• 한국항공우주학회지
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• 제48권11호
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• pp.881-888
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• 2020

본 논문에서는 관측자가 얻을 수 있는 시선각(LOS) 측정값을 사용하여 관심표적의 상태변수를 추정하는 연구를 수행하였다. 관심상태변수는 표적의 위치, 속도 및 가속도로 설정하였다. 시선각 측정값은 필터에 표적운동모델 적용을 어렵게 하는 비선형성이 강한 측정값이다. 이러한 문제해결을 위해 가측정치 공식(Pseudomeasurement equation)을 사용하여 시선각 측정값 수식을 변경한 후 3D 가변선회(3D Variable Turn) 표적운동모델을 적용하였다. 또한 필터의 성능을 위해 기구학적구속조건(Kinematic Constraint)을 적용하였다. 필터는 초기조건에 강건한 특성을 가진 Bias Compensation Pseudomeasurement Filter (BCPMF)를 사용하였다. 병렬 계산의 이점을 위해 Two Stage Kalman Filter 형태를 추가적으로 적용하였다. 이 기법들을 사용하여 TBCPMF 3DVT-KC 필터를 제안하였고 시뮬레이션을 통해 성능을 확인하였다.

• 수산경영론집
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• 제22권2호
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• pp.53-74
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• 1991

Interest on ocean environment has increased with the development of industrialized activities. Public marine resorces are defined broadly to include fish stocks, beaches, marine waters, recreational fishing, biota, waterfowls, shorebirds, seabirds and marine mammals But, it is not easy to analyze compensation for injury to publicly owned marine resources because the claimants do not exist clearly and the economic methodology of damage on public goods is not developed fully. This paper introduces basic idea of welfare economic theory and environmental legislation to the research question : How the economics and law can be applied to the case of damage on publicly owned marine resource. The paper discusses the concepts of willingness to pay (WTP) and willingness to accept (WTA). It is accepted generally that WTA is correct concept of welfare change in the case of damaged public goods. Four methods (compensating variation, equivalent variation, compensating surplus, equivalent surplus of measuring welfare changes are compared. Compensating variation(CV) is the best measure of welfare changes are compared. Compensating variation(CV) is the best measure of welfare changes caused by environmental damage. Vartia (1983) showed CV could be measured from the ordinary demand function using the differential equations. This paper also provides an overview of the emerging U.S. and Korea legal system for compensation for natural resource damages, with particular emphasis on U.S. legal system under Comprehensive Environmen-tal Response Compensation and Liability Act (CERCLA). These regulations are to include two different types of standardized procedures for assessing natural resources injury : Type A or simplified assessment techniques for small releases ; and Type B protocols that would include detailed and extensive assessment methodologies for major releases. Type A procedures are specified by Natural Resources Damage Assessment Model for Coastal and Marine Environment (NRDAM/CME) of the U.S. CERCLA provides a legal 'legitimization for the use of economic-based nonmarket valuation in the courts and have introduced appropriate and accurate nonmarket valuation methods based on willingness to-pay for damage assessment. By briefly reviewing economic theory and environmental legislation, we hope to help provide a better understanding of the compensation process and the economics of publicly owned marine resources in the U.S. and to integrate the economics and law of natural resources valuation into a single comprehensive package in Korea.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.91-94
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• 2005

A numerical formula that presents relationship between a point of a satellite image and its ground position is called a sensor model. For precise geolocation of satellite images, we need an error-free sensor model. However, the sensor model based on GOES ephemeris data has some error, in particular after Image Motion Compensation (IMC) mechanism has been turned off. To solve this problem, we investigate three sensor models: Collinearity model, Direct Linear Transform (DLT) model and Orbit-based model. We apply matching between GOES images and global coastline database and use successful results as control points. With control points we improve the initial image geolocation accuracy using the three models. We compare results from three sensor models that are applied to GOES-9 images. As a result, a suitable sensor model for precise geolocation of GOES-9 images is proposed.

