• 전기전자학회논문지
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• 제19권4호
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• pp.557-565
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• 2015

본 논문에서는 무인 쿼드콥터의 자율 비행 제어를 위해 기반이 되는 위치 인식을 위하여 EKF-SLAM 기반 위치추정 알고리즘을 제안하고 이를 쿼드콥터의 궤적 추종 제어에 적용하여 시뮬레이션을 통해 위치 추정의 성능과 이를 통한 궤적 추종의 결과를 검증하였다. 쿼드콥터의 EKF-SLAM 기반 위치 추정을 위해 쿼드콥터 비행 동역학 모델을 수립하고 이를 기반으로 EKF-SLAM의 운동 모델 및 관측 모델을 유도하였으며 궤적 추종을 위한 쿼드콥터의 수평제어와 자세제어를 위해 PD 제어기를 적용하였다. 본 논문에서는 다양한 궤적 및 랜드마크 환경에 대해 EKF-SLAM 기반 위치 추정 성능을 시뮬레이션함으로써 EKF-SLAM을 이용한 위치 추정 기반 궤적 추종 제어의 성능을 확인하였다.

• 한국통신학회논문지
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• 제22권5호
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• pp.907-914
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• 1997

프랙탈 축소변환 알고리즘을 이용하여 부호화된 영상의 복원은 일반적으로 임의의 초기영상에 대하여 축소변환을 반복적으로 수행하여 영상이 충분히 수렴할때 얻어지는 끌개영상을 구하는 과정을 거쳐 이루어 진다. 본 연구를 통하여 Monro 및 Dudbridge에 의하여 제안된 알고리즘 같이 부호화될 치역블럭에 대한 정의역블럭이 고정되어 있을 경우 복원과정에서 얻어지는 끌개영상은 해석적으로 유도됨을 보였고 이를 이용하여 반복과정없이 끌개영상을 얻을 수 있었다. 여러 테스트 영상들에 대하여 모의실험 결과 제안된 해석식을 이용하여 영상복원을 수행할 경우 기존의 방법보다 약 5배 정도 영상 복원 속도가 증가하였다. 유도된 해석식을 이용할 경우 QCIF 포맷의 동영상에 대한 실시간 복호화가 PC에서 소프트웨어적으로 가능함을 확인하였다.

• 대한건축학회논문집:계획계
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• 제35권2호
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• pp.93-104
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• 2019

Minimal art, which began to flourish in the mid-1960s, explores perceptual situations caused by the involvement of objects in given site contexts. This has led to the mentions of minimal art as a site-specific art, but its limitations have also been pointed out. This study specifically addresses the limitations of minimal art as a site-specific art with two perceptual points of view. First, according to Michael Fried, situations described as 'now here' focus largely on the bodily experiences of a place. However, they do not rooted in specific time and space of a certain place. Second, the unique characteristics of a certain place are excluded from the perception of the body which occupies the passage of time. Self-sufficient algorithm, which is far from site-specific conditions, is the autonomous system creating the period in the way of arrangement of objects. In addition, Minimal art regards a body only as the objectivity excluding the subjectivity which is essential creating meaning in a place. In the latter part of the article, these features are dealt with through Donald Judd's works. This study on site-specificity also provides a new perspective on the discussion of Minimal architecture and Minimal landscape.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.13-18
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• 2000

In this paper, an Adaptive Evolutionary Computation(AEC) is proposed. AEC uses a genetic algorithm(GA) and an evolution strategy (ES) in an adaptive manner is order to take merits of two different evolutionary computations: global search capability of GA and local search capability of ES. In the reproduction procedure, proportions of the population by GA and ES are adaptively modulated according to the fitness. AEC is used to design the membership functions and the scaling factors of fuzzy logic controller (FLC). To evaluate the performances of the proposed FLC, we make an experiment on FLC for the speed control of an actual DC series motor system with nonlinear characteristics. Experimental results show that the proposed controller has better performance than that of PD controller.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.1015-1018
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• 2005

In this paper, we introduce about a new class to analysis of partial discharge signal based on Fuzzy model. We can early diagnose life of power cable through detection of partial discharge signal. However, partial discharge signal detector is difficult because of partial discharge signal is very non-linear. Also, it is very difficult work that separate partial discharge signal from noise. We constructed partial discharge accumulation detection system that use Labview for detection of non-linear partial discharge signal. And analyzed partial discharge signal that is detected by Labview system utilizing Fuzzy model.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.72-77
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• 2017

This paper proposes the explicit tuning rule of multi-loop PID controller for brushless direct current motors to predict the system behaviors in time and frequency domains, using properties of the convex combination method. The convex set of the proposed controllers formulates the envelope to satisfy the performances in time and frequency domains. The final control parameters are determined by solving the convex optimization problem subject to the constraints which are represented as convex set of time domain performances. The effectiveness of the proposed control method is shown in the numerical simulation, in which controller tuning algorithm and dynamics of brushless DC motor are well taken into account.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.754-756
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• 2004

The ultrasonic piezo motor is a new type motor that has an excellent performance and many useful features that electromagnetic motors do not have. But, it suffers from severe system non-linearities and parameter variations especially during speed control. Therefore, it is difficult to accomplish satisfactory control performance by using the conventional PID controller. In this paper, to achieve the precise control, we analyzed response time & change with a driving time, and proposed PD controller combined with neural network. The backpropagation algorithm is used to train a given trajectory. The effectiveness of the used method is confirmed by experiments. The effectiveness of the used method is confirmed by experiments using the ultrasonic motor made in Korea.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.440-443
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• 2005

In this paper, we introduce about a new class to analysis of partial discharge signal based on Fuzzy model. We can early diagnose life of power cable through detection of partial discharge signal. However, partial discharge signal detector is difficult because of partial discharge signal is very non-linear. Also, it is very difficult work that separate partial discharge signal from noise. We constructed partial discharge accumulation detection system that use Labview for detection of non-linear partial discharge signal. And analyzed partial discharge signal that is detected by Labview system utilizing Fuzzy model.

• 대한기계학회논문집A
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• 제29권12권
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• pp.1567-1573
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• 2005

This paper introduces a new active magnetic bearing(AMB) that can provide both radial and axial control functions in one bearing unit without axial disk. It has a structure of double four-pole AMB or a four-pole AMB where each core is split into two axially. The cores have two kinds of coil winding; they independently generate fluxes on the planes perpendicular or parallel to the shaft. For the radial control action, it works just like a conventional four-pole AMB. Meanwhile, for the axial control, it uses the Lorentz force generated by the interaction of the bias flux for radial control and the axial control flux. In this paper, the proposed structure, principle, and design process based on magnetic flux analysis are introduced, and its feasibility is experimentally verified by using a simple PD control algorithm with a feedforward loop to compensate the coupled flux effect.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.817-821
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• 1991

Coordinated motion control of two arms of a dual-arm robot has been studied by many researchers, because of it's potential application in assembly as well as the handling of large and heavy objects beyond the capacity of single arm. This paper derives dynamic equation of a dual-arm robot, and describes some constrains to pick up a simply shaped object at prespecified position on it. This paper concludes with describing both PD and self-tunning control algorithm for the above task.