• 제어로봇시스템학회논문지
• /
• 제21권4호
• /
• pp.349-355
• /
• 2015

Underwater robots generally show better performances for tasks than humans under certain underwater constraints such as. high pressure, limited light, etc. To properly diagnose in an underwater environment using remotely operated underwater vehicles, it is important to keep autonomously its own position and orientation in order to avoid additional control efforts. In this paper, we propose an efficient method to assist in the operation for the various disturbances of a remotely operated vehicle for the diagnosis of underwater structures. The conventional AHRS-based bearing estimation system did not work well due to incorrect measurements caused by the hard-iron effect when the robot is approaching a ferromagnetic structure. To overcome this drawback, we propose a sensor fusion algorithm with the camera and AHRS for estimating the pose of the ROV. However, the image information in the underwater environment is often unreliable and blurred by turbidity or suspended solids. Thus, we suggest an efficient method for fusing the vision sensor and the AHRS with a criterion which is the amount of blur in the image. To evaluate the amount of blur, we adopt two methods: one is the quantification of high frequency components using the power spectrum density analysis of 2D discrete Fourier transformed image, and the other is identifying the blur parameter based on cepstrum analysis. We evaluate the performance of the robustness of the visual odometry and blur estimation methods according to the change of light and distance. We verify that the blur estimation method based on cepstrum analysis shows a better performance through the experiments.

• 대한전기학회논문지:전력기술부문A
• /
• 제54권7호
• /
• pp.328-336
• /
• 2005

Power quality has become concern both utilities and their customers with wide spread use of electronic and power electronic equipment. The poor quality of electric power causes malfunctions, instabilities and shorter lifetime of the load. In power system operation, power system disturbances such as faults, overvoltage, capacitor switching transients, harmonic distortion and impulses affects power quality. For diagnosing power quality problem, the causes of the disturbances should be understood before appropriate actions can be taken. In this paper we present a new approach to detect, localize, and investigate the feasibility of classifying various types of power quality disturbances. This paper deals with the use of a multi-resolution analysis by a discrete wavelet transform to detect power system disturbances such as interruption, sag, swell, transients, etc. We also proposed do-noising and threshold technique to detect power system disturbances in a noisy environment. To find the better mother wavelet for detecting disturbances, we compared the performance of the disturbance detection with the several mother wavelets such as Daubechies, Symlets, Coiflets and Biorthogonals wavelets. In our analysis, we adopt db4 wavelet as mother wavelet because it shows better results for detecting several disturbances than other mother wavelets. To show the effectiveness of the proposed method, a various case studies are simulated for the example system which is constructed by using PSCAD/EMTDC. From the simulation results. proposed method detects time Points of the start and end time of the disturbances.

• 조명전기설비학회논문지
• /
• 제13권3호
• /
• pp.48-55
• /
• 1999

본 연구에서는 방사상 배전계통에 있어서 손실감소 및 전압보상을 위한 커패시터 최적배치 및 운용 방안을 제시하였다. 커패시터 배치와 관련된 비용함수를 실제 뱅크단위로 이산성을 고려하여 계단함수로 정식화하였다. 불연속이면서 미분 불가능한 함수인 커패시터 배치와 관련된 비용함수의 해를 효율적으로 구하기 위하여 전역적탐색기법인 GA를 이요하였다. 특히, GA의 스트링을 커패시터가 배치될 모선의 인덱스와 투입량인 뱅크단위로 동시에 구성하여 기존의 방법보다 효율적으로 해를 탐색하였다. 또한 스트링의 길이를 변화시킬 수 있는 길이 돌연변이(length mutation) 연산자를 사용하므로써 효과적으로 커패시터 설치위치의 수를 결정할 수 있었다. 제안한 커패시터 설치위치와 투입량을 동싱에 탐색할 수 있는 방안으로부터 커패시터의 최소 투입량으로 다양한 부하레벨에서 전력손실을 감소시키고, 전압강하를 적절히 보강시킬수 있다. 이에 대한 효용성을 입증하기 위하여 22kV-9-section feeler로 구성된 방사상 배전계통에 적용하였다.

