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Robust Impedance Control of High-DOF Robot Based on ISMC and DOB 基于ISMC和DOB的高自由度机器人鲁棒阻抗控制
Pub Date : 2017-01-31 DOI: 10.6109/JKIICE.2017.21.1.173
Abner Asignacion, Seung-kyu Park, Min-Chan Kim
본 논문은 고자유도의 로봇에 대한 강인한 임피던스제어를 제안한다. 자유도가 높은 로봇에 대해서 동특성기반으로 제어하기 위해서는 해석적인 로봇의 동특성확보가 거의 불가능하기 때문에 수치해석적인 모델을 사용하게 된다. 이에 근본적으로 모델링오차가 존재하고 작업공간에서 임피던스제어기를 설계하는 경우에 많은 개수의 관절의 움직임의 영향을 받기 때문에 강인제어의 필요성이 더욱 절실하다. 이에 모델링 불확실성과 외란의 존재와 상관없이 원하는 임피던스를 유지하기 위해서는 공칭계통의 동특성에 슬라이딩모드의 강인성을 추가할 수 있는 적분슬라이딩모드제어를 도입하였고 입력외란의 영향을 제거할 수 있는 외란 관측기를 동시에 적용한 강인한 임피던스제어기를 제안하였다. 외란과 모델 불확실성이 존재함에도 불구하고 공칭계통을 기반으로 한 임피던스제어기의 특성을 그대로 유지할 수 있는 제어기가 설계되었다.
本论文提出了对高诱导机器人的强韧阻抗控制。对于自由度高的机器人,要想以同源特性为基础进行控制,几乎不可能确保解释性机器人的同源特性,因此需要使用数值解释性模型。因此从根本上存在建模误差,而且在工作空间设计阻抗控制器时,会受到很多关节运动的影响,因此更迫切需要强韧控制。对此建模与不确定性和外栏的存在无关,希望林曾被斯为了维持产能系统洞特性的滑垒模式的韧性可以追加引进积分滑垒模式控制,除了输入栏的消除影响,可以同时适用外,观测的强韧的工资被提议的斯控制器。虽然存在外乱和模型的不确定性,但设计出了一种能够维持以工程系统为基础的阻抗控制器特性的控制器。
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引用次数: 0
Optimized Design and Manufacture of Wideband Pulsed Gamma-ray Sensors 宽带脉冲伽马射线传感器的优化设计与制造
Pub Date : 2017-01-31 DOI: 10.6109/JKIICE.2017.21.1.223
Sang-hun Jeong, N. Lee
In this paper, we are proposing an optimal design of wideband pulsed type gamma-ray sensors. These sensors were manufactured based on the design results and after word electrical properties were analyzed. The sensor input parameters were derived on the basis of pulsed gamma-ray spectrum and time-dependent energy rate, and the output current which were derived on the basis of the sensor sensitivity control circuit. Pulsed gamma-ray sensors were designed using the TCAD simulators. The design results show that the optimal Epi layer thickness is 45um with the applied voltage 3.3V and the diameter is 2.0mm. The doping concentrations are as follows : N-type is an Arsenic as 1×10 19 /cm 3 , P-type is a Boron as 1×10 19 /cm 3 and Epi layer is Phosphorus as 3.4×10 12 /cm 3 . The fabricated sensor was a leakage current, 12pA at voltage – 3.3V and fully depleted mode at voltage – 5V. A test result of pulsed radiation shows that the sensor gives out the optimal photocurrent.
