• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1132-1133
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• 2007

A circuit-domain model of PWM inverter provides accurate simulation results in consideration of detail switching characteristics. Although, a huge amount of computation time is demanded for the simulation results of several ten seconds, which is the required time to analyze system behaviors or control performances of Electric Power Steering(EPS) on real drive condition. This paper describes the nonlinear inverter model for fast dynamic simulation of EPS without the PWM concept through analyzing the effect of nonlinear switching characteristics like dead time, forward voltage drop and conduction resistance. Some inverter models including proposed model are compared from two standpoints which are computation time and accuracy. The comparison results show the usefulness of the developed model in order to develop the control algorithm through the fast prediction of system behaviors.

• 로봇학회논문지
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• 제18권1호
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• pp.117-121
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• 2023

Research on walking assistance exoskeletons that provide optimized torque to individuals has been conducted steadily, and these studies aim to help users feel stable when walking and get help that suits their intentions. Because exoskeleton auxiliary efficiency evaluation is based on metabolic cost savings, experiments on real people are needed to evaluate continuously evolving control algorithms. However, experiments with real people always require risks and high costs. Therefore, in this study, we intend to actively utilize human musculoskeletal simulation. First, to improve the accuracy of musculoskeletal models, we propose a body segment mass distribution algorithm using body composition analysis data that reflects body characteristics. Secondly, the efficiency of most exoskeleton torque control algorithms is evaluated as the reduction rate of Metabolic Cost. In this study, we assume that the torque minimizing the Metabolic Cost is the optimal torque and propose a method for obtaining the torque.

• 전자공학회논문지
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• 제51권1호
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• pp.107-115
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• 2014

영상의 저 비트 변환 기반의 비트 플레인 정합방법(Bit-Plane Matching : BPM)은 기존의 블록 정합 방법들과 비교해 계산량을 줄이고 간단한 하드웨어 구조 설계를 통해 블록 정합 결과를 획득할 수 있지만, 블록 정합의 정확도가 비교적 낮은 문제점을 가지고 있다. 본 논문에서는 기존의 BPM방법들과 비교해 블록 정합의 정확도를 증가시키면서 동시에 논리 연산으로 정합 결과를 계산할 수 있는 저 비트 변환 기반의 절대 오차합(Reduced-bit transform based Sum of Absolute Difference : R-SAD)을 이용한 블록 정합 알고리즘을 제안한다. 이 방법은 현재 영상과 참조영상을 각각 2-bit의 영상으로 변환하고, 2-bit의 4레벨에 대한 입출력 관계를 이용하여 진리표를 획득한다. 진리표는 Karnaugh map을 통해 간소화 되어 논리 연산으로 절대 오차를 계산할 수 있다. 제안된 방법의 성능 평가를 위한 움직임 보상(Motion Compensation) 실험에서, R-SAD는 기존의 블록 정합 방법들과 비교해 높은 정확도의 정합결과를 획득할 수 있었다.

• 한국인터넷방송통신학회논문지
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• 제11권3호
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• pp.23-30
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• 2011

무선 센서 네트워크에서, 각 센서 노드들로부터 수집된 정보를 효율적으로 활용하기 위해 센서 노드의 정확한 위치 정보는 필수적이다. 센서 노드의 위치를 추정하는 다양한 기법들 중, 일반적으로 많이 사용되는 수신신호세기(RSS)기법은 추가적인 하드웨어 자원 없이 쉽게 구현될 수 있으나 채널 환경에 따라 다양한 표본 데이터들이 수집 될 수 있고, 특히 이상점(outlier)이 포함 될 수 있다. 이러한 이상점들은, 수집된 표본들로부터 통계적 분석(statistical analysis)에 상당한 요인을 미치며 위치 추정 오차를 발생시키는 주요한 원인이 된다. 따라서 본 논문에서는, 이상점이 포함 된 표본들로부터 정확한 위치 추정을 위해 Robust Statistics를 적용한 가우시안 필터 알고리즘을 제안한다. 제안한 알고리즘은 이상점이 포함된 표본들로부터 이상점을 제거하고, 낮은 확률값의 표본들을 배제함으로써 위치 추정의 정확도를 향상시킨다. 시뮬레이션 결과로부터, 이상점이 포함 된 표본들로부터 비 가우시안적 환경에서 제안된 방법의 위치 추정의 정확성 향상과 강인성을 확인하였다.

• The Journal of the Acoustical Society of Korea
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• 제17권3E호
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• pp.22-26
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• 1998

This paper proposes a simple method to measure system's performance in target tracking problems. Essentially employing the Cramer-Rao Lower Bound (CRLB) on tracking accuracy, an algorithm of predicting system's performance under various scenarios is developed. The input data is a collection of measurements over tim from sensors embedded in Gaussian noise. The target of interest may not maneuver over the processing time interval while the own ship observing platform may maneuver in an arbitrary fashion. The proposed approach is demonstrated and discussed through simulation results.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1996년도 창립기념 전력전자학술발표회 논문집
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• pp.5-12
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• 1996

In this paper, we design a Continuous Variable Structure Controller which can control robot manipulators to follow the desired planned trajectory with accuracy and robustness, and improve continuity and robustness of variable structure control, based on disturbance observer. We also analyze the stability the proposed algorithm and then verify the usefulness and performance through simulation stuies.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.121-124
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• 1997

In this paper, applications of self-recurrent neural networks based of adaptive controller to position control of flexible robot link are considered. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. Therefore, a comparative analysis was mode with linear controller through an simulation. The results are presented to illustrate the advantages and improved performance of the proposed position tracking controller over the conventional linear controller.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.40-42
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• 2009

This paper presents an algorithm, which is based on Otsu's method, for accurate and robust endpoint detection for speech recognition under noisy environments. The features are extracted in time domain, and then an optimal threshold is selected by minimizing the discriminant criterion, so as to maximize the separability of the speech part and environment part. The simulation results show that the method play a good performance in detection accuracy.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 A
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• pp.9-11
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• 1998

Most of sensorless algorithms are based on motor equations including electrical and mechanical parameters. However, parameter variation and uncertain error decrease the accuracy of speed estimation of PMSM. This paper investigates the sensorless speed control of PMSM considering parameter variation. The proposed algorithm use the speed compensator which is robust in parameter variation and error. The simulation and experimental results indicate good performances.

• 한국정밀공학회지
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• 제15권9호
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• pp.56-67
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• 1998

This paper introduces a friction compensation fuzzy logic controller, which utilizes a rule-based approach. The paper explains the algorithm of the proposed controller and compares it with a conventional PID controller in simulations and experiments. For the experiments, the two control algorithms were implemented on a 3-axis milling machine in contour milling. These simulation and experimental analyses show that the proposed fuzzy logic controller has superior performance over conventional PID controllers In terms of part contour accuracy.