• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2365-2368
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• 2001

This paper describes a fuzzy steering controller for an autonomous mobile robot with MR sensor. Using the magnetic field($B_{x}$, $B_{y}$, $B_{z}$) obtained from the MR sensor, we designed fuzzy controller for driving on the road center. Fuzzy rule base was built to magnetic field($B_{x}$, $B_{y}$, $B_{z}$). To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, dynamic model of mobile robot and coordinate transformation. A computer simulation of the robot (including mobile robot dynamics and steering) was used to verify the steering performance of the mobile robot controller using the fuzzy logic. Good results were obtained by computer simulation. So, we confirmed the robustness of the proposed fuzzy controller by computer simulation. Also, we know that proposed control algorithm was applied to real autonomous mobile robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1377-1379
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• 1996

In this paper, each parameter was identified by the gradient descent method to overcome difficulty deciding fuzzy rules of FLC for the unknown process and the type of membership Junctions. Usually PID or optimal control theories have been mostly usee in control field so far. However, optimal control requires much time for calculation because of adaptation for disturbance and nonlinearity. And intricate technique such as MRAS which can be realized only by an expert are limited to be used in the systems requiring rapid and precise response because of comparatively longer calculating time and complicateness. Gradient descent method is a method to find Z minimizing a function about a certain vector Z. And required output of FLC is gained using gradient approaching method in order to adapt control rule parameters of FLC. Simulation proved validation of this algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1254-1256
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• 1996

Design methods for sequence flow controllers play an important role in industrial automation. To design a flexible, reusable, and maintainable control software has become a key issue nowadays. Petri net has been emerging as an important tool to provide an integrated solution for modeling, analysis, simulation, and control of industrial automated systems recently. This paper describes an international standard of programming languages for programmable logic controllers, IEC 1131-3 SFC( Sequential Function Chart), and the sequence flow control method for an SFC using a Petri net-like model.

• 전기학회논문지P
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• 제53권2호
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• pp.43-50
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• 2004

Percentage differential characteristic relaying(PDR) has been recognized as the principal basis for power transformer protection. Second harmonic restraint PDR has been widely used for magnetizing inrush in practice. Nowadays, relaying signals can contain 2nd harmonic component to a large extent even in a normal state, and 2nd harmonic ratio indicates a tendency of relative reduction because of the advancement of material. Further, as the power system voltage becomes higher and more underground cables are used, larger 2nd harmonic component in the differential current under internal fault is observed. And then, conventional 2nd harmonic restraint PDR exposes some doubt in reliability. It is, therefore, necessary to develop a new algorithm for performance improvement of conventional protective relaying. This paper proposes an advanced protective relaying algorithm by using voltage-current trend and flux-differential current slope characteristic. To evaluate the performance of the proposed algorithm, we have made comparative studies of PDR, fuzzy relaying and DWT relaying. The paper is constructed power system model including power transformer, utilizing the WatATP, and data collection is made through simulation of various internal faults and inrush. As the results of test, the new proposed algorithm was proven to be faster and more reliable.

• 조명전기설비학회논문지
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• 제25권5호
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• pp.22-33
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• 2011

An induction motor operated with a conventional direct self controller(DSC) shows a sluggish response during startup and under changes of torque command. Fuzzy logic controller(FLC) is used in conjection with DSC to minimize these problems. A FLC chooses the switching states based on a set of fuzzy variables. Flux position, error in flux magnitude and error in torque are used as fuzzy state variables. Fuzzy rules are determinated by observing the vector diagram of flux and currents. This paper proposes hybrid fuzzy controller for direct torque control(DTC) of induction motor drives. The speed controller is based on adaptive fuzzy learning controller(AFLC), which provide high dynamics performances both in transient and steady state response. Flux position, error in flux magnitude and error in torque are used as FLC state variables. The speed is estimated with model reference adaptive system(MRAS) based on artificial neural network(ANN) trained on-line by a back-propagation algorithm. This paper is controlled speed using hybrid fuzzy controller(HFC) and estimation of speed using ANN. The performance of the proposed induction motor drive with HFC controller and ANN is verified by analysis results at various operation conditions.

