• 한국정보과학회논문지:소프트웨어및응용
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• 제31권5호
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• pp.643-650
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• 2004

제어 흐름 그래프는 자료 흐름 분석과 제어 종속 분석과 같은 프로그램 분석 분야와 프로그램 슬라이싱과 테스팅과 같은 소프트웨어공학 분야에서 필요로 하는 정보이다. 이러한 분석들이 안전하고 유용하기 위해서는 제어 흐름 그래프는 예외 흐름을 포함해야 한다. 기존의 방법은 예외 흐름과 정상 흐름의 상호 의존적인 관계로 인해 두 흐름을 동시에 계산하면서 제어 흐름 그래프를 생성한다. 그러나 실제 Java 프로그램을 조사해 본 결과 두 흐름이 상호 의존적으로 필요한 경우는 거의 발생하지 않음을 알 수 있었다. 그러므로 정상 흐름과 예외 흐름을 분리해서 계산할 수 있음을 알았고, 예외 흐름을 계산하는 예외 흐름 분석을 제안한다. 그리고 예외 흐름을 표현하는 예외 흐름 그래프를 제안한다. 그리고 제어 흐름 그래프는 예외 흐름 그래프와 정상 흐름 그래프를 합병함으로써 생성될 수 있음을 보인다.

• 대한기계학회논문집
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• 제15권2호
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.

• Journal of Power Electronics
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• 제14권2호
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• pp.271-281
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• 2014

Fluctuating wind conditions necessitate the use of a variable speed wind turbine (VSWT) with a AC/DC/AC converter scheme in order to harvest the maximum power from the wind and to decouple the synchronous generator voltage and frequency from the grid voltage and frequency. In this paper, a combination of a three phase diode bridge rectifier (DBR) and a modified topology of the diode clamped multilevel inverter (DCMLI) has been considered as an AC/DC/AC converter. A control strategy has been proposed for the DCMLI to achieve the objective of grid interface of a wind power system together with local load compensation. A novel fixed frequency current control method is proposed for the DCMLI based on the level shifted multi carrier PWM for achieving the required control objectives with equal and uniform switching frequency operation for better control and thermal management with the modified DCMLI. The condition of the controller gain is derived to ensure the operation of the DCMLI at the fixed frequency of the carrier. The converter current injected into the distribution grid is controlled in accordance with the wind power availability. In addition, load compensation is performed as an added facility in order to free the source currents being fed from the grid of harmonic distortion, unbalance and a low power factor even though the load may be unbalanced, non-linear and of a poor power factor. The results are validated using PSCAD/EMTDC simulation studies.

• 한국산학기술학회논문지
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• 제14권4호
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• pp.1561-1567
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• 2013

본 논문은 헬리콥터 비행조종성능을 위한 비행제어법칙 설계에 대한 연구이다. 헬리콥터 비행조종성능관련 규격은 MIL-F-83300, ADS-33E이 사용되고 있으며, 이러한 요구조건을 만족하기 위한 자세 명령 타입의 제어기가 요구되고 있다. 본 논문에서는 ACAH 형태의 제어기설계와 성능 평가에 대해 기술하였다. 헬리콥터 동력학 방정식은 로터 동력학을 포함한 비선형 시뮬레이션 모델을 개발하고 정지 비행에서 전진속도까지 속도별로 트림조건을 이용한 선형모델을 구하여 사용하였다. 제어기 설계는 비행조종성을 만족하기 위해 명령모델추종방식을 사용하였고, 피드포워드 게인을 위한 단순한 역모델을 사용하였으며, 축간의 커플링을 줄이기 위한 디커플링 로직과 페이즈 모델이 적용되었으며 선형모델을 이용하였다. 비행성능 평가는 매트랩 기반의 Conduit을 이용하여 수행하였으며, 레벨 1의 기준을 만족함을 확인하였다.

• The Journal of Asian Finance, Economics and Business
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• 제7권12호
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• pp.21-31
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• 2020

This study investigates the dynamic effects of economic development, international cooperation, electricity consumption, and political risk on the escalation of CO₂ emission in Vietnam. We adopted autoregressive distributed lag model and Granger causality method to examine the interaction between CO₂ and various economic and political factors, including foreign direct investment, trade openness, economic growth, manufacture, electricity consumption, and political risk in Vietnam since the economic revolution in 1986. The findings reflect opposite influence between these factors and the level of CO₂ in the intermediate and long-term durations. Accordingly, foreign direct investment and CO₂ emission have a bidirectional relationship, in which foreign direct investment accelerates short-term CO₂ emission, but reduces it in the long run through an interactive mechanism. Moreover, economic development increases the volume of CO₂ emission in both short and long run. There was also evidence that political risk has a negative effect on the environment. Overall, the findings confirm lasting negative environmental effects of economic growth, trade liberalization, and increased electricity consumption. These factors, with Granger causality, mutually affect the escalation of CO₂ in Vietnam. In order to control the level of CO₂, more efforts are required to improve administrative transparency, attract high-quality foreign investment, and decouple the environment from economic development.

