• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.222-226
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• 2010

In this paper we study the consensus problem of SISO (Single-Input Single-Output) linear multi-agent systems under a fixed weighted undirected network communication. The dynamics of each agent can be of any order, while it is constrained to be neutrally stable. Based on a simple root locus argument, we show that the problem at hand is always solvable if the gain and zeros of the dynamic compensator, of which dimension is the same as the number of plant poles on the imaginary axis, are chosen suitably, finally the result is successfully verified by an example.

• 한국산학기술학회논문지
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• 제7권1호
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• pp.52-56
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• 2006

본 논문에서는 산악지형이 많은 한반도에서 전파의 다중경로 전달 특성을 분석하여 최적의 레이다 운용 사이트를 선정하고 레이다에 발생되는 전파를 효율적으로 관리함으로써 레이다 운용을 적에게 최소로 노출시켜 대방사미사일의 공격을 피하면서 원하는 정보를 충분히 획득하는 전자보호 기술에 대해서 기술하였다. 또한 다중 경로에 의한 전파의 위상 특성을 분석하여 전력밀도의 변화를 분석하였다.

• Journal of Information Processing Systems
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• 제15권1호
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• pp.47-54
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• 2019

This study is concerned with the mechanism and structure of an optical microscope and an automatic multi-focus algorithm for automatically selecting sharp images from multiple foci of a cell. To obtain precise cell images quickly, a z-axis actuator with a resolution of $0.1{\mu}m$ was designed to control an optical microscope Moreover, a lighting control system was constructed to select the color and brightness of light that best suit the object being viewed. Cell images are captured by the instrument and the sharpness of each image is determined using Gaussian and Laplacian filters. Next, cubic spline interpolation and peak detection algorithms are applied to automatically find the most vivid points among multiple images of a single object. A cancer cell imaging experiment using propidium iodide staining confirmed that a sharp multipoint image can be obtained using this microscope. The proposed system is expected to save time and effort required to extract suitable cell images and increase the convenience of cell analysis.

• 한국정밀공학회지
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• 제32권4호
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• pp.359-367
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• 2015

The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

• Journal of Information Display
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• 제3권4호
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• pp.19-22
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• 2002

In this paper, we introduce an efficient three-dimensional magnetic field mapping system for a Deflection Yoke (DY) in Cathode-Ray Tube (CRT). A three-axis Hall probe mounted in a small cylindrical bar and three-stepping motors placed in a non-magnetic frame were utilized for the mapping. Prior to the mapping starts, the inner contour of DY was measured by a laser sensor to make a look-up table for inner shape of DY. Three-axis magnetic fields are then digitized by a three-dimensional Hall probe. The results of the mapping can be transformed into various output formats such as multi pole harmonics of magnetic fields. Field shape in one, two and three- dimensional spaces can also be displayed. In this paper, we present the features of this mapping device and some analysis results.

• Earthquakes and Structures
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• 제19권4호
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• pp.287-301
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• 2020

Fragility as one of the most effective methods to evaluate seismic performance, which is greatly affected by damage index. Taking a multi span continuous rigid frame offshore bridge as an example. Based on fragility and reliability theory, considering coupling effect of time-varying durability damage of materials and time-varying attenuation effect of damage index to analyze seismic performance of offshore bridges. Results show that IDA curve considering time-varying damage index is obviously below that without considering; area enclosed by IDA of 1# pier and X-axis under No.1 earthquake considering this effect is 96% of that without considering. Area enclosed by damage index of 1# pier and X-axis under serious damage with considering time-varying damage index is 90% of that without considering in service period. Time-varying damage index has a greater impact on short pier when ground motion intensity is small, while it has a great impact on high pier when the intensity is large. The area enclosed by fragility of bridge system and X-axis under complete destruction considering time-varying damage index is 165% of that without considering when reach designed service life. Therefore, time-varying attenuation effect of damage index has a great impact on seismic performance of bridge in service period.

