• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.10
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• pp.43-48
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• 2010

In general, in order to reduce an initial cell searching time, W-CDMA systems adopt a three-step cell search scheme: slot synchronization, frame synchronization, and primary scrambling code identification. We consider the second step (frame synchronization), in which a coherent detection using P-SCH (primary synchronization channel) is possible. In this paper, we propose a new coherent detection scheme, where a first order recursive filter is used to enhance channel estimation performance. Computer simulation results indicate that the detection performance of the proposed scheme can be robust over large range of frequency offset.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.5C
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• pp.386-394
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• 2008

For digital holographic video system, it is important to generate digital hologram as fast as possible. This paper proposed a fixed-point method and fast generation method that can calculate the Fresnel hologram using operation of whole-coordinate recursive addition. To compute the digital hologram, 3D object is assumed to be a collection of depth-map point generated using a PC. Our algorithm can compute a phase on a hologram by recursive addition with fixed-point format at a high speed. When we operated this algorithm on a personal computer, we could maximally compute digital hologram about 70% faster than conventional method and about 30% faster than of [3]'s method.

• The Transactions of the Korea Information Processing Society
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• v.7 no.10
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• pp.3247-3261
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• 2000

In recent years, as the complexity of signal processmg systems Increases, the needs for dcslgners to mlx up hardware-part and software-part grow more and more considering both performance and cost There exist many algorilhms In C for vanous Signal processung apphcations. We have to translate the algonlhm C to hardware descnptlon language(HDL), If portion or the algonlhm needs to be unplcmenled in hardwarc pari of the syslcm. For this translation. it's dtfftcult to handle dynamic memory allocalion, function calls, pointer manipoJalion. This research shows a design method for a hardware model about recursive calls which was classified into software part of the system previously [or the translation from C to VHDL. The benefits of havlIlg recursive calls m hardware structure can be quite high since provides flexbility in hardware/software partitioming in codesign sysem.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.8
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• pp.1492-1501
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• 2011

A wide-area protection intelligent technique has been used to improve a reliability in power systems and to prevent a blackout. Nowadays, voltage and current phasor estimation has been executed by GPS-based synchronized PMU, which has become an important way of wide-area blackout protection for the prevention of expending faults in power systems. As this technique has the difficulties in collecting and sharing of information, there have been used a FNET method for the wide-area intelligent protection. This technique is very useful for the prediction of the inception fault and for the prevention of fault propagation with accurate monitoring frequency and frequency deviation. It consists of FDRs and IMS. It is well known that FNET can detect the dynamic behavior of system and obtain the real-time frequency information. Therefore, FDRs must adopt a optimal frequency estimation method that is robust to noise and fault. In this paper, we present comparative studies for the frequency estimation method using IRDWT(improved recursive discrete wavelet transform), for the frequency estimation method using FRDWT(fast recursive discrete wavelet transform). we used the Republic of Korea 345kV power system modeling data by EMTP-RV. The user-defined arbitrary waveforms were used in order to evaluate the performance of the proposed two kinds of RDWT. Also, the frequency variation data in various range, both large range and small range, were used for simulation. The simulation results showed that the proposed frequency estimation technique using FRDWT can be the optimal frequency measurement method applied to FDRs.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37C no.10
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• pp.1004-1010
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• 2012

In this paper, we propose the algorithm which considers applying recently proposed clock synchronization techniques with quite high accuracy in a few wireless sensor networks researches to time synchronization algorithm for multi-static radar system and especially overcomes the limitation of previous theory, cannot be applied between nodes in non-line of sight (NLOS). Proposed scheme estimates clock skew and clock offset using recursive robust least M-estimator with information of time stamp observations. And we improve the performance of algorithm by tracking and suppressing the time delays difference caused by NLOS system. Futhermore, this paper derive the mean square error (MSE) to present the performance of the proposed estimator and comparative analysis with previous methods.

• Korean Journal of Optics and Photonics
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• v.35 no.4
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• pp.164-169
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• 2024

We applied recursive numerical computation to create a basic design of a camera optical module for mobile phones. To enhance the resolution performance for a 38-degree field of view, we constructed the optical system with six non-spherical lenses. However, to increase its applicability to a compact mobile phone, we limited the overall length to 5 mm in the design. Using the data obtained from the basic design, we proceeded with optimization design using the Zemax design tool. The optimized optical system achieved a resolution performance with a modulation transfer function value of more than 19% for a 280 lines/mm pattern and image distortion within 1.0% for all wavelength rays. In this paper, we verify the feasibility of using recursive numerical computation for the basic design of a compact mobile phone camera.

• Proceedings of the Korean Reliability Society Conference
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• 2002.06a
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• pp.263-272
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• 2002

Reliability of multi-phased mission system is represented where redundant components are repairable. Failures and repairs of components follow Markovian property Under some constraints, 4 models are available. Two models are represented here. The solutions are obtained as recursive equations using Markov model and eigenvalue system.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.1-8
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• 2007

This paper presents a PID automatic gain-tuning algorithm for the electronic throttle valve which is driven by wire. Since the system characteristics of position control for electronic throttle valve are so complicated that both the real time robustness and the manufacturing cost must be considered for mass production. To resolve this paradox, a kind of algorithm called RLS (Recursive Least Square) is adopted for the control of the ETB (Electronic Throttle Body). Using this algorithm, the PID gains can be adjusted automatically with the estimated system parameters. Furthermore, a pre-filter is supplemented for the sake of the robustness against the friction and loads. From the industrial requests for the system, the design specifications are decided as follows: the settling time should be less than 1sec and the overshoot should be kept below 3%. The results of the experiments based on this approach show that the high robustness can be achieved while the system stability is satisfied steadily. A parameter estimation scheme and a gain-tuning algorithm have been properly combined and utilized in this research and the effectiveness is verified through the real experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.497-500
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• 2002

When one is interested in the dynamics of a mechanical system with electric motors, the force generated by the motor is generally considered as only an applied torque or force independent of mechanical state variables such as velocity. For a system operated in non-steady dynamic conditions, however, the usual analysis approach may fail to predict some characteristics in the dynamic behaviors because of electromechanical coupling effects. In this paper, we propose dynamics analysis model in which dc motor dynamics with the electromechanical coupling effects are embedded to mechanical dynamics models. The do motor is modeled based on its equivalent circuit model and included in the dynamics solving algorithm which we developed before, called generalized recursive dynamics formula. The developed dynamic analysis model is effective and realistic for analysis of electromechanical dynamics of a system with do motors. The developed model is evaluated by constructing and simulating the flexible antennas of an artificial satellite driven by do motors.