• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.107-113
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• 2001

This paper deals with speed control of DC servo motor using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm. Conventionally a PID controller has been used in the industrial control. But a PID controller should produce suitable parameters for each system. Also, variables of the PID controller should be changed according to environments, disturbances and loads. In this paper described by a experiment that contained a method using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm, we developed speed characteristics of a DC servo motor on variable loads. The parameters of the controller are determined by neural network performed on on-line system after training the neural network on off-line system.

• 대한전기학회논문지
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• 제43권6호
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• pp.1027-1035
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• 1994

This paper aims to make an artificial arm control strategy. For this, we propose a new feature extraction method and design artificial neural network for the functional classification of myoelectric signal(MES). We first transform the two channel myoelectric signals (MES) for biceps and triceps into frequency domain using fast Fourier transform (FFT). And features were obtained by comparing the magnitudes of ensemble spectrum data and used as inputs to the three-layer neural network for the learning. By changing the number of units in hidden layer of neural network we observed the improvement of classification performance. To observe the effeciency of the proposed scheme we performed experiments for classification of six arm functions to the three subjects. And we obtained on average 94[%] the ratio of classification.

• 대한전기학회논문지:전력기술부문A
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• 제48권11호
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• pp.1476-1478
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• 1999

A musculotendon model is proposed to predict muscle force during muscle fatigue due to the continuous functional electrical stimulation(FES). Muscle fatigue dynamics can be modeled as the electrical admittance of muscle fibers and included in activation dynamics based on the{{{{ { Ca}^{2+ } }}}} kinetics. The admittance depends on the fatigue variable that monotonically increase or decrease if electrical pulse exists or not, and on the stimulation parameters and the number of applied pulses. In the response of the change in activation the normalized Hill-type contraction dynamics connected with activation dynamics decline the muscle shortening velocity and thus its force under muscle fatigue. The computer simulation shows that the proposed model can express the muscle fatigue and its recovery without changing any stimulation parameters.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권6호
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• pp.402-407
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• 2004

This paper proposed a new speed sensorless control method for AC servo motor, which is based on the current observer. Recently, the study in the estimation using a observer is being widely progressed. In order to prove the superiority of the current observer, we made a comparison between the simulation using current observer and that using Luenberger observer. And also, a comparative experiment of the speed control of the AC servo motor using a sensor and using current observer has been executed. The experiment result shows that the estimation using current observer is superior to the estimation using Luenberger observer or to the speed response using a sensor.

• 한국농촌건축학회논문집
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• 제26권3호
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• pp.19-28
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• 2024

This study aims to find the conservation and regeneration plan in terms of preserving and utilizing old wooden houses, regenerating existing buildings, and developing idle land for old dwellings located outside the southern gate of Cheongju, Korea. In the preservation and utilization of old houses, three places in the block where wooden houses clustered are created as conservation houses, and are conversed as cafes, workspaces, and homestays along with the preservation of individual houses. In the regeneration of existing buildings, the street landscape was improved through extension and renovation, new construction after demolition, and exterior renovation for one or two-story buildings facing the roadside. In the development of idle land, it reflects the layout method and open yard space corresponding to the path and orientation of the old house, and the mass was varied and segmented to resolve the medium scale. Accordingly, considering the context, landscape, and environmental aspects of the historical downtown, the development of old dwellings in downtown should shift from a uniform high-rise apartment project-oriented approach to a gradual and continuous regeneration direction.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권10호
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• pp.468-476
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• 2002

Digital images are easily corrupted by noise during the data transmission, data capture and data processing. A technical method of noise analyzing and adaptive filtering for reducing of quantum noise in medical radio-fluoroscopy images is presented. By adjusting the characteristics of the filter according to local statistics around each pixel of the image as moving windowing, it is possible to suppress noise sufficiently while preserve edge and other significant information required in diagnosis. We proposed adaptive weighed median(AWM) filters based on local statistics. We showed two ways of realizing the AWM filters. One is a simple type of AWM filter, which is constructed by Homogeneous factor(HF). Homogeneous factor(HF) from the noise models that enables the filter to recognize the local structures of the image is introduced, and an algorithm for determining the HF fitted to the diagnostic systems with various inner statistical properties is proposed. We show by the experimented that the performances of proposed method is superior to these of other filters and models in preserving small details and suppressing the noise at homogeneous region. The proposed algorithms were implemented by Visual C++ language on a IBM-PC Pentium 550 for testing purposes and the effects and results of the filter in the various levels of noise and images were proposed by comparing the values of NMSE(normalized mean square error) with the value of the other existing filtering methods.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권5호
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• pp.285-290
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• 2005