• Journal of Power Electronics
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• 제18권3호
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• pp.694-701
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• 2018

This paper proposes a new single-phase power converter topology for changing the frequency of AC voltage. The proposed single-phase frequency converter (SFC) includes a T-type multi-level power converter (TMPC), a frequency decoupling transformer (FDT) and a digital signal processor (DSP). The TMPC can convert a 60 Hz AC voltage to a DC voltage and then convert the DC voltage to a 50 Hz AC voltage. Therefore, the output currents of the two T-type power switch arms have 50 Hz and 60 Hz components. The FDT is used to decouple the 50 Hz and 60 Hz components. The salient feature of the proposed SFC is that only one power electronic converter stage is used since the functions of the AC-DC and DC-AC power conversions are integrated into the TMPC. Therefore, the proposed SFC can simplify both the power circuit and the control circuit. In order to verify the functions of the proposed SFC, a hardware prototype is established. Experimental results verify that the performance of the proposed SFC is as expected.

• 한국정밀공학회지
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• 제27권7호
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• pp.109-116
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• 2010

The magnet wheel which generates on its interfacing conductive part a repulsive force and a traction torque by rotation of permanent magnets is used to manipulate the conductive plate without mechanical contact. Here, the air-gap magnetic field of the magnet wheel is shielded partially to convert the traction torque into a linear thrust force. Although a magnitude of the thrust force is constant under the fixed open region, we can change the direction of force by varying a position of the shield sheet. So, the spatial position of conductive plate is controlled by not the force magnitude from each magnet wheel but the open position of shield sheet. This paper discusses non-contact conveyance system of the conductive plate using electromagnetic forces from multiple magnet wheels.

• Journal of Ecology and Environment
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• 제29권4호
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• pp.353-360
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• 2006

Ecological correlates of flowering times often are examined to infer evolutionary mechanisms for flowering time diversities. We examined ecological characteristic associations such as growth habits and pollination modes with flowering times among 3,037 Korean angiosperms experiencing strong climatic seasonalities. We first examined taxonomic membership effects on flowering times across diverse taxonomic levels. Phylogeny constrained flowering times at all levels down to the genus level. We then analyzed the effects of ecological characteristics using subset data consisting of species randomly selected from each genus to control phylogenetic effects. The commonly observed patterns of early flowering of woody species in temperate regions existed. Spring flowering shrubs and trees, however, both being woody, were involved with biotic and abiotic vectors, respectively. In two herbaceous groups of annuals and perennials, annuals flowered later in the growing season than perennials although both herbs tended to be associated with abiotic vectors when flowering in autumn. These results support our hypothesis that species able to decouple vegetative and reproductive growth flower in spring's dry season, but species with different habits, even when they flower within the same season, are subjected to different selective pressures for efficient pollination.

• Journal of Multimedia Information System
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• 제8권2호
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• 한국정보과학회논문지:시스템및이론
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• 제35권4호
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• pp.150-157
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• 2008

본 논문에서는 높은 해상도를 제공하기 위하여 여러 대의 PC와 모니터를 연결한 타일드-디스 플레이(Tiled-Display) 시스템 상에서 동작하는 실시간 동영상 상영기를 설계 및 구현하였다. 제안한 동영상 상영기는 하나의 동영상을 기가 비트(Giga bit) 폐쇄 이더넷으로 연결된 여러 PC에 UDP 멀티캐스트를 사용하여 전송하고 각 수신기는 받은 동영상 데이타의 압축을 푼 후 이미지를 자신의 영역에 분할하여 시간적인 동기화를 맞추어서 재생할 수 있도록 설계되었다. 본 시스템은 미디어 데이타의 전송 중 발생하는 패킷 손실 및 지터(jitter) 문제를 동영상의 비트레이트에 따라서 방송량을 결정하는 흐름 제어 방법과 필요한 만큼 미리 받은 뒤 재생을 시작하는 버퍼링 방법을 통하여 해결하였으며, 서로 다른 PC의 상영기간의 동기화를 위하여 별도의 오버헤드 없이 시작 시간만 동기화하고 각 PC의 상영기들의 리퍼런스 클럭의 속도를 동일하도록 하여 안정적인 실시간 스트리밍 및 상영이 가능하도록 하였다. 또한 여러 전송포맷 및 압축 포맷을 지원하기 위하여 Microsoft DirectShow 구조상에서 구현되었다.