• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.740-756
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• 2017

This paper proposes a feedback-linearization-based control algorithm for multirotor unmanned aerial vehicles (UAVs). The feedback linearization scheme is highly efficient for considering nonlinearity between the rotational and translational motion of multirotor UAVs. We also propose a dynamic equation that reflects the aerodynamic effects of the vehicles; the equation's parameters can be determined through curve fitting using actual flight data. We derive the feedback linearization controller from the proposed dynamic equation, and propose a Luenberger observer to attenuate measurement noises. The proposed algorithm is implemented using our in-house flight control computer, and we describe its implementation in detail. To investigate the performance of the proposed algorithm, we carry out two flight scenarios: the first scenario, an autonomous landing on a moving platform, is a test of maneuverability; the second, picking up and replacing an object, test the algorithm's accuracy. In these scenarios, the proposed algorithm precisely controls multirotor UAVs, and we confirm that it can be successfully applied to real flight environments.

• Journal of Radiation Protection and Research
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• v.45 no.4
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• pp.171-177
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• 2020

Background: This study aims to determine the effective atomic number (Zeff) from dual-energy image sets obtained using a conventional computed tomography (CT) simulator. The estimated Zeff can be used for deriving the stopping power and material decomposition of CT images, thereby improving dose calculations in radiation therapy. Materials and Methods: An electron-density phantom was scanned using Philips Brilliance CT Big Bore at 80 and 140 kVp. The estimated Zeff values were compared with those obtained using the calibration phantom by applying the Rutherford, Schneider, and Joshi methods. The fitting parameters were optimized using the nonlinear least squares regression algorithm. The fitting curve and mass attenuation data were obtained from the National Institute of Standards and Technology. The fitting parameters obtained from stopping power and material decomposition of CT images, were validated by estimating the residual errors between the reference and calculated Zeff values. Next, the calculation accuracy of Zeff was evaluated by comparing the calculated values with the reference Zeff values of insert plugs. The exposure levels of patients under additional CT scanning at 80, 120, and 140 kVp were evaluated by measuring the weighted CT dose index (CTDIw). Results and Discussion: The residual errors of the fitting parameters were lower than 2%. The best and worst Zeff values were obtained using the Schneider and Joshi methods, respectively. The maximum differences between the reference and calculated values were 11.3% (for lung during inhalation), 4.7% (for adipose tissue), and 9.8% (for lung during inhalation) when applying the Rutherford, Schneider, and Joshi methods, respectively. Under dual-energy scanning (80 and 140 kVp), the patient exposure level was approximately twice that in general single-energy scanning (120 kVp). Conclusion: Zeff was calculated from two image sets scanned by conventional single-energy CT simulator. The results obtained using three different methods were compared. The Zeff calculation based on single-energy exhibited appropriate feasibility.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.8 s.251
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• pp.897-905
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• 2006

This study considers an experimental design of disturbance compensation control to improve stabilization performance of main battle tanks. An adaptive non-parametric design technique based on the Filtered-x Least Mean Square(FXLMS) algorithm is applied in the consideration of model uncertainties. The optimal compensator is designed by two-step design procedures: determination of frequency response function of the disturbance compensator which can cancel the disturbance of series of single harmonics by using the FXLMS algorithm and determination of the compensator polynomial which can fit the frequency response function obtained in the first step optimally by using a curve fitting technique. The disturbance compensator is applied to a simple experimental gun-torsion bar-motor system which simulates gun driving servo-system. Along with experimental results, the feasibility of the proposed technique is illustrated. Experimental results demonstrate that the proposed control reduces the standard deviation of stabilization error to 47.6% that by feedback control alone. The directional properties of the FXLMS Algorithm such as the direction of convergence and its convergence speed are also verified experimentally.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.36-44
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• 2005

Nowadays, various kind of rubber-like materials are used in industry. These are usually installed in automobiles, trains, etc. They work as dampers or important parts in the system, and the applications for rubber-like materials are increasing. In the past days, rubber engineers and designers predicted rubber material behaviors by the analytic method for limited problems. With the progress of digital computers, Finite Element Methods is widely used for analyzing the rubber-like materials. The popular methods predicting rubber material property are curve fitting and least square method, but there are some problems such as low precision and tedious solving process. Here, we introduce a method estimating rubber material property by successive zooming genetic algorithm(SZGA). The proposed algorithm offers more precise rubber property. To demonstrate the effectiveness of the proposed algorithm, we compared this method with Haines & Wilson's method, MARC, ABAQUS.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.2
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• pp.182-188
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• 2014

