• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.4
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• pp.335-341
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• 2010

To improve the performance of inner loop based on PD controller for a unmanned helicopter, neural networks are applied. The performance of PD controller designed on the response characteristics of error dynamics decreases because of uncertain nonlinearities of the system. The nonlinearities are decoupled to modified dynamic inversion model(MDIM) and are compensated by the neural networks. For the training of the neural networks, online weight adaptation laws which are derived from Lyapunov's direct method are used to guarantee the stability of the controller. The results of the improved performance of PD controller by neural networks are illustrated in the simulation of unmanned helicopter with nonlinearities,

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Nuclear Engineering and Technology
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• v.51 no.8
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• pp.1998-2004
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• 2019

The Multi-Physics (MP) instrument is one of 20 neutron spectrometers planned in the China Spallation Neutron Source (CSNS). This paper presents a shielding calculation for the MP instrument using Monte Carlo codes MCNPX and FLUKA. First, the neutrons that escape from the CSNS decoupled water moderator and are delivered to the beam line of the MP instrument are calculated to use as the source term of the shielding calculation. Then, to validate the calculation method based on multiple variance reduction techniques, a cross check between MCNPX and FLUKA codes is performed by comparing the calculation results of the dose rate distribution on a simplified beam line model. Finally, a complete geometry model of the MP instrument is set up, and the primary parameters for the shielding design are obtained according to the calculated dose rate map considering different worst-case scenarios.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.181-183
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• 2003

본 연구에서는 현재 국내-외 논문을 참조하여 배전계통에 적용된 조류계산 알고리즘의 적용사례를 조사하였다. 배전계통에 적용된 조류계산알고리즘은 Power Summation Method와 Current Summation Method가 있다. 배전계통은 선로의 구조가 거의 대부분 방사상으로 성되어 있기 때문에 Newton Raphson, Gauss Seidel, Fast Decoupled 방법을 그대로 사용하기는 문제가 있다. 그래서 DistFlow, Forward/Backward sweeping 법 등이 주로 사용되어 왔다. 그러나 미래의 계통은 현재와는 또 다른 Topology로 방사상과 루프가 혼합된 형태로 다르게 구성되어야 할 것이다. 이러한 상황에서 미래의 배전계통에 대하여 적용 가능한 알고리즘을 전망하고져 한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.8
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• pp.1996-2015
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• 2023

High-definition (HD) maps can provide precise road information that enables an autonomous driving system to effectively navigate a vehicle. Recent research has focused on leveraging semantic segmentation to achieve automatic annotation of HD maps. However, the existing methods suffer from low recognition accuracy in automatic driving scenarios, leading to inefficient annotation processes. In this paper, we propose a novel semantic segmentation method for automatic HD map annotation. Our approach introduces a new encoder, known as the convolutional transformer hybrid encoder, to enhance the model's feature extraction capabilities. Additionally, we propose a multi-level fusion module that enables the model to aggregate different levels of detail and semantic information. Furthermore, we present a novel decoupled boundary joint decoder to improve the model's ability to handle the boundary between categories. To evaluate our method, we conducted experiments using the Bird's Eye View point cloud images dataset and Cityscapes dataset. Comparative analysis against stateof-the-art methods demonstrates that our model achieves the highest performance. Specifically, our model achieves an mIoU of 56.26%, surpassing the results of SegFormer with an mIoU of 1.47%. This innovative promises to significantly enhance the efficiency of HD map automatic annotation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.5
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• pp.1503-1515
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• 2023

This paper considers the jointly active and passive beamforming design in the IRS-aided MISO downlink vehicle communication system where both V2I and V2V communication paradigms coexist. We formulate the problem as an optimization problem aiming to minimize the total transmit power of the base station subject to SINR requirements of both V2I and V2V users, total transmit power of base station and IRS's phase shift constraints. To deal with this non-convex problem, we propose a method which can alternately optimize the active beamforming at the base station and the passive beamforming at the IRS. By using first-order Taylor expansion, matrix analysis theory and penalized convex-concave process method, the non-convex optimization problem with coupled variables is converted into two decoupled convex sub-problems. The simulation results show that the proposed alternate optimization algorithm can significantly decrease the total transmit power of the vehicle base station.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of Korean Tunnelling and Underground Space Association
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• v.6 no.4
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• pp.291-302
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• 2004

Blast-induced anisotropic rock damage around a blast-hole was analyzed by a using numerical method with user-defined subroutine based on continuum damage mechanics. Anisotropic blasting pressure was evaluated by applying anisotropic ruck characteristics to analytical solution which is a function of explosive and rock properties. Anisotropic rock damage was evaluated by applying the proposed anisotropic blasting pressure. Blast-induced isotropic rock damage was also analyzed. User-defined subroutines to solve anisotropic and isotropic damage model were coded. Initial rock damages in natural ruck were considered in anisotropic and isotropic damage models. Blasting pressure and elastic modulus of rock were major influential parameters from parametric analysis results of isotropic rock damage. From the results of anisotropic rock damage analysis, blasting pressure was the most influential parameter. Anisotropic rock damage area in horizontal direction was approximately 34% larger and about 12% smaller in vertical direction comparing with isotropic rock damage area. Isotropic rock damage area under fully coupled charge condition was around 30 times larger than that under decoupled charge condition. Blasting pressure under fully coupled charge condition was estimated to be more than 10 times larger than that of decoupled charge condition.

• Water for future
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• v.28 no.5
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• pp.151-162
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• 1995

A two-dimensional stream tube dispersion model is developed to simulate accurately transverse dispersion processes of pollutants in natural channels. Two distinct features of the stream tube dispersion model derived herein are that it employs the transverse cumulative discharge as an independent variable replacing the transverse distance and that it is developed in a natural coordinate system which follows the general direction of the channel flow. In the model studied, Eulerian-Lagrangian method is used to solve the stream tube dispersion equation. The stream tube dispersion equation is decoupled into two components by the operator-splitting approach; one is governing advection and the other is governing dispersion. The advection equation has been solved using the method of characteristics and the results are interpolated onto Eulerian grid on which the dispersion equation is solved by centered difference method. In solving the advection equation, cubic spline interpolating polynomials is used. In the present study, the results of the application of this model to a natural channel are compared with a steady-state flow measurements. Simulation results are in good accordance with measured data.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.2
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• pp.1020-1042
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• 2019

Reversible data hiding in encrypted images (RDHEI) provides some real-time cloud applications; i.e. the cloud, acting as a data-hider, automatically embeds timestamp in the encrypted image uploaded by a content owner. Many existing methods of RDHEI only satisfy user privacy in which the data-hider does not know the original image, but leaks owner privacy in which the receiver can obtains the original image by decryption and extraction. In the literature, the method of Zhang et al. is the one providing weak content-owner privacy in which the content-owner and data-hider have to share a data-hiding key. In this paper, we take care of the stronger notion, called strong content-owner privacy, and achieve it by presenting a new reversible data hiding in encrypted images. In the proposed method, image decryption and message extraction are separately controlled by different types of keys, and thus such functionalities are decoupled to solve the privacy problem. At the technique level, the original image is segmented along a Hilbert filling curve. To keep image privacy, segments are transformed into an encrypted image by using random permutation. The encrypted image does not reveal significant information about the original one. Data embedment can be realized by using pixel histogram-style hiding, since this property, can be preserved before or after encryption. The proposed method is a modular method to compile some specific reversible data hiding to those in encrypted image with content owner privacy. Finally, our experimental results show that the image quality is 50.85dB when the averaged payload is 0.12bpp.