• 한국지능시스템학회논문지
• /
• 제18권5호
• /
• pp.718-723
• /
• 2008

베어링은 각종 설비에서 활용되는 중요한 기계요소 중 하나이다. 설비고장의 상당수는 베어링의 결함이나 파손에 기인하고 있다. 따라서 베어링에 대한 온라인모니터링기술은 설비의 정지를 예방하고 손실을 줄이는 데 필수적이다. 본 논문은 진동 신호를 이용하여 베어링의 상태를 예측하기 위한 온라인모니터링에 대해 연구한다. 프로파일로 주어지는 진동신호는 이산 웨이블릿 변환을 통해 분석되고, 분해수준별 웨이블릿 계수로부터 얻은 통계적 특징 중 유의한 것을 선별하고자 분산분석 (ANOVA)을 이용한다. 선별된 특징벡터는 Support Vector Machine (SVM)의 입력이 되는 데, 본 논문에서는 다중클래스 분류문제를 다루기 위한 계층적 SVM 트리를 제안한다. 수치실험 결과, 제안된 방법은 베어링의 결함을 분류하는 데 우수한 성능을 갖는 것으로 나타났다.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제7권4호
• /
• pp.726-747
• /
• 2013

In order to support a large number of mobile stations (MSs) with statistical multiplexing in cellular networks, a random access scheme is widely used for uplink (UL) bandwidth request (BR). In the design of a random access based BR scheme, there are two important requirements: short connection delay and diverse Quality of Services (QoSs) support. Such requirements are crucial for IMT-Advanced systems like IEEE 802.16m to provide various types of fourth generation (4G) data services. IEEE 802.16m provides advanced UL BR schemes for non-real time polling service (nrtPS) and best-effort (BE) service to meet the requirements of short connection time and multiple QoS level support. In order to provide short connection time and multiple QoS support, three-step and differentiated BR procedures are adopted. In this paper, a novel modelling of IEEE 802.16m contention based BR scheme is proposed that uses a 2-dimensional discrete time Markov chain. Both the short access delay three-step BR procedures and normal five-step BR procedure are considered in the model. Our proposed model also incorporates the IEEE 802.16m differentiated BR procedure. With the proposed model, we extensively evaluate the performance of IEEE 802.16m BR for two different service classes by changing QoS parameters, such as backoff window size and BR timer. Computer simulations are performed to corroborate the accuracy of the proposed model for various operation scenarios. With the proposed model, accurate QoS parameter values can be derived for the IEEE 802.16m contention-based BR scheme.

• Journal of Chest Surgery
• /
• 제18권2호
• /
• pp.165-173
• /
• 1985

A clinical analysis was performed n 706 uses of patent ductus arteriosus experienced at Department of Thoracic and Cardiovascular Surgery, Seoul National University Hospital during 27 years period from 1958 to 1984. Of the 706 patients of PDA, 244 patients were male and 462 patients were female and ages ranged from 2 months to 53 years old with the average age of 8.5 years. The chief complaints on admission were dyspnea on exertion and frequent URI in 58.9%, non specific symptoms such as palpitation and easy fatigability in 9.7%, symptoms of CHF in 2.0% and no subjective symptoms in 29.4%. On auscultation of heart, continuous machinery murmurs were heard in 82% and only systolic murmurs were heard in 18% of patients. On simple chest PA of patients, cardiomegalies were detected in 78% and there were increased pulmonary vascularities in 93% of patients. EKG findings were as followed; LVH 56.9%, BVH 12.6%, RVH 2.9% and WNL 27.6%. Cardiac Catheterizations were performed in 512 patients and mean Qp/Qs was 2.56 and mean systolic pulmonary artery pressure was 45mmHg. Operation methods were as followed; in patients in whom operations were performed on PDA only, ligation 94.3%, division 3.7% and ligation [0.5%] or trans-pulmonary artery suture closure [1.5%] under cardiopulmonary bypass 2.0% and in patients in whom operations were performed with associated anomalies, ligation 17.6%, division 2.4%, and ligation [44.7%] or trans-pulmonary artery suture closure [35.3%] under cardiopulmonary bypass 80%. 52 postoperative complications [8.4%] were developed in 42 patients [6.8%] and its were as followed; permanent or transient hoarseness 16 [2.6%], intraoperative rupture of PDA 8 [1.3%], recannalization 6 [1.[%], operative death 5 [0.8%], late death 4 [0.6%] and other miscellaneous complications 13 [2.1%]. 140 associated cardiac anomalies [19.8%] were found in 105 patients [14.9%] and its were as followed; VSD 68 [9.6%], COA 15 [2.1%], Subaortic discrete membrane 7 [0.9%], ASD 6 [0.8%], TOF 5 [0.7%] and other miscellaneous and

• 대한교통학회지
• /
• 제33권2호
• /
• pp.204-213
• /
• 2015

지하철 역사 공간 내 보행교통류의 혼잡 상황은 역사의 이용효율을 저해시킨다. 특히 방향별 동선의 미분리로 인한 보행자간 상충은 보행자의 이동저항을 증가시키며 통행시간과 안전사고에 부정적인 영향을 끼치게 된다. 본 연구에서는 미시적 움직임에 기반한 양방향 보행교통류의 통행 특성을 분석하였으며, 동선 분리로 인한 운영상의 효과를 분석하는 모형을 개발하였다. 이산요소법에 따라 역사 공간을 2차원 grid 구조로 해석하였으며, 각 grid에 존재하는 cell 별로 보행자의 움직임이 이루어진다고 보았다. 그 결과 양방향 보행교통류가 상충하는 상황에서는 동선을 분리시키고, 우측통행을 유도하여 보행자들의 진행 방향을 정돈시키는 경우가 가장 효율이 좋은 것으로 분석되었다. 이에, 동선 분리 시스템을 적용하여 보행편의 및 이동성을 증진시키기 위한 시사점을 제시하고자 한다.

