collapse was presented by the authors. The method (based on the ordinary power flow equations and explicit requirement of singularity of the Jacobian matrix) is basically one degree of freedom with proper load distribution factors. This paper suggests a modified algorithm to increase the degree of freedom, introducing the nonlinear programming technique. The objective function is a distance measure between the present operating point and the closest voltage collapse point. Knowledge of the distance and the most vulnarable bus from the voltage collapse point of view may be used as a useful index for the secure system operation.