• 한국자동차공학회논문집
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• 제14권4호
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• pp.123-131
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• 2006

The majority of pedestrian fatalities and injuries are caused by vehicle-pedestrian accidents. Recently, it has been recognized as a serious problem. Injuries of occupants in a vehicle have been decreased considerably. However, efforts for protection of pedestrians are still insufficient. These days, many advanced industries are striving for a better protection of pedestrians by using an active hood lift system, rather than reforming the existing structure. In this research, the active hood lift system is designed to enhance the performance for protection. The active hood lift system is analyzed by using the nonlinear finite element method. An optimization problem is formulated by incorporation of the analysis results. Orthogonal arrays are utilized to solve the formulated problem. An iterative optimization algothrithm using orthogonal arrays is utilized for design in the discrete space. It is found that the method can remarkably decrease the number of function evaluations.

• 한국정밀공학회지
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• 제22권1호
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• pp.53-60
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• 2005

The wire rope of container crane is a important component to container transfer system and is used in a myriad of various applications such as elevator, mine hoist, construction machinery, and so on. If it happen wire rope failures in operating, it may lead to the safety accident and economic loss, which is productivity decline, competitive decline of container terminal, etc. To solve this problem, we developed the active and portable wire rope fault detecting system. The developed system consists of three parts that are the fault detecting, signal processing, and remote monitoring part. All detected signal has external noise or disturbance according to circumstances. Therefore we applied to discrete wavelet transform to extract a signal from noisy data that was used filter. As experimental result, we can reduce the expense for container terminal because of extension of exchange period of wire rope for container crane and this system is possible to apply in several fields to use wire rope.

• 로봇학회논문지
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• 제10권1호
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• pp.1-8
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• 2015

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권5호
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• 대한기계학회논문집B
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• 제24권6호
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• pp.814-821
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• 2000

The Discrete Ordinates Interpolation Method (DOIM) is tested in three-dimensional enclosures. The radiative transfer equation (RTE) is solved for a linear source term and the DOIM is formulated for a gray medium. Several interpolation methods can be applied to the DOIM scheme. Among them, the interpolation method applicable to an unstructured grid system is discussed. In a regular hexahedron enclosure, radiative wall heat fluxes are calculated and compared with exact solutions. The enclosure has an absorbing, emitting and nonscattering medium and a constant temperature distribution. These results are obtained with varying optical depths (xD = 0.1, 1.0, 10.0). Also, the same calculations are performed in an irregular hexahedron enclosure. The DOIM is applied to an unstructured grid system as well as a structured grid system for the same regular hexahedron enclosure. They are compared with the exact solutions and the computational efficiencies are discussed. When compared with the analytic solutions, results of the DOIM are in good agreement for three-dimensional enclosures. Furthermore, the DOIM can be easily applied to the unstructured grid system, which proves the reliability and versatility of the DOIM.

• Journal of Power Electronics
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• 제16권3호
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• pp.1097-1109
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• 2016

Fault detection and isolation are related to system monitoring, identifying when a fault has occurred, and determining the type of fault and its location. Fault detection is utilized to determine whether a problem has occurred within a certain channel or area of operation. Fault detection and diagnosis have become increasingly important for many technical processes in the development of safe and efficient advanced systems for supervision. This paper presents an integrated technique for fault diagnosis and classification for open- and short-circuit faults in three-phase inverter circuits. Discrete wavelet transform and principal component analysis are utilized to detect the discontinuity in currents caused by a fault. The features of fault diagnosis are then extracted. A fault dictionary is used to acquire details about transistor faults and the corresponding fault identification. Fault classification is performed with a fuzzy logic system and relevance vector machine (RVM). The proposed model is incorporated with a set of optimization techniques, namely, evolutionary particle swarm optimization (EPSO) and cuckoo search optimization (CSO), to improve fault detection. The combination of optimization techniques with classification techniques is analyzed. Experimental results confirm that the combination of CSO with RVM yields better results than the combinations of CSO with fuzzy logic system, EPSO with RVM, and EPSO with fuzzy logic system.

• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.203-208
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• 1998

This paper presents an adaptive fuzzy controller using an neural network and adaptation algorithm. Reference-model following neuro-fuzzy controller(RMFNFC) is invesgated in order to overcome the difficulty of rule selecting and defects of the membership function in the general fuzzy logic controller(FLC). RMFNFC is developed to tune various parameter of the fuzzy controller which is used for the discrete nonlinear system control. RMFNFC is trained with the identification information and control closed loop error. A closed loop error is used for design criteria of a fuzzy controller which characterizes and quantize the control performance required in the overall control system. A control system is trained up the controller with the variation of the system obtained from the identifier and closed loop error. Numerical examples are presented to control of the discrete nonlinear system. Simulation results show the effectiveness of the proposed controller.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제1권3호
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• pp.125-132
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• 2012

마이크로그리드(microgrid)의 독립적 운용방식(islanded operation mode)에서는 전력 공급량과 전력 수요량 사이의 균형을 맞추기 위하여 부하차단(load shedding) 기법이 사용된다. 기존의 부하차단 기법들은 부하의 요구량이 연속적인 값의 범위를 갖는다고 가정하였다. 그러나 일부 부하는 이산적인 정수 값을 사용하여 자신의 요구량을 나타낸다. 따라서 본 논문에서는 독립형 운용방식 환경에서 부하 요구량의 이산적인 특성을 고려한 부하차단 기법을 다중 에이전트 시스템을 이용하여 설계한다. 또한 시스템 구조, 에이전트 기능, 그리고 에이전트 간 통신 프로토콜을 추가로 정의 및 확장함으로써 시스템을 구현하였으며, 구현된 시스템을 기반으로 다양한 시나리오 환경에서의 실험을 통하여 그 성능을 증명하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.306-309
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• 1993

Digital redesign techniques are to derive a digital controller fred the existing continuous controller and its plant so that the performance of the digitally controlled system is matched as closely as possible to that of the original continuous system at the sampling instants. Recently a new digital redesign technique, was developed to use the generalized sampled-data hold function(GSHF) based on the the grammian matrix. With this new technique the digitally redesigned system showed several good features compared with any existing technique in terms of the state match at the sampling instants, the large sampling period, and the transient reponses. This paper concerns a further improvement of the new digital redesign technique by employing the discrete grammian matrix instead of the continuous grammian matrix in defining GSHF. With this modification, it was observed by simulation that the transient response of the modified digital system shows far better performance than the digital system based on the continuous grammian matrix.