• 대한전기학회논문지:전력기술부문A
• /
• 제53권10호
• /
• pp.556-564
• /
• 2004

This paper presents an application of parallel Genetic Algorithm-Tabu Search(GA-TS) algorithm to search an optimal solution of a reconfiguration in distribution system. The aim of the reconfiguration of distribution systems is to determine switch position to be opened for loss minimization in the radial distribution systems, which is a discrete optimization problem. This problem has many constraints and very difficult to solve the optimal switch position because it has many local minima. This paper develops parallel GA-TS algorithm for reconfiguration of distribution systems. In parallel GA-TS, GA operators are executed for each processor. To prevent solution of low fitness from appearing in the next generation, strings below the average fitness are saved in the tabu list. If best fitness of the GA is not changed for several generations, TS operators are executed for the upper 10% of the population to enhance the local searching capabilities. With migration operation, best string of each node is transferred to the neighboring node aster predetermined iterations are executed. For parallel computing, we developed a PC-cluster system consisting of 8 PCs. Each PC employs the 2 GHz Pentium Ⅳ CPU and is connected with others through ethernet switch based fast ethernet. To show the usefulness of the proposed method, developed algorithm has been tested and compared on a distribution systems in the reference paper. From the simulation results, we can find that the proposed algorithm is efficient and robust for the reconfiguration of distribution system in terms of the solution qualify. speedup. efficiency and computation time.

• 전기전자학회논문지
• /
• 제17권3호
• /
• pp.324-331
• /
• 2013

본 논문에서는 멤리스터 에뮬레이터 회로를 PCB 보드 상에서 구현하여 이의 측정을 통해서 멤리스터의 고유한 pinched hysteresis 특성을 관찰하였다. PCB 보드 상에서 구현된 멤리스터 에뮬레이션 회로는 간단한 부품으로 구성되어 있고 복잡한 회로 블록을 사용하지 않았기 때문에 집적회로의 구현 시에도 매우 작은 면적으로 설계가 가능하다는 장점이 있다. 또한 본 논문에서는 프로그램 가능한 이득증폭기를 멤리스터 에뮬레이션 회로를 사용하여 설계해서 이 회로의 전압이득이 멤리스터의 저항의 프로그래밍을 통해서 조절이 가능하다는 것을 보였다. 이득증폭기에 사용되는 멤리스터 에뮬레이션 회로의 구현을 위해서 멤리스터 소자의 특성 중에 하나인 threshold switching 특성이 회로로 구현되어 VREF 보다 낮은 전압이 인가되었을 때는 멤리스터의 저항 값이 변하지 않도록 설계하였고 이의 동작을 시뮬레이션을 통해서 검증하였다. 본 논문에서 PCB 보드 상에서 구현되고 검증된 멤리스터 에뮬레이션 회로와 이 회로를 이용한 프로그램 가능한 이득증폭기는 멤리스터 소자의 실제 제작이 불가능한 경우에, 멤리스터의 동작과 기능, 특성 및 멤리스터 응용회로의 이해에 많은 도움이 될 것이다.

• Wind and Structures
• /
• 제31권4호
• /
• pp.373-380
• /
• 2020

For large-scale 5MW offshore wind turbines, the discrete equation of fluid domain and the motion equation of structural domain with geometric nonlinearity were built, the three-dimensional modeling of the blade considering fluid-structure interaction (FSI) was achieved by using Unigraphics (UG) and Geometry modules, and the numerical simulation and the analysis of the vibration characteristics for wind turbine structure under rotating effect were carried out based on ANSYS software. The results indicate that the rotating effect has an apparent effect on displacement and Von Mises stress, and the response and the distribution of displacement and Von Mises stress for the blade in direction of wingspan increase nonlinearly with the equal increase of rotational speeds. Compared with the single blade model, the blade vibration period of the whole machine model is much longer. The structural coupling effect reduces the response peak value of the blade displacement and Von Mises stress, and the increase of rotational speed enhances this coupling effect. The maximum displacement difference between two models decreases first and then increases along wingspan direction, the trend is more visible with the equal increase of rotational speed, and the boundary point with zero displacement difference moves towards the blade root. Furthermore, the Von Mises stress difference increases gradually with the increase of rotational speed and decreases nonlinearly from the blade middle to both sides. The results can provide technical reference for the safe operation and optimal design of offshore wind turbines.