Source localization is an important problem in the field of sonar and radar, etc. For the purpose of source localization, two or more spatially separated sensors are often used to measure the time difference of arrivals of a radiating source whose transmitted signal waveform is unknown. The NLS(Nonlinear Least Square) cost function with curve fitting method was proposed recently, which provide robust source localization performance by reducing estimation ambiguity. However, even this algorithm shows degraded performance in a multipath environment. To estimates source localization correctly, source localization algorithm that eliminate the effect of multipath signals is required. In this paper, PMP(Power Matching Procedure) is added to the algorithm, which provides improved source localization performance by properly cutting out the effect of multipath signals. Through simulation the performance of the proposed source localization algorithm is verified.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.10
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• pp.946-952
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• 2010

A method for the identification of structural characteristic parameters of a steel bar in the matrices form such as stiffness matrices and mass matrices from frequency response function(FRF) by genetic algorithm is proposed. As the method is based on the finite element method(FEM), the obtained matrices have perfect physical meanings if the FRFs got from the analysis and the FRFs from the experiments were well coincident each other. The identified characteristic matrices from the FRFs with maximun 40 % of random errors by the genetic algorithm are coincident with the characteristic matrices from exact FEM FRFs well each other. The fitted element diameters by using only 2 points experimental FRFs are similar to the actual diameters of the bar. The fitted FRFs are good accordance with the experimental FRFs on the graphs. FRFs of the rest 9 points not used for calculating could be fitted even well.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.120-127
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• 1995

A nonlinear empirical state-space model of the Artificial Neural Network(ANN) has been developed. The nonlinear model structure incorporates characteristic, so as to enable identification of the transient response, as well as the steady-state response of a dynamic system. A hybrid feedfoward/feedback neural network, namely a Local Time Delayed Recurrent Multi-layer Perception(RMLP), is the model structure developed in this paper. RMLP is used to identify nonlinear dynamic system in an input/output sense. The feedfoward protion of the network architecture provides with the well-known curve fitting factor, while local recurrent and cross-talk connections provides the dynamics of the system. A dynamic learning algorithm is used to train the proposed network in a supervised manner. The derived dynamic learning algorithm exhibit a computationally desirable characteristic; both network sweep involved in the algorithm are performed forward, enhancing its parallel implementation. RMLP state-space and its associate learning algorithm is demonstrated through a simple examples. The simulation results are very encouraging.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.1
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• pp.102-107
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• 2019

This paper proposes a method to improve the mass spectral detection performance of the residual gas analyzer. By improving the mode estimation method for setting the threshold value and improving the additive noise elimination method, it is possible to detect mass spectrums having low peak values of the threshold level difficult to distinguish from noise. Ion signal blocks for each mass index with noise removed by the improved method are effective for eliminating invalid ion signals based on the linear and quadratic fittings. The mass spectrum can be obtained from the quadratic fitted curves for the reconstructed ion signal block using only the valid ion signals. In addition, the resolution of the mass spectrum can be improved by correcting the error caused by the shift of the spectral peak position. To verify the performance of the proposed method, computer simulations were performed using real ion signals obtained from the residual gas analysis system under development. The simulation results show that the proposed method is valid.

• Journal of Korean Society for Geospatial Information Science
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• v.19 no.2
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• pp.63-73
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• 2011

The Pseudorange Corrections (PRC), which are used in DGPS as calibration messages, can contain outliers, noise, and anomalies, and these abnormal events are unpredictable. When those irregular PRC are used, the positioning error gets higher. In this paper, we propose a strategy of detecting and correcting outliers, noise, and anomalies by modeling the changing pattern of PRC through polynomial curve fitting techniques. To validate our strategy, we compared positioning errors obtained without PRC calibation with those with PRC calibration. As a result, we found that our algorithm performs very well; the horizontal RMS error was 3.84 m before the correction and 1.49 m after the correction.

• Journal of Electrical Engineering and Technology
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• v.9 no.5
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• pp.1471-1481
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• 2014

This paper presents the new power dissipation model of individual switching device in a high-level modular multilevel converter (MMC), which can be mostly used in voltage sourced converter (VSC) based high-voltage direct current (HVDC) system and flexible AC transmission system (FACTS). Also, the voltage balancing method based on sorting algorithm is newly proposed to advance the MMC functionalities by effectively adjusting switching variations of the sub-module (SM). The proposed power dissipation model does not fully calculate the average power dissipation for numerous switching devices in an arm module. Instead, it estimates the power dissipation of every switching element based on the inherent operational principle of SM in MMC. In other words, the power dissipation is computed in every single switching event by using the polynomial curve fitting model with minimum computational efforts and high accuracy, which are required to manage the large number of SMs. After estimating the value of power dissipation, the thermal condition of every switching element is considered in the case of external disturbance. Then, the arm modeling for high-level MMC and its control scheme is implemented with the electromagnetic transient simulation program. Finally, the case study for applying to the MMC based HVDC system is carried out to select the appropriate insulated-gate bipolar transistor (IGBT) module in a steady-state, as well as to estimate the proper thermal condition of every switching element in a transient state.