本文提出了一种宽带脉冲型伽马射线传感器的优化设计方案。在设计结果的基础上,对传感器进行了电学性能分析。传感器输入参数是根据脉冲伽马能谱和随时间变化的能量率推导出来的,输出电流是根据传感器灵敏度控制电路推导出来的。利用TCAD模拟器设计了脉冲伽马射线传感器。设计结果表明,在3.3V电压下,最佳的Epi层厚度为45um,直径为2.0mm。掺杂浓度为:n型为砷(1×10 19 /cm 3), p型为硼(1×10 19 /cm 3), Epi层为磷(3.4×10 12 /cm 3)。该传感器在- 3.3V电压下为漏电流12pA,在- 5V电压下为完全耗尽模式。脉冲辐射测试结果表明,该传感器能产生最佳的光电流。
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引用次数: 0
Design and Implementation of a Search Engine based on Apache Spark 基于Apache Spark的搜索引擎的设计与实现
Pub Date : 2017-01-31 DOI: 10.6109/jkiice.2017.21.1.17
Ki-Sung Park, Jaehyun Choi, Jong-Bae Kim, Jae-won Park
Recently, a study on data has been actively conducted because the value of the data has become more useful. Web crawler that is program of data collection recently spotlighted because it can take advantage of the various fields. Web crawler can be defined as a tool to analyze the web pages and collects the URL by traversing the web server in an automated manner. For the treatment of Big-data, distributed Web crawler is widely used which is based on the Hadoop MapReduce. But, it is difficult to use and has constraints on the performance. Apache spark that is the In-memory computing platform is an alternative to MapReduce. The search engine which is one of the main purposes of web crawler displays the information you search by keyword gathered by web crawler. If search engines implement a spark-based web crawler instead of traditional MapReduce-based web crawler, it would be a more rapid data collection. 키워드 : 검색엔진, 크롤러, 너치, 스파크, 솔라 Key word : Search Engine, Crawler, Nutch, Spark, Solr Received 10 October 2016, Revised 17 October 2016, Accepted 28 October 2016 * Corresponding Author Jae-Won Park(E-mail:jwpark@ssu.ac.kr, Tel:+82-2-828-7014) Graduate School of Software, Soongsil University, Seoul 06978, Korea Open Access http://doi.org/10.6109/jkiice.2017.21.1.17 print ISSN: 2234-4772 online ISSN: 2288-4165 This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License(http://creativecommons.org/li-censes/ by-nc/3.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited. Copyright C The Korea Institute of Information and Communication Engineering. Journal of the Korea Institute of Information and Communication Engineering 한국정보통신학회논문지(J. Korea Inst. Inf. Commun. Eng.) Vol. 21, No. 1 : 17~28 Jan. 2017
最近,由于数据的价值越来越有用,对数据的研究也在积极进行。网络爬虫是近年来备受关注的数据收集程序,因为它可以利用各个领域的优势。Web爬虫可以定义为自动遍历Web服务器,对Web页面进行分析并收集URL的工具。对于大数据的处理,基于Hadoop MapReduce的分布式Web爬虫被广泛使用。但是,它使用起来很困难,并且对性能有一定的限制。Apache spark是内存计算平台,是MapReduce的替代方案。搜索引擎,这是网络爬虫的主要目的之一,显示您的信息搜索关键字收集的网络爬虫。如果搜索引擎实现一个基于spark的网络爬虫,而不是传统的基于mapreduce的网络爬虫,它将是一个更快速的数据收集。키워드:검색엔진,크롤러,너치,스파크,솔라关键字:搜索引擎爬虫,Nutch,火花,Solr收到了2016年10月10日,修订后的2016年10月17日,接受了2016年10月28日*通讯作者Jae-Won公园(电子邮件:jwpark@ssu.ac.kr, Tel: + 82-2-828-7014)软件,研究生院的进程,06978年首尔,韩国开放访问http://doi.org/10.6109/jkiice.2017.21.1.17打印ISSN: 2234 - 4772在线ISSN:2288-4165这是一篇在知识共享署名非商业许可(http://creativecommons.org/li-censes/ by-nc/3.0/)的条款下发布的开放获取文章,该许可允许在任何媒介上不受限制的非商业使用、分发和复制,前提是正确引用原始作品。版权所有C韩国信息通信工程研究院。韩国信息通信工程学院学报[J]。韩国国际研究所。Eng)。Vol. 21, No. 1: 17~28 Jan. 2017
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引用次数: 1
Detection of Rotations in Jump Rope using Complementary Filter 利用互补滤波检测跳绳的旋转
Pub Date : 2017-01-31 DOI: 10.6109/JKIICE.2017.21.1.8
Byeong-Hyeon Yoo, Gyeongyong Heo
There are various methods to count the number of repetitive motions such as jump rope. Most of the methods use features extracted from the time-varying waves of acceleration or angular velocity, which is the main feature in the count of rotations in jump rope. However, there exist several variables and it is not easy to find the count with a single sensor. For example, accelerometer is susceptible to noise and vibration, and the angular velocity may cause a drift phenomenon, which is the main cause of the inaccurate count of jump rope rotation. In this paper, complementary filter is used to consider two sensors simultaneously and complement each other, which results in more accurate count in jump rope rotation. The proposed method can count the exact number of jump rope rotation compared to other existing methods only using one sensor value, which is confirmed through experimental results.
