• Journal of the Korea Safety Management & Science
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• v.17 no.3
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• pp.363-370
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• 2015

In this paper, the control technique of the stepping motor using back electromotive force(B-EMF) without encoder is investigated. The stepping motor generally uses the rotary encoder to detect the rotor position. Since this method increases the cost and the motor configuration size, the new closed-loop control method applied for the B-EMF was implemented by using current detect circuit, AD-converter, and micro controller unit(MCU). The control loop of stepping motor became very simplified. The current change of stepping motor measured by the amplifier was measured and analyzed, when the missing step is occurred. Based on the data from current feedback, position errors were compensated and confirmed by using AD-converter.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.3
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• pp.301-306
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• 2021

In this paper, we propose a modified back-stepping control method in view of the dynamic model of mobile manipulator has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile manipulator. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot systems. and the modified adaptive back0stepping method is applied to constructing the controller. The proposed controller can realize the tracking trajectory of the reference path. The efficiency and robustness of this control method is demonstrated by the simulation.

• Ocean Systems Engineering
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• v.14 no.3
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• pp.261-276
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• 2024

Numerical investigation was carried out to analyze the hydrodynamic response of 4-column semi-submersible floaters, incorporating variations such as stepping and alterations in the shape/geometry of columns and pontoons, as well as tilting of main columns. Utilizing Ansys-AQWA, a hydrodynamic software based on panel method, simulations were executed for these scenarios. The simulations yielded insights into responses, excitation forces/moments, and pressure on the structure, facilitating a comparison between the models through a parametric study. It was observed that stepping of pontoons and tilting of columns led to reduced responses, forces, and pressures, reaching balance through appropriate stepping and tilting. Additionally, altering the geometry of columns and pontoons indicated the potential benefits of employing elliptical pontoons and pentagonal columns for enhanced response control.

• The KIPS Transactions:PartC
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• v.13C no.1 s.104
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• pp.11-18
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• 2006

In the field of network defense, a lot of researches are directed toward locating the source of network attacks. When an intruder launches attack not from their own computer but from intermediate hosts that they previously compromised, and these intermediate hosts are called stepping-stones. There we two kinds of traceback technologies : IP packet traceback and connection traceback. We focused on connection traceback in this paper This paper classifies process structures of detoured attack type in stepping stone, designs an algorithm for traceback agent, and implements the traceback system based on the agent

• Journal of the Korea Society of Computer and Information
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• v.20 no.5
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• pp.41-51
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• 2015

In order to hide their identities, intruders on the Internet often attack targets indirectly by staging their attacks through intermediate hosts known as stepping stones. In this paper, we propose a brute-force technique to detect the stepping stone behavior on a Linux server where some shell processes remotely logged into using interactive services are trying to connect other hosts using the same interactive services such as Telnet, Secure Shell, and rlogin. The proposed scheme can provide an absolute solution even for the encrypted connections using SSH because it traces the system calls of all processes concerned with the interactive service daemon and their child processes. We also implement the proposed technique on a CentOS 6.5 x86_64 environment by the ptrace system call and a simple shell script using strace utility. Finally the experimental results show that the proposed scheme works perfectly under test scenarios.

• Journal of Physiology & Pathology in Korean Medicine
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• v.16 no.1
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• pp.124-132
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• 2002

