• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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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• 제9권2호
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• pp.185-206
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• 2001

셀룰라 오토마타(CA)는 복합체(complex system)의 특성과 행태를 분석하거나 시뮬레이션 하기 위해서 고안된 이론적 체계로 자연과학 및 공학의 여러 분야에서 연구되어왔다. 최근 GIS 분야에서는 CA가 가지고 있는 시공간적 동적 모델 구현의 개념적 우수성과 래스터 GIS와의 유사성에 근거하여 CA와 GIS를 이용한 다양한 모델링 연구가 발표되고 있다. 그러나 대부분의 연구에서 개발된 CA모델들은 GIS의 제한된 기능을 바탕으로 구현되어 CA가 가지고 있는 장점들을 충분히 활용하고 있지 못하며 실제적인 모델링 연구에 활용될 수 있는 통합시스템이 개발되어 있지 않다. 본 연구에서는 CA를 GIS의 모델링 엔진으로 결합하여 동적 공간 모델링 혹은 시뮬레이션을 수행할 수 있는 범용의 CA-GIS 통합시스템을 개발하였다. 이러한 CA-GIS 통합시스템을 개발하였다. 이러한 CA-GIS 통합시스템은 GIS의 동적 공간 모델링 기능을 대폭 보완할 수 있을 것으로 기대되며 도시성장 예측모델 개발과 같은 실제적인 모델링 연구 수행에 효과적인 도구로 활용될 수 있을 것으로 판단된다.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제3권11호
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• pp.419-426
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• 2014

최근 스마트 모바일 기기에서의 고성능화 추세는 더 많은 소비 전력을 요구하게 되어 배터리 사용 시간의 감소로 이어지고 있다. 이에 배터리 관리의 중요성과 그 연구에 필요한 정확한 배터리 모델링 방법이 중요해지고 있다. 배터리 모델은 크게 수학적 모델, 전기화학적 모델, 전기적 모델로 구분된다. 그중 전기적 모델에서 전기적 소자를 사용한 테브닌 등가회로와 SOC의 비선형 함수 모델을 사용하는 것이 일반적이나, 온도나 사용연한에 따른 특성 변화, 전기적 소자로 표현할 수 없는 비정형적 저항성분 등의 존재로 OCV 결과 출력의 정확성에 한계가 존재한다. 본 논문에서는 기존의 모델의 정확성을 향상시키기 위하여 배터리의 SOC 특성을 나타내는 수학적 함수 모델을 개선하고 온도, 수명, 그리고 전기적 특성의 비선형성을 포함하는 새로운 배터리 모델을 제안한다. 또한 제안한 모델을 구현한 시뮬레이터를 사용하여 정적 전류 상태와 동적 전류 상태에서의 배터리의 방전 결과를 예측한 결과, 기존 방법 대비 실측값과의 MSE가 개선된 결과를 보였다.

• 품질경영학회지
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• 제18권2호
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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.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2005년도 전력전자학술대회 논문집
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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.

• 한국에너지공학회:학술대회논문집
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• 한국에너지공학회 1993년도 추계학술발표회 초록집
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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.

• 전자공학회논문지S
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• 제34S권10호
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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.

• 대한의용생체공학회:의공학회지
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• 제36권6호
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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.

• 한국해양공학회지
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• 제29권6호
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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.

• 드라이브 ㆍ 컨트롤
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• 제16권4호
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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.