有各种方法来计算重复运动的次数,比如跳绳。大多数方法使用的是从时变的加速度波或角速度波中提取的特征,这是跳绳旋转计数的主要特征。然而,由于存在多个变量,用单个传感器很难找到计数。例如,加速度计容易受到噪声和振动的影响,角速度可能造成漂移现象,这是跳绳旋转计数不准确的主要原因。本文采用互补滤波器同时考虑两个传感器,并相互补充,使跳绳旋转计数更加准确。与其他现有方法相比,该方法仅使用一个传感器值就能准确地计算出跳绳的旋转次数,并通过实验结果进行了验证。
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引用次数: 6
X-ray Image Denoising Agorithm Using Bilateral Weight 基于双侧加权的x射线图像去噪算法
Pub Date : 2017-01-31 DOI: 10.6109/jkiice.2017.21.1.137
Soo-Yeon Shin, Jae-Won Suh
X-ray image is a widely used to medical examination, airport security and cargo inspection. However, X-ray images contain many visual noise, which interrupt image analysis. Consequently, it is primary importance to reduce noises of X-ray image. In this paper, we present a improved denoise technique for x-ray image using pixel value and range weights. First, we denoise a x-ray image using bilateral filter. Next, we detect a edge region of the original x-ray image. If a denoised pixel belongs to the edge region, we calculate weighting values of original x-ray image and denoised x-ray image in 3×3 neighboring pixels and compute the cost value to determine the boundary pixel value. Finally, the pixel value having minimum cost is determined as the pixel value of the denoised x-ray image. Simulation results show that the proposed algorithm achieves good performance in terns of PSNR comparison and subjective visual quality.
x射线图像被广泛应用于医学检查、机场安检和货物检查。然而,x射线图像中含有许多视觉噪声,干扰了图像分析。因此,降低x射线图像中的噪声是至关重要的。本文提出了一种改进的基于像素值和距离权值的x射线图像去噪技术。首先,我们使用双边滤波器对x射线图像进行去噪。接下来,我们检测原始x射线图像的边缘区域。如果去噪像素属于边缘区域,我们计算原始x射线图像和去噪x射线图像在3×3相邻像素上的权重值,并计算代价值来确定边界像素值。最后,确定代价最小的像素值作为去噪后x射线图像的像素值。仿真结果表明,该算法在PSNR比较和主观视觉质量方面都取得了较好的效果。
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引用次数: 0
Multi-Channel Allocation Scheme for Multi-Hop Transmission in Ad-hoc Cognitive Radio Networks Ad-hoc认知无线网络中多跳传输的多信道分配方案
Pub Date : 2017-01-31 DOI: 10.6109/JKIICE.2017.21.1.35
Y. Kwon, Hyung-Kun Park
To solve the shortage of radio spectrum and utilize spectrum resource more efficiently, cognitive radio technologies are proposed, and many studies on cognitive radio have been conducted. Multi-hop routing is one of the important technologies to enable the nodes to transmit data further with lower power in ad-hoc cognitive radio networks. In a multi-channel cognitive radio networks, each channel should be allocated to minimize interference to primary users. In the multi-hop routing, channel allocation should consider the inter-channel interference to maximize network throughput. In this paper, we propose multi-channel scheduling scheme which minimizes inter-channel interferences and avoids collision with primary users for the multi-hop multi-channel cognitive radio networks. The proposed scheduling is designed to determine both of routing path and channel selection. The performance of proposed channel allocation scheme is evaluated by the computer simulation in the aspect of capacity and collision rate.
