• 자원ㆍ환경경제연구
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• 제11권1호
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• pp.31-55
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• 2002

When landowners have private information about land value, compensation based on conservation value at the time of regulatory takings of land is impractical even though it generates an efficient outcome. No compensation rule to a landowner not only yields an inefficient outcome but also provides an ex ante pervasive incentive for the landowner to invest in lowering conservation value. An alternative rule of compensation based on the market value of the land provides ex ante incentives for landowner either to reduce conservation value or to increase it. Under the market value compensation rule, placing the burden of proof on landowner gives higher probability of conservation than placing it on regulator. Whether it is better to allure landowners to conserve by paying compensation with market value and placing the burden of proof on landowner through changes in the regulatory regime however depends on the magnitude of inefficiency, equity consideration and dynamic nature of property rights on environmental goods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1096-1101
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• 1992

In order tominimize fixing error of workpieces, circle, prismatic, sphere, cylindrical and sculptures types. Modification Rule by Indexing Table and Modification Rule by NC Program are developed for machining centers by using touch trigger probes. The Modification Rule by Indexing Table meas the alignment of workpiece to NC program through degree of freedoms of indexing table. The Modification Rule by NC Program is the alognment of NC program to workpiece ste-tp condition via the generation of NC progarm. A postprocessing module is alos developed for generating NC-part program(User Macro) to compensate for machining errors in end milling and boring processes. Developed method are verified by experiments.

• 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.

• 한국지능시스템학회논문지
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• 제5권3호
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• pp.36-51
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• 1995

An approach to robot hybrid position/force control, which allows force manipulations to be realized without overshoot and overdamping while in the presence of unknown environment, is given in this paper. The manin idea is to used dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify the unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resovled acceleration control method, dynamic compensation and PD control based on known robot dynamics, kinematics and estimated environment stiffness is introduced. To avoid overshoot the whole control system is constructed with overdamping. In the second stage, the unknown environment stiffness is identified by using fuzzy reasoning, where the fuzzy compensation rules are obtained priori as the expression of the relationship betweenenvironment stiffness and system. Based on the simulation result, comparison between cases with or without fuzzy identifications are given, which illustrate the improvement achieced.

• 한국인터넷방송통신학회논문지
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• 제12권4호
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• pp.189-194
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• 2012

수배전 무효전력 보상 감시 제어시스템은 수배전단에 설치된 유도 모터, 또는 아크 용접기 등과 같은 유도성 부하에서 발생되는 지상무효전력을 보상하고 역률의 개선, 전압 강하의 경감, 전력손실을 감소 시켜줌으로써 전력설비 계통을 경제적이고 안정적으로 운영하도록 도와준다. 그리고 이러한 시스템은 중앙전력감시반이 획득한 수변전설비의 운전상태 및 계측 Data를 근거로 역률 및 위상각을 분석하여 기준 위상각이상으로 전압과 전류의 위상차가 발생 되었을 경우, 무효전력 보상장치의 ON/OFF제어를 수행하여 효율적인 계통관리가 가능하도록 한다. 본 연구에서는 능동데이터베이스를 이용하여 무효전력 보상장치 감시제어 시스템을 구현하는 방안을 제시함으로써, 공장 부하의 지상무효전력이 급격한 증가로 인한 역률 저하, 전압 강하, 손실 발생 등의 징후 발생 시 이에 대한 대처를 사용자(operator)의 개입 없이 데이터베이스 스스로 수행하도록 함으로써 인위에 의한 실수를 최소화 하도록 하였다.

• 제어로봇시스템학회논문지
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• 제8권2호
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• pp.113-119
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• 2002

An FLNN-based neural network controller is applied to precise positioning of XY table with friction as the extension study of [11]. The neural network identifies the frictional farces of the table. Its weight adaptation rule, named the reinforcement adaptive learning rule, is derived from the Lyapunov stability theory. The experimental results with 2-DOF XY table verify the effectiveness of the proposed control scheme. It is also expected that the proposed control approach is applicable to a wide class of mechanical systems.

• 한국인터넷방송통신학회논문지
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• 제14권6호
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• pp.119-123
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• 2014

본 연구에서는 익일부하예측 기능을 갖는 빌딩에너지관리시스템을 제시한다. 기존의 빌딩에너지 관리시스템은 빌딩내의 다양한 인프라를 이용하여 에너지를 감시 한다 그러나 이러한 시스템을 구현하기 위해서는 많은 인프라 구축비용이 소요 되어, 에너지 절감을 위한 인프라 구축비용과 실제 절감된 전기 요금을 비교 할 경우, 에너지 절감을 위해 투자한 비용을 전기 요금 절약으로 회수하는데 수년이 걸리고, 또한 인프라 설비 유지 보수를 고려할 경우, 결과적으로 에너지 절약 효과가 미비하다. 따라서 본 연구에서는 보다 저렴하고 합리적인 방법으로 빌딩의 에너지 소비를 억제할 수 있도록, 기상청데이터와 한전의 ISmart 데이터를 기반으로 데이터마이닝기법을 이용하여 빌딩의 익일 부하 사용량을 예측하고 이를 기반으로 빌딩 부하의 On/Off를 수행하도록 빌딩에너지관리시스템을 구현함으로써 상대적으로 저렴한 비용으로 빌딩에너지 사용의 합리화를 이루도록 하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.845-848
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• 1993

This paper proposes a design method of fuzzy phase-lead compensator and its self-learning by neural network. The main feature of the fuzzy phase-lead compensator is to have parameters for effectively compensating phase characteristics of control systems. An important theorem which is related to phase-lead compensation is derived by introducing concept of frequency characteristics. We propose a design procedure of fuzzy phase-lead compensators for linear controlled objects. Furthermore, we realize a neuro-fuzzy compensator for unknown or nonlinear controlled objects by using Widrow-Hoff learning rule.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.208.2-212
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• 1997

In a model based friction comensation for a frictional system,the performance of the system is inflenceed by the selection of the friction model. Especially, when a real plant have dynamic friction characteritics, the compensation of friction with a static friction model may deteriorate the perfomance. For the system we constlucted an adaptiv parameter estimation and friction compensation with a newly introduced dynamic friction model proposed by Canudas et.[1]. The model depicts varios frictional phenomena,such as Stibeck effect,frictional memory, Stick-slip motion. Parmeter identification algorithm are followed conventional RLSM adaptive rule. The stability for the closed system was proved by the Lyapunov stability. The result say that if a real system have dynamic friction property,the friction compensation with the dynamic friction model will improve the perfomance moreover static friction model based compensation may lead to the system unstable.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.907-912
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• 1990

An approach to robot force control, which allows force manipulations to be realized without overshot and overdamping while in the presence of unknown environment, is given in this paper. The main idea is to use dynamic compensation for known robot parts and fuzzy compensation for unknown environment so as to improve system performance. The fuzzy compensation is implemented by using rule based fuzzy approach to identify unknown environment. The establishment of proposed control system consists of following two stages. First, similar to the resolved acceleration control method, dynamic compensation and PID control based on known robot dynamics, kinematics and estimated environment compliance is introduced. To avoid overshoot the whole control system is constructed overdamped. In the second stage, the unknown environment stiffness is estimated by using fuzzy reasoning, where the fuzzy estimation rules are obtained priori as the expression of the relationship between environment stiffness and system response. Based on simulation result, comparisons between cases with or without fuzzy identifications are given, which illustrate the improvement achieved.