• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.127-134
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• 2016

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

• The Journal of the Korea Contents Association
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• v.15 no.6
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• pp.421-431
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• 2015

This study aims to examine potential labor migration between Korea, China, and Japan by Harris-Todaro model which is enhanced in the presence of expected income differential. The results suggest that Korean labor forces are bi-directionally migrated to China and Japan, simultaneously, and Chinese labor forces have been switched from inflow to outflow. On the other hand, Japanese labor markets are characterized by inflow from Korea, and outflow to China. The nature of labor markets in Northeast Asia have been largely transformed such that inflow of immigrants is gradually intimidated. This is mainly due to the fact that the labor markets are gradually homogenized in this region. To this end, it could be tentatively concluded that the labor markets in Northeast Asia seem to be operated by substitutionary rather than complementary natures.

• Journal of radiological science and technology
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• v.41 no.1
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• pp.61-66
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• 2018

The recent 3D printing technology is used in various medical, manufacturing, and education fields and is more efficient in terms of production process, time, and cost than existing production. Especially in fracture surgery, interest and research have been focused on improving accuracy, shortening of operation time and recovery time, and reducing reoperation. However, because of the financial and technical problems of the 3D printer and the file conversion program, the 3D printing is made directly at the hospital, and it is not generally used for diagnosis of fracture and surgical research. In this study, to solve those problems, clavicle CT imaging was switched into Osirix Open Source DICOM Viewer, Stereolithography file conversion programs and commercial Terarecon 3D DICOM Viewer, file conversion programs, and then clavicle fracture model was directly made through 3D printer of fused filament fabrication wire additive processing method, and then the accuracy of the shape was compared and analyzed. Clavicle fracture models printed in two methods were blind-tested on clinicians of general hospitals' orthopedics and radiologic technicians with over 10 years of experiences, and then their analysis opinions of resolution reviews were analyzed. The result showed no difference. The 3D printing model with open source DICOM STL file conversion program used was applicable to clinical, so it is considered useful in precision diagnosis of fracture and operation plans.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.147-159
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• 2020

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.609-618
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• 2006

This paper presents the lateral control of an autonomous vehicle by using a look-ahead sensing system. In look-ahead sensing by an absolute positioning system, a reference lane, constructed by straight lanes or circular lanes, was switched by a segment switching algorithm. To cope with sensor noise and modeling uncertainty, a robust LMI-based $H_{\infty}$ lateral controller was designed by the feedback of lateral offset and yaw angle error at the vehicle look-ahead. In order to verify the safety and the performance of lateral control, a scaled-down vehicle was developed and the location of the vehicle was detected by using an ultrasonic local positioning system. In the mechatronic scaled-down vehicle, the lateral model and parameters are verified and estimated by a J-turn test. For the lane change and reference lane tracking, the lateral controllers are used experimentally. The experimental results show that the $H_{\infty}$ controller is robust and has better performance compared with look-down sensing.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.5
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• pp.1117-1125
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• 2000

A current mode PWM method applied one cycle response to averaging circuit model Buck converters is presented. The controller nonlinear PWM implement is based on the error between the switched variable and the response reference to zero each cycle. As the result, the system transfer function is derived as a function of the desired close loop poles, simplifying the design procedure and bringing forward all the important characteristics of the close loop system. The proposed controller has significant advantages over conventional current mode control methods in noise susceptibility, dynamic response and without inductor current sensing, Finally, the simulation and experiment results confirm the proposed PWM control techniques.

• The Transactions of the Korea Information Processing Society
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• v.6 no.4
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• pp.1045-1057
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• 1999

Packet-switched multistage interconnection networks(MINs) have been widely used for digital switching systems and super computers. In this paper we show that multiple packets in a switching element can move to the succeeding switching element in one network cycle by fully utilizing the cycle bandwidth. Only one packet movement was usually assumed in typical MINs. we present an analytical model for the MNs with the multiple packet movement scheme, and validate it by computer simulation. Comparisons with the traditional MINs of single packet movement reveal that the throughput is increased up to about 30% for practical size MINs. Similar result was also obtained for delays. The performance increase is more significant when the network traffic is nonuniform.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.211.2-211.2
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• 2014

Epitaxial complex oxide thin film heterostructures have attracted a great attention for their multifunctional properties, such as ferroelectricity, and ferromagnetism. Two dimensional electron gas (2DEG) confined at the interface between two insulating perovskite oxides such as LaAlO3/SrTiO3 interface, provides opportunities to expand various electronic and memory devices in nano-scale. Recently, it was reported that the conductivity of 2DEG could be controlled by external electric field. However, the switched conductivity of 2DEG was not stable with time, resulting in relaxation due to the reaction between charged surface on LaAlO3 layer and atmospheric conditions. In this report, we demonstrated a way to control the conductivity of 2DEG in non-volatile way integrating ferroelectric materials into LAO/STO heterostructure. We fabricated epitaxial Pb(Zr0.2Ti0.8)O3 films on LAO/STO heterostructure by pulsed laser deposition. The conductivity of 2DEG was reproducibly controlled with 3-order magnitude by switching the spontaneous polarization of PZT layer. The controlled conductivity was stable with time without relaxation over 60 hours. This is also consistent with robust polarization state of PZT layer confirmed by piezoresponse force microscopy. This work demonstrates a model system to combine ferroelectric material and 2DEG, which guides a way to realize novel multifunctional electronic devices.

• Journal of Power Electronics
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• v.13 no.4
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• pp.569-583
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• 2013

In this study, the simultaneous use of a multi-level converter (MLC) as a DC-motor drive and as an active battery cell balancer is investigated. MLCs allow each battery cell in a battery pack to be independently switched on and off, thereby enabling the potential non-uniform use of battery cells. By exploiting this property and the brake regeneration phases in the drive cycle, MLCs can balance both the state of charge (SoC) and temperature differences between cells, which are two known causes of battery wear, even without reciprocating the coolant flow inside the pack. The optimal control policy (OP) that considers both battery pack temperature and SoC dynamics is studied in detail based on the assumption that information on the state of each cell, the schedule of reciprocating air flow and the future driving profile are perfectly known. Results show that OP provides significant reductions in temperature and in SoC deviations compared with the uniform use of all cells even with uni-directional coolant flow. Thus, reciprocating coolant flow is a redundant function for a MLC-based cell balancer. A specific contribution of this paper is the derivation of a state-space electro-thermal model of a battery submodule for both uni-directional and reciprocating coolant flows under the switching action of MLC, resulting in OP being derived by the solution of a convex optimization problem.