The state observer is being used widely because it has the advantage of the guarantee of reliability on financial problem, over heating, and physical shock. However, an Luenberger observer and a Sliding observer have such problems that an experimenter needs to know dynamics and parameters of the system. And also, the high gain observer has such a problem that it has transient state at the beginning of the observation. In this paper, the Neuro observer is proposed to improve these problems. The proposed Neuro observer complement a problem that occur from increase of gain of High-gain observer in proportion to the square number of observable state variables. And also, the proposed Neuro observer can tune the gain obtained by differentiating observational error at transient state automatically by using the backpropagation training method to stabilize the observational speed. To prove a performance of the proposed observer, it is simulated that the comparison between the state estimate performance of the proposed observer and that of Sliding, High gain observer is made by using a sinusoidal input to the observer which consists of four layers in stable 2nd order system.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1046-1053
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• 1999

The musculotendon model is presented to show the declines in muscle force and shortening velocity during muscle fatigue due to the repeated functional electrical stimulation (FES). It consists of the nonlinear activation and contraction dynamics including physiological concepts of muscle fatigue. The activation dynamics represents $Ca^{2+}$ binding and unbinding mechanism with troponins of cross-bridges in sarcoplasm. It has the constant binding rate or activation time constant and two step nonlinear unbinding rate or inactivation time constant. The contraction dynamics is the modified Hill type model to represent muscle force - length and muscle force - velocity relations. A muscle fatigue profile as a function of the intracellular acidification, pH is applied into the contraction dynamics to represent the force decline. The computer simulation shows that muscle force and shortening velocity decline in stimulation time. And we validate the model. The model can predicts the proper muscle force without changing its parameters even when existing the estimation errors of the optimal fiber length. The change in the estimate of the optimal fiber length has an effect only on muscle time constant in transient period not on the tetanic force in the steady-state and relaxation periods.

• 로봇학회논문지
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• 제17권4호
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• pp.407-416
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• 2022

Multiple AMRs have been proved to be effective in improving warehouse productivity by eliminating workers' wasteful walking time. Although Multi-agent Path Finding (MAPF)-based solution is an optimal approach for this task, its deployment in practice is challenging mainly due to its imperfect plan-execution capabilities and insufficient computing resources for high-density environments. In this paper, we present a MAPF-based fleet management system architecture that robustly manages multiple robots by re-computing their paths whenever it is necessary. To achieve this, we defined four events that trigger our MAPF solver framework to generate new paths. These paths are then delivered to each AMR through ROS2 message topic. We also optimized a graph structure that effectively captures spatial information of the warehouse. By using this graph structure we can reduce computational burden while keeping its rescheduling functionality. With proposed MAPF-based fleet management system, we can control AMRs without collision or deadlock. We applied our fleet management system to the real logistics warehouse with 10 AMRs and observed that it works without a problem. We also present the usage statistic of adopting AMRs with proposed fleet management system to the warehouse. We show that it is useful over 25% of daily working time.

• 한국지반공학회논문집
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• 제35권11호
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• pp.75-95
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• 2019

본 연구에서는 사질토층을 지나 풍화암에 소켓된 매입 PHC말뚝에 대한 수치해석 결과를 분석하여 정리한 도표 또는 도해로부터 매입 PHC말뚝의 동원지지력을 구하는 방법을 제안하였다. 즉, 수치해석 결과인 하중-침하량 곡선에서 5% 직경에 해당하는 침하량에서 발현된 사질토층의 동원주면마찰력, 풍화암층의 동원주면마찰력과 동원선단지지력을 산정할 수 있는 표해 또는 도해를 제안하였다. 이때 허용압축지지력은 동원 지지력에 안전율 3.0을 적용하여 산정하였다. 사질토층을 지나 풍화암에 소켓된 매입 PHC말뚝의 허용압축지지력은 사질토층의 허용주면마찰력과 풍화암층의 허용주면마찰력 및 허용선단지지력을 합산하여 산정하는 것으로 제안하였고, 각 허용압축지지력 성분을 구할 수 있는 절차도 제시되어 있다. 본 연구에서 제안된 동원지지력 산정용 표해(또는 도해)를 사용할 경우, 적정 설계에서 PHC말뚝의 설계효율(D_E)은 85%로 나타났으며, 따라서 최적 설계에서는 PHC말뚝의 장기허용압축하중(P_all) 까지도 활용할 수 있는 것으로 나타났다. 그리고 PHC말뚝의 우수한 압축하중 지지 성능을 효과적으로 활용하기 위하여 지반의 허용압축지지력(Q_all)이 말뚝의 허용압축하중(P_all) 이상이 될 수 있도록 설계할 것을 권장하였다.