• JSTS:Journal of Semiconductor Technology and Science
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• v.17 no.4
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• pp.568-576
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• 2017

This paper presents a clock and data recovery circuit with an adaptive loop bandwidth calibration scheme and the idle power saved frequency acquisition. The loop bandwidth calibration adaptively controls injection currents of the main loop with a trimmable bandgap reference circuit and trains the VCO to operate in the linear frequency control range. For stand-by power reduction of the phase detector, a clock gating circuit blocks 8-phase clock signals from the VCO and cuts off the current paths of current mode D-flip flops and latches during the frequency acquisition. 77.96% reduction has been accomplished in idle power consumption of the phase detector. In the jitter experiment, the proposed scheme reduces the jitter tolerance variation from 0.45-UI to 0.2-UI at 1-MHz as compared with the conventional circuit.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.1
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• pp.43-52
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• 2018

In recent years, the need of high accuracy navigation for vehicles has increased due to the development of autonomous driving vehicles and increase in land transportation convenience. This study is performed for vehicle users to achieve a performance of centimeter-level positioning accuracy by utilizing Compact Network Real-time Kinematic (RTK) that is applicable as a national-level infrastructure. To this end, medium-baseline RTK was implemented in real time to estimate accurate integer ambiguities between reference stations for reliable generation of Network RTK correction using the linear combination of carrier-phase observations and L1/L2 pseudo-range measurements. The residual tropospheric error was estimated in real time to improve the accuracy of double-differenced integer ambiguity resolution between network configuration reference stations that have at least 30 km or longer baseline distance. In addition, C++ based software was developed to enable real-time generation and broadcasting of Compact Network RTK correction information by utilizing an accurately estimated double-differenced integer ambiguity values. As a result, the horizontal and vertical 95% accuracy was 2.5cm and 5.2cm, respectively, without performance degradation due to user's position change within the network.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.445-454
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• 2002

Torque ripple control of brushless DC motors has been the persisting issue of the servo drive systems in which the speed fluctuation, vibration and acoustic noise should be minimized. In this paper, a novel approach to achieve the ripple-free torque control with maximum efficiency based on the d-q reference frame is presented and analyzed. The proposed approach can provide the optimized phase current waveforms over wide speed range incorporating cogging torque compensation without an access to the neutral point of the motor windings. Moreover, the undesirable errors caused by the assumptions such as 3 phase balance or symmetry of the phase back EMF between electrical cycles, which are related with the manufacturing imperfections, can be also eliminated. As a result, the proposed approach provides a simple and clear way to obtain the optimal motor excitation currents. A hysteresis current control system is employed to produce high-frequency electromagnetic torque ripples for compensation. The validity and applicability of the proposed control scheme to real situations are verified through the simulations and experimental results.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.10
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• pp.1263-1273
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• 1988

An adaptive nulling technique is presented to synthetically overcome the integrated problems associated with the conventional LMS array in the performances of jammer rejection, convergence rate, misadjustment, and reference signal generation. The proposed method is to remove the target signal from the array input and to eliminate the reference signal prior to minimization processing. The algorithm is constrained to the residue noise level in adaptive processor. Analysis shows effectiveness of the algorithm for coherent and/or incoherent interference rejection, wide dynamic range of convergence factor, rapid adaptation rate, and small mean square error. Simulation results confirm the theoretical prediction.

• Journal of the Korean Society for Precision Engineering
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• v.7 no.4
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1488-1490
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• 2008