为了解决无线电频谱的短缺,更有效地利用频谱资源,认知无线电技术被提出,并开展了大量的认知无线电研究。在自组织认知无线网络中,多跳路由是节点以更低功耗进一步传输数据的重要技术之一。在多信道认知无线网络中,每个信道的分配应尽量减少对主要用户的干扰。在多跳路由中,信道分配应考虑信道间的干扰,以使网络吞吐量最大化。针对多跳多信道认知无线网络,提出了最小化信道间干扰和避免与主用户冲突的多信道调度方案。所提出的调度方案旨在确定路由路径和信道选择。通过计算机仿真,从容量和碰撞率两个方面对所提出的信道分配方案的性能进行了评价。
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引用次数: 0
Advanced Sensor-based Control Reagent Cabinet Monitoring System 先进的传感器控制试剂柜监控系统
Pub Date : 2017-01-31 DOI: 10.6109/JKIICE.2017.21.1.199
Xitong Yang, J. Jang, Hoe-Kyung Jung
Recently, the reagent in the laboratory can not only confirm the internal environment through the sensor but also check the status inside the reagent cabinet in real time. Also, if an abnormality occurs in the inside of the reagent cabinet, a serious accident may occur. To solve these problems, this paper proposes a reagent monitoring system that integrates reagent and ICT. The sensor data measured in real time is displayed to the user in real time through the monitor and stored in the database. In addition, by using the stored data, it is possible to inform the registered administrator in real time of the dangerous situation by informing the dangerous situation in case of danger, and to be able to check and control remotely. This can improve safety by making control and confirmation of the state of the inside of the reagent everywhere.
最近,实验室中的试剂不仅可以通过传感器确认内部环境,还可以实时检查试剂柜内部的状态。同时,如果试剂柜内部出现异常,可能会发生严重的事故。针对这些问题,本文提出了一种试剂与信息通信技术相结合的试剂监测系统。传感器实时测量的数据通过监视器实时显示给用户,并存储在数据库中。此外,通过使用存储的数据,可以在发生危险时通过通知危险情况来实时通知注册管理员危险情况,并可以远程查看和控制。这可以通过控制和确认试剂内部的状态来提高安全性。
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引用次数: 1
Hot carrier induced device degradation in amorphous InGaZnO thin film transistors with source and drain electrode materials 热载流子诱导的非晶InGaZnO薄膜晶体管源极和漏极材料的器件退化
Pub Date : 2017-01-31 DOI: 10.6109/jkiice.2017.21.1.82
Ki Hoon Lee, Taehyun Kang, K. Lee, J. T. Park
In this work, InGaZnO thin film transistors with Ni, Al and ITO source and drain electrode materials were fabricated to analyze a hot carrier induced device degradation according to the electrode materials. From the electrical measurement results with electrode materials, Ni device shows the best electrical performances in terms of mobility, subthreshold swing, and I ON /I OFF . From the measurement results on the device degradation with source and drain electrode materials, Al device shows the worst device degradation. The threshold voltage shifts with different channel widths and stress drain voltages were measured to analyze a hot carrier induced device degradation mechanism. Hot carrier induced device degradation became more significant with increase of channel widths and stress drain voltages. From the results, we found that a hot carrier induced device degradation in InGaZnO thin film transistors was occurred with a combination of large channel electric field and Joule heating effects.
本文制备了具有Ni、Al和ITO源极和漏极材料的InGaZnO薄膜晶体管,并根据电极材料分析了热载子诱导器件的退化。从电极材料的电学测量结果来看,Ni器件在迁移率、亚阈值摆幅和I ON /I OFF方面表现出最佳的电学性能。从源极和漏极材料对器件退化的测量结果来看,Al器件表现出最严重的器件退化。测量了不同通道宽度下的阈值电压位移和应力漏极电压,分析了热载流子诱导器件的退化机理。随着通道宽度和应力漏极电压的增加,热载流子引起的器件退化更为明显。结果表明,在大通道电场和焦耳热效应的共同作用下,InGaZnO薄膜晶体管发生了热载流子诱导的器件退化。
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引用次数: 0
The design and the analysis of a LED illumination lens using the overlapped model 利用重叠模型对LED照明透镜进行设计与分析
Pub Date : 2017-01-31 DOI: 10.6109/jkiice.2017.21.1.157
I. You