• 한국멀티미디어학회논문지
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• 제19권8호
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• pp.1445-1452
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• 2016

Recently Mobile Software Applications are developed in various languages and stored in App Store. App Users selectively use appropriate apps for the owned hardware. In other words, it depends on the kinds of operating systems of the apps whether to use or not to use the applications in various languages. The apps should be differently implemented according to the kind of the user's device, though they provide the same functions. To solve these problems, it is necessary to define an independent function specification method which is not dependent to a specific system environment. In this paper, the Mobile Application Developing Framework is suggested, which incorporates all of the development process. Standardized models are proposed which can be used in the analysis and design steps. In implementation phase, a technique for cross framework design is suggested so as to implement a platform dependent mobile app.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.1027-1030
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• 2015

하드웨어 디자인 설계에서 초기 단계의 설계 오류 발견은 개발 비용 감소 및 설계 시간 단축 측면에서 그 효과가 매우 크다. 이러한 초기 설계 오류 발견을 위한 대표적인 방법으로는 정형 검증(formal verification)이 있으며, Cadence SMV(Symbolic Model Verifier)는 정형 검증을 위해 Verilog HDL(Hardware Description Language)을 SMV로 자동 변환 해주는 장점이 있지만, 사건 기반 구조(event based structures)의 sensitivity list에 대한 지원을 하지 않는 한계가 있다. 이에 본 논문에서는 Cadence SMV에서 디지털회로(digital circuit) 중 하나인 조합 논리회로(combinational logic circuit)를 sensitivity list가 고려된 검증이 가능하도록 하는 방법을 제안한다. 신뢰성 있는 실험을 위해 본 논문에서는 제안하는 방법의 일반적인 규칙을 도출하였고, 도출된 규칙이 적용된 SMV 파일을 생성하는 자동화 프로그램을 구현하여 실험하였다. 실험결과 제안한 방법을 적용한 경우 기존 Cadence SMV가 발견하지 못한 설계상의 오류를 발견할 수 있었다.

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.701-706
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• 2007

최근 고층건물의 방진시스템 및 자동차의 현가장치 분야에 MR 유체를 이용한 반능동 진동제어에 관한 연구가 활발히 진행되면서 MR 유체의 밸브모드 특성을 이용한 선형 MR 댐퍼가 널리 사용되고 있다. 그러나 전단모드를 이용한 회전형 MR 댐퍼에 관한 연구는 초기단계에 머물고 있다. 본 연구에서는, 주행로봇의 무한회전형 액츄에이터용 회전형 댐퍼의 진동제어에 관한 연구를 수행하였으며, 퍼지 로직을 기반으로 한 회전형 MR 댐퍼용 진동제어 알고리즘을 제안하였다. 퍼지제어기의 입출력 이득과 멤버쉽 함수의 모양은 유전자 알고리즘을 이용하여 조정하였다. 시뮬레이션 결과는 MR 댐퍼에 충격력이 가해질 때 퍼지 스카이-훅 제어의 제어성능을 보여준다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권3호
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• pp.185-191
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• 2008

In this paper, experimental studies of a neural network (NN) control technique for non-model based position control of the x-y table robot are presented. Decentralized neural networks are used to control each axis of the x-y table robot separately. For an each neural network compensator, an inverse control technique is used. The neural network control technique called the reference compensation technique (RCT) is conceptually different from the existing neural controllers in that the NN controller compensates for uncertainties in the dynamical system by modifying desired trajectories. The back-propagation learning algorithm is developed in a real time DSP board for on-line learning. Practical real time position control experiments are conducted on the x-y table robot. Experimental results of using neural networks show more excellent position tracking than that of when PD controllers are used only.

• 한국지능시스템학회논문지
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• 제15권5호
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• pp.593-598
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• 2005

표적의 상태를 추정하기 위해 사용된 칼만 필터는 급 기동을 하거나 비선형적인 운동특성을 가지는 표적이 발생할 때, 모델은 상당한 오차를 유발하며 추적 성능은 현저히 저하될 수 있다. 이러한 문제점을 해결하기 위해서 본 논문에서는 기동하는 표적을 추정하기 위한 새로운 지능형 추정 알고리즘을 제안한다. 제안된 알고리즘은 유전 알고리즘에 기반한 퍼지 칼만 필터를 이용하여 실제 알지 못하는 표적의 가속도를 전체 프로세스 잡음으로 추정한 후, 보정된 필터의 잔여치와 변화를 이용한 퍼지 시스템으로 새로운 퍼지 이득을 추출하여 측정 예측 오차를 보정함으로써 한 개의 필터로 표적 움직임의 비선형성을 효과적으로 다룰 수 있다. 제안된 기법의 우수성을 검증하기 위해서 다중 모델 기법을 사용한 필터와 비교 모의실험을 하였다.