• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• Spatial Information Research
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• v.9 no.2
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• pp.185-206
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• 2001

Cellular Automata(CA) have been investigated and utilized as a theoretical framework and/or methodology for analyzing and simulating the properties and behaviors of many complex systems in various physical science and engineering field. Due to the conceptual elegance and effectiveness of implementing spatio-temporal dynamic models and the compatibility with raster GISs, recently a variety of modeling works using both CA and GIS have been published in GIS fields Most of spatial dynamic models introduced in previous research, however, were very limited and furthermore integrated CA-GIS system for practical modeling purpose are not developed yet. This study aims to develop an integrated CA-GIS system in which a CA simulator is used as an analytical engine for GIS providing a multipurpose spatial dynamic modeling functionalities. This integrated CA-GIS system is anticipated radically enhancing the current lacking dynamic modeling functionalities of GIS and being utilized as an powerful and effective tool for practical spatial dynamic modeling research.

• KIPS Transactions on Computer and Communication Systems
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• v.3 no.11
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• pp.419-426
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• 2014

The recent trend of performance increase in the smart mobile devices demands more power consumption and lower batter life time. Among three battery models of mathematical model, electrochemical model and electric model, the Thevenin's equivalent circuit with non-linear function model of SOC in the electrical model is widely used. However, the OCV results have only limited accuracy because of the characteristic shift caused by temperature and age and atypical impedance property that cannot expressed by electrical components. In this paper, the new battery model that improves the accuracy of the existing models is proposed. In the proposed simulator the mathematical model for SOC characteristic is improved and the adjustment for the temperature, the age of battery and atypical electrical characteristics. In the experimental results of predicting of the battery in the static and dynamic state, the proposed simulator shows improved MSE comparing to the results of the existing methods.

• Journal of Korean Society for Quality Management
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• v.18 no.2
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• pp.18-24
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• 1990

The location of inspection stations is a significant component of production systems. In this paper, a prototype expert system is designed for deciding the optimal location of inspection stations. The production system is defined as a single channel of n serial operation stations. The potential inspection station can be located after any of the operation stations. Nonconforming units are generated from a compound binomial distribution with known parameters at any given operation station. Traditionally Dynamic programming, Zero-one integer programming, or Non-linear programming techniques are used to solve this problem. However a problem with these techniques is that the computation time becomes prohibitively large when t be number of potential inspection stations are fifteen or more. An expert system has the potential to solve this problem using a rule-based system to determine the near optimal location of inspection stations. This prototype expert system is divided into a static database, a dynamic database and a knowledge base. Based on defined production systems, the sophisticated rules are generated by the simulator as a part of the knowledge base. A generate-and-test inference mechanism is utilized to search the solution space by applying appropriate symbolic and quantitative rules based on input data. The goal of the system is to determine the location of inspection stations while minimizing total cost.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.472-475
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• 2005

이 논문은 제주 해남 HVDC 시스템 Hybrid 시뮬레이터 개발과 그 동특성 및 제어 특성을 실제시스템과 비교 분석하였으며 HVDC 시뮬레이터 개발을 위한 구현 및 검증을 제시하였다. 향후 HVDC와 제주 AC 계통에 대한 계통연계 해석 및 HVDC 설비 문제점 해결을 위한 국내기술 확보와 운전자 교육 자료로 사용될 수 있을 것으로 판단된다.

