• 한국군사과학기술학회지
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• 제14권6호
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• 한국항공우주학회지
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• 제49권5호
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• pp.389-397
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• 2021

인공위성의 자세제어 구동기인 제어모멘트자이로의 고장에 따른 제어 특성을 분석하였다. 특히, 4개 중에 한 개가 고장난 상황을 고려하였다. 가장 많이 사용되는 피라미드와 box-90 구조를 고려하였으며, 고장 발생 이후의 특이점 및 특이면을 분석하고 비교하였다. 모듈이 고장나고 휠 속도를 줄이는 과정에 대한 동역학 방정식을 유도하였다. 정상인 세 모듈이 고장난 모듈의 모멘텀을 흡수하면서 위성의 각속도를 안정화하는 과정을 분석하였는데, 특이형상에서 나머지 CMG가 교착되거나 과도하게 요동할 수 있는데, 짐벌각 재조정을 통하여 방지할 수 있음을 제시한다.

• 한국정보전자통신기술학회논문지
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• 제12권2호
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• pp.120-126
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• 2019

최근 정밀기계, 전기전자, 반도체 등의 급속한 산업의 발달로 전장장치의 고정밀도 가공의 필요성이 증대하고 있다. 작업자의 감각과 경험에 의존하던 절삭 공작기계 제어는 CNC(Computerized Numeric Controller: 컴퓨터 수치제어) 도입으로 가공 정밀도가 획기적으로 개선되고 있다. 또한 공작 기계의 운전 상태를 실시간 반영하는 가공 동특성(cutting dynamics)기법이 관심을 받고 있다. 본 논문은 CNC 공작기계에 음향센서를 부착하여 공구떨림 감지 및 안정화하는 방안을 제시한다. 공구 이송 위치와 음향센서 데이터를 동기화 하고 수집된 음향 주파수에서 이상 진동음에 대한 주파수를 분석하여 떨림을 감지한다. 또한 가공 동특성 기법을 적용하여 공구떨림 감지와 안정화의 신뢰성을 높인다. 제안한 기법은 금형 가공의 공구떨림 안정화 전후 가공 표면조도의 향상 관점에서 분석 평가한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Wind and Structures
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• 제30권3호
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• pp.317-323
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• 2020

A novel approach is presented to improve dynamic responses of a pedestrian bridge by utilizing decorative wind chimes. Through wind tunnel tests, it was verified that wind chimes can provide stabilization effects against flutter instability, especially at positive or negative wind angles of attack. At zero degrees of angle of attack, the wind chimes can change the flutter pattern from rapid divergence to gradual divergence. The decorative wind chimes can also provide damping effects to suppress the lateral sway motion of the bridge caused by pedestrian footfalls and wind forces. For this purpose, the swing frequency of the wind chimes should be about the same as the structural frequency, which can be achieved by adjusting the swing length of the wind chimes. The mass and the swing damping level are other two important and mutually interactive parameters in addition to the swing length. In general, 3% to 5% swing damping is necessary to achieve favorite results. In the study case, the equivalent damping level of the entire system can be increased from originally assumed 1% up to 5% by using optimized wind chimes.

• 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.

• 펄프종이기술
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• 제37권2호
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• pp.30-37
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• 2005

Compact system as a new and highlighted trend in papermaking technology gives papaermakers many advantages including simple and clean process, quick grade change, minimized liquid volume, and so on. It is possible to remove an existed chest for simplifying system and more utilization of space, but its effect on process and product stability must be evaluated qualitatively in advance. For this purpose, process simulation can be applied. We examined the effect of disturbances on process and product in a papermaking system with and without machine chest using dynamic simulation. As compared with the existed system, the paprmaking system without machine chest showed twice or more variation in process and product and required longer time for stabilization.

• International Journal of Fluid Machinery and Systems
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• 제2권4호
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• pp.334-345
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• 2009

Pumped storage power plants are playing a significant role in the contribution to the stabilization of an electrical grid, above all by stable operation and fast reaction to sudden load respectively frequency changes. Optimized efficiency and smooth running characteristics both in pump and turbine operation, improved stability for synchronization in turbine mode, load control in pump mode operation and also short reaction times may be achieved using adjustable speed power units. Such variable speed power plants are applicable for high variations of head (e.g. important for low head pump-turbine projects). Due to the rapid development of power semiconductors and frequency converter technology, feasible solutions can be provided even for large hydro power units. Suitable control strategies as well as clear design criteria contribute significantly to the optimal usage of the pump turbine and motor-generators. The SIMSEN tool for dynamic simulations has been used for comparative investigations of different configurations regarding the power converter topology, types of semiconductors and types of motor-generators including the coupling to the hydraulic system. A brief overview of the advantages & disadvantages of the different solutions can also be found in this paper. Using this approach, a customized solution minimizing cost and exploiting the maximum usage of the pump-turbine unit can be developed in the planning stage of new and modernization pump storage projects.

• 한국시뮬레이션학회논문지
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• 제22권3호
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• pp.81-87
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• 2013

본 논문은 컴퓨터 해석프로그램인 SimulationX를 이용하여 굴삭기 주행모터의 내부에서 발생하는 서지압력의 저감 방법에 대하여 분석하는 연구이다. 설계민감도 해석을 통하여 설계상의 문제점을 파악하고 해결책에 접근하는 방법을 다룬다. 진행순서는 다음과 같다. 우선 현재 설계 된 주행모터에 장착된 밸브들의 동적거동을 분석하여 설계의 문제점을 찾아낸다. 그 후 많은 설계변수들 중 동적성능향상에 민감하다고 판단되는 변수를 도출하고 설계치수를 조정하여 동적성능 안정화의 경향을 살펴본다. 마지막으로 민감한 변수가 다수 일 경우 변수조합을 통해 효과적인 튜닝방법을 제안한다.

• 한국산학기술학회논문지
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• 제9권6호
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• pp.1574-1580
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• 2008

본 논문에서는 외란이나 시스템의 파라미터 변동 및 불확실성 등이 존재하는 자동화 설비시스템을 강인하고 정밀하게 제어할 수 있도록 하기 위해 동적 신경망 처리기(DNP)인 신경망 제어기를 설계하였다. 자동화 설비시스템에서 부품의 조립, 가공 등 복잡하고 정교한 임무를 수행시키기 위해서는 end-effector의 이동경로 궤적에 대한 추적제어 뿐만 아니라 목표물에 대하여 접촉하는 힘의 궤적에 대한 추적 제어가 필수적이다. 또한 자동화 설비시스템에서 플랜트의 역기구학적인 좌표변환을 계산하기 위한 학습구조를 개발하였으며, DNP가 이용될 수 있는 예를 설명하였다. 제안된 동적 신경망인 DNP의 구조와 학습 알고리즘을 제시하고 컴퓨터 모의실험을 통해 학습 성능을 증명하였다.