• 전기학회논문지
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• 제57권7호
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• pp.1247-1253
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• 2008

A design method of a T-S fuzzy model based reduced order nonlinear unknown input observer(NUIO) is presented. The fuzzy NUIO is designed based on the parallel distributed compensation(PDC) concept. It consists of a number of the linear UIOs, each of which is designed for each local linear model in the T-S fuzzy model of a class of nonlinear systems. The fuzzy NUIO provides not only the state estimates insensitive to the unknown inputs, for example, disturbances and faults etc., but also the estimates of the unknown inputs. Therefore, It can be employed in the state feedback control and disturbance rejection control of a class of nonlinear systems with unknown disturbances. It also applied to the robust residual generation for the fault detection and isolation systems and to the design of fault tolerant control systems. As an example, the NUIO is applied to an inverted pendulum system to show the state and disturbance estimation performance and to illustrate the fuzzy reduced order NUIO design method.

• 음성과학
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• 제10권3호
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• pp.251-261
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• 2003

There has been many research efforts to overcome the problems of speech recognition in noisy conditions. Among the noise-robust speech recognition methods, model-based adaptation approaches have been shown quite effective. Particularly, the PMC (parallel model combination) method is very popular and has been shown to give considerably improved recognition results compared with the conventional methods. In this paper, we experimented with the VTS (vector Taylor series) algorithm which is also based on the model parameter transformation but has not attracted much interests of the researchers in this area. To verify the effectiveness of it, we employed the algorithm in the continuous density HMM (Hidden Markov Model). We compared the performance of the VTS algorithm with the PMC method and could see that the it gave better results than the PMC method.

• Structural Engineering and Mechanics
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• 제43권2호
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• pp.163-177
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• 2012

This paper presents a LMI(linear matrix inequality)-based fuzzy approach of modeling and active vibration control of geometrically nonlinear flexible plates with piezoelectric materials as actuators and sensors. The large-amplitude vibration characteristics and dynamic partial differential equation of a piezoelectric flexible rectangular thin plate structure are obtained by using generalized Fourier series and numerical integral. Takagi-Sugeno (T-S) fuzzy model is employed to approximate the nonlinear structural system, which combines the fuzzy inference rule with the local linear state space model. A robust fuzzy dynamic output feedback control law based on the T-S fuzzy model is designed by the parallel distributed compensation (PDC) technique, and stability analysis and disturbance rejection problems are guaranteed by LMI method. The simulation result shows that the fuzzy dynamic output feedback controller based on a two-rule T-S fuzzy model performs well, and the vibration of plate structure with geometrical nonlinearity is suppressed, which is less complex in computation and can be practically implemented.

• 디지털융복합연구
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• 제11권6호
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• pp.137-142
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• 2013

음성 인식 시스템은 부정확한 음성 신호의 입력으로 특징을 추출하여 인식할 경우 오인식의 결과가 나타나거나 유사한 음소로 인식된다. 따라서 본 논문에서는 음소가 갖는 특징을 기반으로 음소 유사율과 신뢰도 측정을 이용한 음성 인식 오류 보정 방법을 제안하였다. 음소 유사율은 학습 모델의 음소에 MFCC와 LPC 특징 추출 방법을 이용하여 구하였으며 신뢰도로 측정하였다. 음소 유사율과 신뢰도를 측정하여 오인식되는 오류를 최소화하였으며 음성 인식 과정에서 오류로 판명된 음성에 대하여 오류 보정을 수행하였다. 본 논문에서 제안한 시스템을 적용한 결과 98.3%의 인식률과 95.5%의 오류 보정율을 나타내었다.

• Journal of Power Electronics
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• 제18권4호
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• pp.1245-1254
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• 2018

The stability of a grid-connected system (GCS) has become a critical issue with the increasing utilization of renewable energy sources. Under grid faults, however, a grid-connected inverter cannot work efficiently by using only the traditional droop control. In addition, the unbalance factor of voltage/current at the common coupling point (PCC) may increase significantly. To ensure the stable operation of a GCS under grid faults, the capability to compensate for grid imbalance should be integrated. To solve the aforementioned problem, an improved voltage-type grid-connected control strategy is proposed in this study. A negative sequence conductance compensation loop based on a positive sequence power droop control is added to maintain PCC voltage balance and reduce grid current imbalance, thereby meeting PCC power quality requirements. Moreover, a stable analysis is presented based on the small signal model. Simulation and experimental results verify the aforementioned expectations, and consequently, the effectiveness of the proposed control scheme.

• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.