• 한국자기학회지
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• 제5권5호
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• pp.905-909
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• 1995

전원주파수 교류자기장 내성평가을 위하여 유도코일용 대형 3-축 사각 헬름홀쯔 코일 를 설계 .center dot. 제작하였다. 제작한 사각 헬름홀쯔 코일의 코일상수및 자기장 균일도를 측정하였으며, 3축 방향의 자기장 균일도는 컴퓨터 모사에의한 값과 잘 일치하였다. 자기장 균일도부터 교류자기장 내성평가에서 요구하는 유효시험공간을 결정 하였으며, 다회의 유도코일을 사용하므로써 낮은 전류로 큰 자기장을 요구하는 단속적 교류자기장 내성평가도 수행할 수 있음을 알 수 있었다.

• 한국ITS학회 논문지
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• 제16권2호
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• pp.171-179
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• 2017

본 논문에서는 비행체 탑재용으로 안테나의 소영화를 위해 GPS용 적층형 폴디드 마이크로스트립 패치 안테나를 제안하였다. 기존의 소형화된 마이크로스트립 패치 안테나는 고비 유전율의 유전체를 이용한 소형화로 유전체 손실에 의해 대역폭이 작아지고 효율저하가 발생하게 된다. 제안된 안테나는 기존의 단점을 보완하는 소형화를 위해 먼저 Rogers사 TMM 10i(비유전율=9.8, 손실탄젠트=0.002) 유전체를 이용하였고, 다음으로 perturbation 효과를 적용시킨 방사소자를 유전체 표면에 폴디드 구조로 구현하였다. 이렇게 GPS $L_1$대역에서 설계된 안테나의 방사소자 크기는 $20.3mm{\times}19.93mm$를 가지며, 기본 반파장 마이크로스트립 패치 원편파 안테나보다 94.2% 소형화 특성을 얻었다. 또한 -10 dB 대역폭의 경우 32.3 MHz(2.05%), 3 dB 축비 대역폭의 경우 6.7 MHz(0.43%)로 측정되었다. 방사패턴 측정 결과 최대이득은 x축 편파에서 0.56 dBi, y축 편파에서 1.23 dBi을 얻었다.

• 전기학회논문지
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• 제65권4호
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• pp.576-585
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• 2016

The current control methods of Y-connected 7 Phase BLDC motor are sine wave current control and square wave control. The sine wave current control method needs dq axis transformation of $7{\times}7$ matrix for current control and very complex. Also this method is not suitable for multi Phase BLDC motor of trapezoidal back emf wave. Therefore, in Y connected multi phase BLDC motor, the square wave current control methods are required. Generally, in the 3Phase BLDC system, Average current control method is used for current control. The average current is obtained that the summation of absolute value of each phase current magnitude is divided by the number of conduction phase. However, if average current control method is applied to multi-phase system, there is a problem that each phase currents are different. This problem affects unbalance of each phase torque and fluctuation of total torque. This paper proposed each phase current control method of Y connected 7Phase BLDC system. Proposed method is used for PI controller of each phase for each phase current control. This method can perfect square wave current control. Also, configuration of the method is easier than DQ axis transformation. Proposed method is verified through simulation and experiments.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.33-46
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• 2020

We introduce a piece of special-purpose equipment for responding to disasters that has a dual-arm manipulator consisting of six-axis multi joints, and a master-slave operating system controlled by a wearable joystick for intuitive and convenient operation. However, due to the complexity and diversity of a disaster environment, training and suitable training means are needed to improve the interaction between the driver and equipment. Therefore, in this paper, a system that can improve the operator's immersion in the training simulation is proposes, this system is implemented in a virtual environment. The implemented system consists of a cabin installed with the master-slave operation system, a motion platform, visual and sound systems, as well as a real-time simulation device. This whole system was completed by applying various techniques such as a statistical mapping method, inverse kinematics, and a real-time physical model. Then, the implemented system was evaluated from a point of view of the appropriateness of the mapping method, inverse kinematics, the feasibility for real-time simulations of the physical environment through some task mode.