In this research, the overlapped illumination model was used for designing a freeform LED lens with a uniform illuminance distribution on its illuminating plane, and their performances and tolerances were compared. And, the illuminations on a illumination plane was measures for change with average illuminance and illuminance uniformity. As a result of the tolerance analysis about z-axis direction change, thickness change in lens and tilt change of light emission and characteristic change in LED source, overlapped model and divergent illumination model are similar to the performance about Z-axis direction change of light emission in LED source. but the uniformity illumination value in this overlapped model is more remarkably value than it in divergent illumination model about thickness change in LED lens. Also, even though the lens based on a divergent illumination model showed good performance compare to the lens based on an overlapped illumination model, the latter was less the deviation to variation of LED beam radiation ability. 키워드 : 중첩모델 , 자유 형상 렌즈, LED 렌즈, 균일조도, 반치각 Key word : Overlapped illumination model, Freeform Lens, LED lens, Uniform illuminance, half angle Received 07 July 2016, Revised 19 July 2016, Accepted 05 August 2016 * Corresponding Author Ilhyun You(E-mail:ihyou@semyung.ac.kr, Tel+82-43-649-1292) Department of Information Communication Technology, Semyung University, Jecheon, 27136, Korea Open Access http://doi.org/10.6109/jkiice.2017.21.1.157 print ISSN: 2234-4772 online ISSN: 2288-4165 This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License(http://creativecommons.org/li-censes/ by-nc/3.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited. Copyright C The Korea Institute of Information and Communication Engineering. Journal of the Korea Institute of Information and Communication Engineering 한국정보통신학회논문지(J. Korea Inst. Inf. Commun. Eng.) Vol. 21, No. 1 : 157~164 Jan. 2017
本研究采用重叠照度模型设计了一种照明平面照度分布均匀的自由曲面LED透镜,并对其性能和容差进行了比较。照明平面上的照度是平均照度和照度均匀度变化的度量。通过对LED光源z轴方向变化、透镜厚度变化、发光倾斜度变化和特性变化的容差分析,发现重叠模型和发散照明模型与LED光源z轴方向变化的发光性能相似。但对于LED透镜厚度变化,重叠模型的均匀度照度值比发散模型的均匀度照度值更显著。此外,尽管基于发散照明模型的透镜比基于重叠照明模型的透镜表现出更好的性能,但后者对LED光束辐射能力变化的偏差较小。키워드:중첩모델,자유형상렌즈,领导렌즈,균일조도,반치각关键字:重叠照明模式,自由的镜头,镜头,照度均匀,半角获得07年2016年7月,修订后的2016年7月19日,接受了2016年8月05 *通讯作者Ilhyun你(电子邮件:ihyou@semyung.ac.kr,电话号码+ 82-43-649-1292)部门的信息通信技术,Semyung大学Jecheon, 27136年,朝鲜开放访问http://doi.org/10.6109/jkiice.2017.21.1.157打印ISSN: 2234 - 4772在线ISSN:2288-4165这是一篇在知识共享署名非商业许可(http://creativecommons.org/li-censes/ by-nc/3.0/)的条款下发布的开放获取文章,该许可允许在任何媒介上不受限制的非商业使用、分发和复制,前提是正确引用原始作品。版权所有C韩国信息通信工程研究院。韩国信息通信工程学院学报[J]。韩国国际研究所。Eng)。Vol. 21 No. 1: 157~164 Jan. 2017
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引用次数: 1
Miniaturization Development of Transmit/Receive Module using a 10W MEMS switch 10W MEMS开关收发模块的小型化开发
Pub Date : 2016-12-31 DOI: 10.6109/JKIICE.2016.20.12.2417
Huixiang Yi, Byoung-Chul Jun, Bok-Hyung Lee
Small size and light weight is very important for components used in radar mounted platform such as airborne radar. Recently, the active phased array radar is developed as an array of antennas for thousands of transmit/receive modules to be used as a multi-function radar that can detect and track targets. In this case, the size and weight of the transmit /receive modules are critical factor for developing the radar. In this paper, we developed a compact transmit/receive module using the 10W RF MEMS switch domestically localizing and reduced the circuit area to about 86.5% compared to using a circulator. The developed module satisfies not only electrical requirements but also MIL-STD's environmental specifications. So it can be used in a military device. It can be used at adaptive tunable receivers, reconfigurable smart active antennas and wide band beam electrical steering antennas.
对于机载雷达等雷达安装平台中使用的部件来说,体积小、重量轻是非常重要的。近年来,有源相控阵雷达发展成为一种由数千个发射/接收模块组成的天线阵列,用于探测和跟踪目标的多功能雷达。在这种情况下,发射/接收模块的尺寸和重量是发展雷达的关键因素。在本文中,我们开发了一个紧凑的发射/接收模块,使用国产化的10W射频MEMS开关,与使用环行器相比,电路面积减少到约86.5%。开发的模块不仅满足电气要求,而且满足MIL-STD的环境规范。所以它可以用在军事设备上。它可用于自适应可调谐接收机、可重构智能有源天线和宽带波束电子转向天线。
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引用次数: 0
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The Journal of the Korean Institute of Information and Communication Engineering
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