Abstract: An apparatus for safely controlling a control rod of a nuclear reactor of a nuclear power plant. The apparatus includes a first controller to output a signal to insert or withdraw the control rod. A mechanical portion performs insertion or withdrawal of the control rod in response to the outputted signal. The mechanical portion includes a latch engagement portion, a stop latch to restrain the control rod, a moving latch to move the control rod, and a lift coil to insert or withdraw the control rod. A detector can detect a position or a speed of the control rod. A brake is configured to stop the control rod by force. A second controller operates the brake in response to a brake signal from the detector. The second controller controls the brake independent of the first controller.

Abstract: A scanner, an image forming apparatus and a motor control method of the scanner and the image forming apparatus. The motor control method includes scanning a test image formed on a document, calculating an actual speed of a scan head moved by the motor using the scanned test image, calculating a matrix representing a relation between a driving signal to drive the motor and the calculated actual speed of the scan head, and renewing the driving signal using an inverse matrix to the calculated matrix to correct the actual speed of the scan head.

Abstract: A scanner, an image forming apparatus and a motor control method of the scanner and the image forming apparatus. The motor control method includes scanning a test image formed on a document, calculating an actual speed of a scan head moved by the motor using the scanned test image, calculating a matrix representing a relation between a driving signal to drive the motor and the calculated actual speed of the scan head, and renewing the driving signal using an inverse matrix to the calculated matrix to correct the actual speed of the scan head.