• 한국항공우주학회지
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• 제38권5호
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• pp.427-436
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• 2010

본 논문은 다수의 목표물과 다수의 임무가 존재하는 상황에서의 다수 무인항공기의 임무할당 문제를 다룬다. 다수 무인항공기의 임무할당 문제는 순회 세일즈맨 문제, 차량 라우팅 문제와 같은 조합최적화 문제의 일종으로 NP-hard의 계산 복잡도를 가지고 있다. 이런 성격의 문제는 문제의 크기가 커질수록 계산시간이 급격히 증가하는 특징을 지니기 때문에 문제를 효율적으로 풀기 위해서 근사화 방법 또는 발견적인 방법을 사용한다. 본 연구에서는 임무할당 문제를 혼합정수 선형계획 문제로 정식화하고, 혼합정수 선형계획법과 유전 알고리듬으로 해를 구하였다. 다수의 목표물, 다수의 임무, 장애물이 존재하는 환경에 대한 수치 시뮬레이션을 수행하여 각 방법의 최적성과 효율성에 대해 검토하였다.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.107-116
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• 2003

This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.

• Structural Engineering and Mechanics
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• 제39권1호
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• pp.147-168
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• 2011

To ensure safety and long term performance, structural control has rapidly matured over the past decade into a viable means of limiting structural responses to strong winds and earthquakes. Nonlinear response history analysis requires rigorous procedure to compute seismic demands. Therefore the simplified nonlinear analysis procedures are useful to determine performance of the structure. In this investigation, application of improved capacity demand diagram method in the control of structural system is presented for the first time. Developed pole assignment method (DPAM) in structural systems control is introduced. Genetic algorithm (GA) is employed as an optimization tool for minimizing a target function that defines values of coefficient matrices providing the placement of actuators and optimal control forces. The ground acceleration is modified under induced control forces. Due to this, performance of structure based on improved nonlinear demand diagram is selected to threshold of nonlinear behavior of structure. With small energy consumption characteristics, semi-active devices are especially attractive solutions for limiting earthquake effects. To illustrate the efficiency of DPAM, a 30-story steel moment frame structure employing the semi-active control devices is applied. In comparison to the widely used linear quadratic regulation (LQR), the DPAM controller was shown to be just as effective and better in the reduction of structural responses during large earthquakes.

• 제어로봇시스템학회논문지
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• 제6권11호
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• pp.974-980
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• 2000

In this paper, we present a method that has flexibility of exact assignment of eigenstructure with the stochastic robustness for LTI(Linear-Time-Invariant) systems. The stochastic robustness of LTI systems is determined by the probability distributions of closed-loop eigenvalues. The probabilistic stability region is presented stochastically using the Monte Carlo evaluations. The proposed scheme is applied to designing a simple system and a flight control system with stochastic parameter variations to confirm the usefulness of the scheme.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.854-870
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• 2000

This survey paper presents and overview on eigenstructure assignment (EA) control design methodologies. EA is an excellent control design method which may be used to assign the entire eigenstructure(eigenvalues, and right or left eigenvectors) of a closed-loop linear system via a full state or an output feedback control law. In general, EA is well-sutied for incorporating classical specifications on damping, settling time, and mode or disturbance decoupling into a modern multivariable control framework. The purpose of this paper is to provide an extensive survey on EA control design methods that might serve as an introduction to a study on EA. The fundamental concepts and formulations for understanding EA problems are extensively described. The recently reported results on EA are also presented.

• ETRI Journal
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• 제21권4호
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• pp.9-22
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• 1999

This paper considers a problem of configuring both physical backbone and logical virtual path (VP) networks in a reconfigurable asynchronous transfer mode (ATM) network where links are subject to failures. The objective is to determine jointly the VP assignment, the capacity assignment of physical links and the bandwidth allocation of VPs, and the routing assignment of traffic demand at least cost. The network cost includes backbone link capacity expansion cost and penalty cost for not satisfying the maximum throughput of the traffic due to link failures or insufficient link capacities. The problem is formulated as a zero-one non-linear mixed integer programming problem, for which an effective solution procedure is developed by using a Lagrangean relaxation technique for finding a lower bound and a heuristic method exploited for improving the upper bound of any intermediate solution. The solution procedure is tested for its effectiveness with various numerical examples.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.536-539
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• 2004

In this paper, a brief discussion on I-PD position controller design for step motor drive is presented. The proposed method mainly focuses on the robustness property of the controller, which is very important for this type of system in which the variation of external load affects plant parameters. It is considered in this paper that two types of controller design methods namely; Coefficient Diagram Method (CDM), and arbitrary Pole Assignment Method (PAM) are treated and compared them. The control plant chosen for our study is a SM inherently is comprised of some non-linear elements. A the scope of the design method is limited to only linear time invariant systems, the SM modeling is approximated to linear system.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 1992년도 제2회 정기총회 및 추계학술 발표회 발표논문 초록
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• pp.8-8
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• 1992

Through a simulation experiment, often an experimenter is concerned with estimating the system parameters of the linear model consisting of m design points from the outputs oft the simulation model. To improve the estimation of the system parameters and reliability of these estimators, appropriate simulation techniques have been developed. For the first order linear model, Schruben and Margolin (1978) exploited the random number assignment rules which uses a combination of common random numbers and antithetic streams in a simulation experiment designed to estimate the system parameters when the design matrix of simulation model admits orthogonal blocking into two blocks. Nozari, Arnold and Pegden (1984) developed a method for appliying the method of control variates to the situation of the linear model having multiple design points. This talk deals with a different way of utilizing controls under the correlation induction strategy of Schruben and Margolin's to improve the simulation efficiency, and presents a procedure for obtaining the estimators of the system parameters analytically. Simulation results on a selected simulation model indicate a promising evidence that a proposed method may yield better results than Schruben and Margolin's method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.884-889
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• 1989

In this paper, a new procedure for selecting weighting matrices in linear discrete time quadratic optimal control problem (LQ-problem) is proposed. In LQ-problems, the quadratic weighting matrices are usually decided on trial and error in order to get a good response. But using the proposed method, the quadratic weights are decided in such a way that all poles of the closed loop system are located in a desired region for good responses as well as for stability and values of the quadratic cost function are kept less then a specified value.

• 한국항해항만학회지
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• 제32권8호
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• pp.621-628
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• 2008

지속적인 컨테이너 물동량의 증가와 컨테이너선의 대형화에 따라서 항만간의 경쟁은 점점 치열해지고 있다. 주요 항만 하역장비 제조사들은 획기적인 생산성 향상을 제공할 수 있는 새로운 개념의 하역장비 개발에 많은 관심을 기울이고 있다. 본 연구에서는 항만의 대표적 하역장비인 컨테이너 크레인에 대해서 다양한 개발 대안들이 존재할 때, 최적의 개발 대안을 선정하는 절차를 제시한다. 절차는 두 단계로 구성되는데, 첫 번째 단계에서는 요구되는 필수요소들을 만족하지 못하는 대안을 제거하고 두 번째 단계에서는 전문가의 평가와 선형 할당법을 적용하여 최종적인 개발 대안을 선정한다. 마지막으로, 제시한 절차를 적용한 사례를 제시한다.