Daebangpung-tang(DBPT) is one of the prescriptions used for the treatment of rheumatoid arthritis(RA) in oriental medicine. The present study aimed to examine the analgesic effect of DBPT on a rat model of CFA-induced arthritis, which is not identical to human auto-immune arthritis although it does have many features in common with RA, and the relation between DBPT-induced analgesia and steroid hormones. CFA-induced arthritis rat model used to test the effect of DBPT was chronic pain model. After the induction of arthritis, rats subsequently showed a reduced stepping force of the affected limb for at least the next 18 days. The reduced stepping force of the limb was presumably due to a painful knee, since oral injection of indomethacin produced temporary improvement of weight bearing. DBPT dissolved in water was orally administrated. After the treatment, behavioral tests measuring stepping force were periodically conducted during the next 4 hours. DBPT produce significant improvement of stepping force of the hindlimb affected by the arthritis lasting at least 3 hours. The magnitude of this improvement was equivalent to that obtained after an oral injection of 3mg/kg of indomethacin and this improvement of stepping force was interpreted as an analgesic effect. The reduced stepping force was divided into three stages(10-30g, 30-50g, and 50-70g). All experiments was performed at 50-70g of stepping force, since both DBPT and indomethacin showed the most excellent analgesic effect at 50-70g of stepping force. DBPT produced the improvement of stepping force of the affected hindlimb in a dose-dependent manner and showed analgesic effect on neuropathic pain as well. DBPT-induced analgesic effect could not be blocked by systemic injection of steroid antagonist mifepristone. The present study suggest 1) that DBPT produces a potent analgesic effect on the chronic knee arthritis pain model in the rat and 2) that steroids system does not mediate DBPT-induced analgesia.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.90-97
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• 1991

A stepping motor can be driven with open-loop or closed-loop control. The major disadvantage of open-loop control is that it is subjected to resonance and instability in certain speed range, and that there is no way to check stalling or error in position. In this paper, a closed-loop control system consisting of a microcomputer, a hybrid stepping motor, a drive, a lead screw, and an encoder which is used as a position sensor is developed. A control program is programmed in assembly language for real time control and the versatile interface adapter(VIA) is used as the interface with the microcomputer. The experimental results of the stepping motor were eliminated on all kinds of inertia load, and maximum start stop pulse rate and maximum slewing pulse rate were also increased about twice respectively.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.6
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• pp.881-889
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• 2013

In this paper, a nonlinear and adaptive back-stepping control technique is proposed for a speed control of IPMSM(Interior Permanent Magnet Synchronous Motor). The gain of back-stepping controller(including integral value of the states error) is designed for stability of the system. In order to adapting fast in variation of load torque, the controller is including load torque estimator. The simulation is completed by using PSIM software. The simulation results show that the designed back-stepping controller make the system stable in the constant torque region, and has better tracking performance than a controller without the integral gain.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.649-657
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• 1992

Transmission error for a stepping motor-timing belt drive system is investigated experimentally and analytically. From FFT analysis of the experimental results, it is found that the transmission error consists of three periodic errors : (1) error by the stepping motor per one resolution angle theta.$_{m}$, (2) error by the pulley eccentricity per one revolution theta.$_{e}$, and (3) error by the meshing effect between the belt and the pulley teeth per one pitch revoltion theta.$_{p}$. In order to investigate the effects of some design parameters on the transmission error, the dynamic models of the stepping motor-timing belt drive system are derived by Bondgraph. According to the simulation results, as the belt total tension increases, theta.$_{m}$ and theta.$_{e}$ decrease due to the nonlinearity of the belt. In adition, the numerical and experimental results show that theta.$_{m}$ and theta.$_{e}$ of the loaded case are larger than those of the unloaded case. The analytical results are in good accordance with the experimental results.sults.s.sults.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.448-455
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• 1996

In this study, to reduce vibration of step motor we use Microstep control. Microstep control of stepmotor is usually thought of as an extension of conventional stepmotor control technology. The essence ofmicro stepping is that we divide the full step of a stepmotor into a number of substep called microstep and cause the stepmotor to move through a substep per input pulse. In ideal case, bycontrolling the individual phase currents of a two-phase step motor sinusoidally we can get uniform torque and step angles. But due to the monlinear characteristics of the step motor, we need to compensate current waveform to improve the overall smoothness of the conventional micro stepping system. We implement digital Pulse Width Modulation(PWM) driver to drive step motor and microphone was used for detecting vibration. Driver enables speed change automatically byincreasing or decreasing micro stepping ratio which we call Automatic Switching on the Fly. To compensate the torque harmonics, Neural Networks is applied to the system and we foundcompensated optimal input current waveform. Finally we can get smooth motion of step motor in a wide range of motor speed.