• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.3
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• pp.39-49
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• 2003

The delta operator approach and the singular perturbation technique are introduced. The former reduces the round-off error in the numerical computation. The latter reduces computing time by decoupling the original system into the fast and slow sub-systems. The aircraft dynamics consists of the Phugoid and short-period motions whether its model is longitudinal or lateral. In this paper, an approximated solutions of lateral dynamic model of Beaver obtained by using those two methods in compared with the exact solution. For open-loop system and closed-loop system, and approximated solution gets identical to the exact solution with only one iteration and without iteration, respectively. Therefore, it is shown that implementing those approaches is very effective in the flight dynamic and control.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04a
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• pp.466-468
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• 2004

Molecular modelling은 시뮬레이션을 통해 온도, 압력 등과 같은 분자 운동에 영향을 미칠 수 있는 요소를 설정한 후 분자의 움직임을 관찰하는 방법으로 신약, 신소재, 고분자 개발에 있어서 연구 개발 기간을 단축하는 효과적인 방법이다. 기존의 molecular modelling 어플리케이션들은 슈퍼컴퓨터나 단일 클러스터를 이용하여 작업을 수행하도록 설계되어 비용과 성능 측면에서 문제점을 가지고 있다. 1590년대 중반 지리적으로 분산되어 있는 광범위한 자원들을 공유하여 장기간 소요되는 컴퓨팅 작업의 성능 향상 및 비용절감을 목적으로 하는 그리드(grid)가 등장하였다. 이에 본 연구에서는 효율적이면서도 저비용을 갖는 molecular modelling 어플리케이션 개발을 위해 그리드를 기반으로 최적 자원 선택 브로커를 이용하는 molecular docking 어플리케이션을 제안한다. 이를 위해 우리는 molecular docking을 수행하는 그리드 환경의 계층 구조를 설계하고 효율적 작업 수행을 위한 최적 자원 선택 브로커를 설계하였다. 그리고 그리드 환경에서 molecular docking 어플리케이션의 효과적인 수행을 위해 molecular docking 연산 모델을 정의하고 필요한 molecular docking 어플리케이션의 요소들을 설계하였다.

• Proceedings of the KIPE Conference
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• 2018.07a
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• pp.412-413
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• 2018

고성능 트레드밀 시스템은 운동부하에 따른 큰 맥동부하 특성을 가지며 저속에서도 안정적인 제어 성능이 요구된다. 본 논문에서는 기존에 연구된 유도전동기 센서리스 제어 알고리즘을 검토하여 저속에서 부하의 변화에 강인한 특성을 갖는 알고리즘에 대하여 논하고 이를 트레드밀 시스템에 적용한 결과에 대하여 기술한다. 슬립제어기반의 속도제어기를 구성하였으며 벡터제어기반의 슬립연산 알고리즘을 도입하여 90rpm의 저속에서도 부하변동에 강인하고 안정적인 속도제어가 가능한 트레드밀 제어시스템을 구축하였다. 연구결과는 PSIM 시뮬레이션을 통하여 검증하였다.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.207-207
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• 2020

하천으로 유입된 오염물질의 거동을 정확하게 예측하는 것은 하천 시스템의 수질 유지관리에 매우 중요하다. 본 연구에서는 1차 감쇠율(decay rate)을 가진 비보존성 오염물의 비정상 이송해석 방정식의 해를 위해 유한체적기법이 개발되어졌다. 하천 흐름 해석을 위해 자연형 단면에서의 마름-젖음 해석이 가능한 기법이 도입되었다. 이 기법은 2차-정도의 정확성와 Courant 수가 1 까지 안정함을 보장한다. 도입된 기법은 Godnov 형의 유한체적기법을 이용하여 St. Venant 방정식들을 해석하였고 질량 및 운동량 플럭스는 Roe 형의 Riemann Solver 를 사용하여 연산하였다. 오염물의 이송 해석은 추가적인 이송-확산 방정식을 도입을 통해 기존의 St. Venant 방정식과 함께 풀려질 수 있다. 추가된 방정식과 St. Venant 식은 3×3 eigenstructure를 구성하였고 이는 2차원 흐름해석 기법과 유사하게 해석될 수 있었다. 본 연구 모형의 검증을 위해 오염물의 계속적 주입을 가정한 가상 및 실제 하천에 적용되었다. 연구된 기법은 모든 적용에서 합리적 정확도를 가지고 오염물질의 연속적인 특성을 잘 모의하고 있었다.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.3
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• pp.421-432
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• 2013