The gyroscope is the sensor for detecting the rotation in inertial reference frame and constitute the navigation system together an accelerometer. As the inertial reference equipment for attitude determination and control in the satellite, the mechanical gyroscope has been used but it bring the disturbance for mass unbalance so the disturbance give a bad influence to the observation satellite mission because the mechanical gyroscope has the rotation parts. During the launch, The mechanical gyroscope is weak in vibration, shock and has the defect of narrow operating temperature range so it need the special design in integration. Recently the low orbit observation satellite for seeking the high pointing accuracy of image camera payload accept the FOG(Fiber Optic Gyro) or RLG(Ring Laser Gyro) for the attitude determination and control. The Ring Laser Gyro makes use of the Sanac effect within a resonant ring cavity of a He-Ne laser and has more accuracy than the other gyros. It need the 1000V DC to create the He-Ne plasma in discharge tube. In this paper, the design process of the High Voltage Power Supply for RLG(Ring Laser Gyroscope) is described. The specification for High Voltage Power Supply(HVPS) is proposed. Also, The analysis of flyback converter topology is explained. The Design for the HVPS is composed of the inverter circuit, feedback control circuit, high frequency switching transformer design and voltage doubler circuit.

• Korean Institute of Interior Design Journal
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• v.20 no.4
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• pp.3-10
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• 2011

In the phase of an architectural designing, the Pinakothek der Modeme in Munich is considered that it is influenced by the Altes Museum in Berlin. The critical elements were composed of the classification of Tominaka and my points of view. Two buildings were analyzed for comparison by six elements, such as, a spatial construction, an organization of plan, an organization of section, a composition of elevation, a method of construction and a composition of mass. The results of the analysis were that the design of the Pinakothek der modeme was influenced by the Altes Museum as follows: 1)the use of square and circle in the composition of plan, 2)the use of a curtain of columns and a formation of the transitional space between columns and front wall, 3)the location and function of the main stairs and the inner court, 4)the arrangement of exhibition halls, 5)the covering of dome, 6)the unification of spaces of different floors through the rotunda. This study may be helpful for any architects who make a decision of the method and the range of reference to some other building in the beginning of design.

• Journal of Biosystems Engineering
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• v.17 no.4
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• pp.354-362
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• 1992

This study was intended to examine feasibility of sizing and color grading of Fuji apple with black/white image processing system, to develop a device with which the whole surface of an apple could be captured by one camera, and to develop an algorithm for a high speed sorting. The results are summarized as follows : 1. The black/white image processing system used in this study showed a maximum error of 1.3% in area measurement with a reference figure while the focusing point of camera and location of the reference figure were changed within a certain range. 2. As the result of evaluating four automatic image segmentation algorithms with apple images, Histogram Clustering Method was the best in terms of computation time and accuracy. 3. The fast algorithm for analyzing size and coloration of apple was developed. 4. The whole surface of an apple could be captured in an image frame with two mirrors installed on the both sides of the sample. The total area of the image representing the whole surface showed a correlation of 0.995 with the weight of apple. 5. The gray level when a particular band pass filter was mounted on the camera showed high correlation with 'L' and 'a' values of Hunt color scale and could represent the coloration of apple.

• Korean Journal of Veterinary Research
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• v.46 no.4
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• pp.387-393
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• 2006

Progressing to the iron deficiency anemia was experimentally induced in 4 clinically healthy dogs by repeated phlebotomy to characterize hematologic features, serum iron values, and RBC indices. Abnormal RBC morphologies were also evaluated semiquantitatively on Wright's-stained blood films. Hematologic abnormalities in early stage of anemia included decreased both hematocrit and hemoglobin, and reticulocytosis, with no changes in mean corpuscular volume (MCV) and mean corpuscular hemoglobin concentration (MCHC) were represented. In intermediate stage, decreased serum iron concentration with microcytosis and hypochromia were prominent. In late stage, red cell distribution width and Mentzer's index were out of reference ranges in the majority of dogs. In this study microcytic anemia was appeared at the hemoglobin range of 5.1-7.2 g/dl. On most sampling days, platelet counts and white blood cells were within the reference ranges, with some minor variations. Iron deficiency was not necessarily associated with microcytic anemia. Judging from the sequential changes of both MCV and MCHC, 3 patterns of anemia were sequentially observed: initially normocytic normochromic, intermediate normocytic hypochromic or normocytic normochormic, and finally microcytic hypochromic. The most frequent morphologic abnormalities were target cells. Occasional elliptocyte, acanthocyte, stomatocyte, kinzocyte, dacrocyte and schistocyte were also noted on the blood films.