• Proceedings of the Korea Society for Energy Engineering kosee Conference
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• 1993.11a
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• pp.103-108
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• 1993

In nuclear power plants using pressurized water as the main coolant, it is necessary to maintain system pressure within operational range. During transients, the coolant shrinks and expands causing insurge and outsurge of coolant in the pressurizer. In CANDU system, the pressure is controlled mainly by the pressurizer/degasser-condenser system. In CANDU system, the control of heat transport system pressure is achieved by giving heat to the pressurizer by activating the heaters to compensate a diminution in pressure or by removing heat from the pressurizer by bleeding steam to the degasser-condenser to compensate an increase in pressure. This study aims at developing a theoretical model capable to simulate various operational transients in the CANDU primary heat transport system (PHTS), applicable to CANDU engineering simulator on real time basis.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.59-70
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• 1997

Until now, considerable progress has been made in the application of range finding techanique performing direct 3-D measurement from the object. However, ther are few use of the method in the area of the application of material handing. We present a range finding vision system consisting of static and dynamic range finders to automate a reclaimer used for material handling. A static range finder detects range data of the front part of the piles of material, and a height map is obtained from the proposed image processing algorithm. The height map is used to calculate the optimal job path as features for required information for material handling function. A dynamic range finder attached on the side of the arm of the reclaimer detects the change of the local properties of the material with the handling function, which is used for avoiding collision and detecting the ending point for changing direction. the developed vision systm was applied to a 1/20 simulator and the results of test show that it is appropriate to use for automating the material handling.

• Journal of Biomedical Engineering Research
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• v.36 no.6
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• pp.264-270
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• 2015

A mock circulatory loop system has been developed to construct a simulator for trainees in cardiopulmonary bypass systems or to simulate a test environment for cardiac-assist devices. This paper proposes a computerized mock circulatory loop system whose node is modularized by using a servo control flow regulator to simulate dynamic change of the hemodynamic status. To observe the effect of time-varying resistance, one with hemodynamic properties, the proposed system replicates the planned cross-sectional areas of the outlet of a ventricular assist device in terms of voltage input of a servo valve. The experiment is performed (1) for steady-input commands of selected area sizes and (2) for dynamic commands such as monotonous increase and decrease, and oscillatory functions of the voltage input, and a computer program based on LabVIEW (National Instruments, Austin, USA) processes every measured data and control command to the servo valve. The results show that the pressure and flow at the target points with respect to time-varying resistance match intuitive estimation: the pressure at the outlet and the pressure drop between both sides of the valve increased and the flow at the outlet decreased for increased resistance.

• Journal of Ocean Engineering and Technology
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• v.29 no.6
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• pp.488-498
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• 2015

This paper presents the dynamic model of an AUV called HW200 for underwater surveillance. The mathematical model of HW200 is briefly introduced, considering its shape. The maneuvering coefficients were initially estimated using empirical formulas and a database of vehicles with similar shapes. A motion simulator, based on Simulink of Mathworks, was developed to evaluate the mathematical model of the vehicle and to tune the maneuvering coefficients. The parameters were finely tuned by comparing the experimental results and simulated responses generated with the simulator by applying the same control inputs as the experiment. The velocity of HW200 in the tuning process was fixed at a constant forward speed of 1.83 m/s. Simulations with variable speed commands were conducted, and the results showed good consistency in the motion response, attitude, and velocity of the vehicle, which were similar to those of the experiment even under the speed variation. This paper also discusses the feasibility of its application to a model-based integrated navigation system (INS) using the auxiliary information on the velocities generated by the model.

• Journal of Drive and Control
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• v.16 no.4
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• pp.48-55
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• 2019

The Electronic Stability Program (ESP), a system that improves vehicle safety, also known as YMC (Yaw Motion Controller) or VDC (Vehicle Dynamics Control), is a system that operates in unstable or sudden driving and braking situations. Developing conditions such as unstable or sudden driving and braking situations in a vehicle are very dangerous unless you are an experienced professional driver. Additionally, many repetitive tests are required to collect reliable data, and there are many variables to consider such as changes in the weather, road surface, and tire condition. To overcome this problem, in this paper, hardware and control software such as the ESP controller, vehicle engine, ABS, and TCS module, composed of three control zones, are modeled using MATLAB/SIMULINK, and the vehicle, climate, and road surface. Various environmental variables such as the driving course were modeled and studied for the real-time ESP real-time simulator that can be repeatedly tested under the same conditions.