This paper describes implementation of functions for mobile robot localization, which is one of the vital technologies for autonomous navigation of a mobile robot. There are several function libraries for mobile robot navigation. Some of them have limited applicability for practical use since they can be used only for simulation. Our research focuses on development of functions which can be used for localization of indoor robots. The functions implement deadreckoning and motion model of mobile robots, measurement model of range sensors, and frequently used calculations on angular directions. The functions encompass various types of robots and sensors. Also, various types of uncertainties in robot motion and sensor measurements are implemented so that the user can select proper ones for their use. The functions are tested and verified through simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.332-340
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• 2013

This paper reports a programming toolkit for implementing localization and navigation of a mobile robot both in real world and simulation. Many of the previous function libraries are difficult to use because of their complexity or lack of usability. The proposed toolkit consist of functions for dead reckoning, motion model, measurement model, and operations on directions or heading angles. The dead reckoning and motion model deals with differential drive robot and bicycle type robot driven by front wheel or rear wheel. The functions can be used for navigation in both real environment and simulation. To prove the feasibility of the toolkit, simulation results are shown along with the results in real environment. It is expected the proposed toolkit is used for test of algorithms for mobile robot navigation such as localization, map building, and obstacle avoidance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.8
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• pp.523-530
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• 2022

Since the Multi-UAV system for various missions is more complex than a single UAV, an efficient formation control method is required. In wide-area search mission, there is a need for a distributed control for flexible formation that has a low burden of communication and computation and enables autonomous formation between UAVs. This paper proposes a flexible formation operation method that considers the swarm formation, the bank alignment formation, and the formation movement to expand the scan area and improve search performance. The algorithm has a vibration characteristic of the second-order system for a relative distance and can design an algorithm through parameter tuning. In addition, we converted control commands to suit conventional UAV systems and demonstrated the performance of algorithms for a formation and movement of a formation through simulation.

• Journal of Advanced Navigation Technology
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• v.25 no.5
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• pp.426-432
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• 2021

Continuous wave (CW) Doppler radar has the advantage of being able to solve the privacy problem unlike camera and obtains signals in a non-contact manner. Therefore, this paper proposes a human activity recognition (HAR) system using CW Doppler radar, and presents the hardware design and implementation results for acceleration. CW Doppler radar measures signals for continuous operation of human. In order to obtain a single motion spectrogram from continuous signals, an algorithm for counting the number of movements is proposed. In addition, in order to minimize the computational complexity and memory usage, binarized neural network (BNN) was used to classify human motions, and the accuracy of 94% was shown. To accelerate the complex operations of BNN, the FPGA-based BNN accelerator was designed and implemented. The proposed HAR system was implemented using 7,673 logics, 12,105 registers, 10,211 combinational ALUTs, and 18.7 Kb of block memory. As a result of performance evaluation, the operation speed was improved by 99.97% compared to the software implementation.

• The Journal of the Acoustical Society of Korea
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• v.31 no.3
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• pp.142-150
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• 2012

The waveguide finite element (WFE) method is a useful numerical technique to investigate wave propagation along waveguide structures which have uniform cross-sections along the length direction ('x' direction). In the present paper, the vibration and radiated noise of the submerged pipe with fluid is investigated numerically by coupling waveguide finite elements and wavenumber boundary elements. The pipe and internal fluid are modelled with waveguide finite elements and the external fluid with wavenumber boundary elements which are fully coupled. In order to examine this model, the point mobility, dispersion curves and radiated power are calculated and compared for several different coupling conditions between the pipe and internal/external fluids.

• The Journal of the Korea Contents Association
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• v.11 no.1
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• pp.404-410
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• 2011

For the simulation of one-dimensional unsteady flow, the Taylor-Galerkin finite element method was adopted to the discretization of the Saint Venant equation. The model was applied to the backwater problem in a single channel and the flood routing in dendritic channel networks. The numerical solutions were compared with previously published results of finite difference and finite element methods and good agreement was observed. The model solves the continuity and the momentum equations in a sequential manner and this leads to easy implementation. Since the final system of matrix is tri-diagonal with a few additional entry due to channel junctions, the tri-diagonal matrix solution algorithm can be used with minor modification. So it is fast and economical in terms of memory for storing matrices.