• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.4
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• pp.552-557
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• 2020

The Radar Cross Section (RCS) is a virtual region indicating the strength of a wavelength at which a radar signal is reflected and received. As the ship's RCS represents its own stealth performance and survivability, efforts have been made in various areas from design to construction to reduce the RCS. The RCS can be predicted using design drawings and CAD models, but it is necessary to measure the RCS at sea since sea clutter and multipath reflections occur in the sea environment. However, such RCS predictions and measured values provide only a simple relative magnitude to the user, and there has not been much research on this topic. In this paper, a missile countermeasure technique was studied using 3D RCS measurement data in an operating environment. The elevation and azimuth angle of the ship viewed from the missile were estimated using the location information of the missile, and the RCS value was inverted by mapping it to previously measured 3D RCS measurement data. In addition, by using the movement information of the missile, the RCS observed by the missile could be predicted in advance, and this method can be used to propose a response plan based on the maneuvering and chaff system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.566-572
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• 2021

A methodology for the identification and coordinates estimation of air cavities under urban ground or sandy soil using its natural poles and natural resonant frequencies is presented. The potential of this methodology was analyzed. Simulation models of PEC (Perfect Electric Conductor)s with various shapes and dimensions were developed using an EM (Electromagnetic) simulator. The Cauchy method was applied to the obtained EM scattering response of various objects from EM simulation models. The natural poles of objects corresponding to its instinct characterization were then extracted. Thus, a library of poles can be generated using their natural poles. The generated library of poles provided the possibility of identifying a target by comparing them with the computed natural poles from a target. The simulation models were made assuming that there is an air cavity under urban ground or sandy soil. The response of the desired target was extracted from the electromagnetic wave scattering data from its simulation model. The coordinates of the target were estimated using the time delay of the impulse response (peak of the impulse response) in the time domain. The MP (Matrix Pencil) method was applied to extract the natural poles of a target. Finally, a 0.2-m-diameter spherical air cavity underground could be estimated by comparing both the pole library of the objects and the calculated natural poles and the natural resonant frequency of the target. The computed location (depth) of a target showed an accuracy of approximately 84 to 93%.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.1-10
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• 2021

The interest in underwater acoustic sensor networks (UWASNs), along with the rapid development of underwater industries, has increased. To operate UWASNs efficiently, it is important to adopt well-designed medium access control (MAC) protocols that prevent collisions and allow the sharing of resources between nodes efficiently. On the other hand, underwater channels suffer from a narrow bandwidth, long propagation delay, and low data rate, so existing terrestrial node pairing schemes for non orthogonal multiple access (NOMA) cannot be applied directly to underwater environments. Therefore, a multi-dimensional node pairing scheme is proposed to consider the unique underwater channel in UWASNs. Conventional NOMA schemes have considered the channel quality only in node pairing. Unlike previous schemes, the proposed scheme considers the channel gain and many other features, such as node fairness, traffic load, and the age of data packets to find the best node-pair. In addition, the sender employs a list of candidates for node-pairs rather than path loss to reduce the computational complexity. The simulation results showed that the proposed scheme outperforms the conventional scheme by considering the fairness factor with 23.8% increases in throughput, 28% decreases in latency, and 5.7% improvements in fairness at best.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.2
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• pp.76-84
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• 2021

The quality assurance activities can detect the factors that affect the quality based on risk identification in the course of mass production. Risk identification is conducted with risk analysis, and the risk analysis method for the rotorcraft landing system is selected by failure mode effects analysis (FMEA). FMEA is a method that detects the factors that can affect the product quality by combining severity, occurrence, and detectability. The results of FMEA were prioritized using the risk priority number. On the other hand, these methods have certain shortcomings because the severity, occurrence, detectability are weighted equally. Dempster-Shafer evidence theory can conduct uncertainty analysis for the opinions with personal reflections and subjectivity. Based on the theory, the belief function and the plausibility function can be formed. Moreover, the functions can be utilized to evaluate the belief rate and credibility. The system is exposed to impact during take-off and landing. Therefore, experts should manage failure modes in the course of mass production. In this paper, FMEA based on the Dempster-Shafer evidence theory is discussed to perform risk analysis regarding the failure mode of the rotorcraft landing system. The failure priority was evaluated depending on the factor values. The results were derived using belief and plausibility function graphs.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.5
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• pp.310-316
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• 2021

Conventional satellites are generally large satellites that are multi-functional and have high performance. However, small satellites have been gradually drawing attention since the recent development of lightweight and integrated electric, electronic, and optical technologies. As the size and weight of a satellite decrease, the barrier to satellite development is becoming lower due to the cost of manufacture and cheaper launch. However, solar panels are essential for the power supply of satellites but have limitations in miniaturization and weight reduction because they require a large surface area to be efficiently exposed to sunlight. Space solar cells must be manufactured in consideration of various space environments such as spacecraft and environments with solar thermal temperatures. It is necessary to study structural materials for lightweight and high-efficiency solar cells by applying an unfolding mechanism that optimizes the surface-to-volume ratio. Currently, most products are developed and operated as solar cell panels for space applications with a triple-junction structure of InGaP/GaAs/Ge materials for high efficiency. Furthermore, multi-layered junctions have been studied for ultra-high-efficiency solar cells. Flexible thin-film solar cells and organic-inorganic hybrid solar cells are advantageous for material weight reduction and are attracting attention as next-generation solar cells for small satellites.