• 한국항해항만학회지
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• 제47권2호
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• pp.49-56
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• 2023

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.339-342
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• 2004

The x-y table of the SFFS to move a printer head must be the system that has a high speed and accuracy. So we propose the SMCSPO algorithm on the timing belt system. The major contribution is the design of a robust observer for the state and the perturbation of the timing belt system, which is combined with a robust controller. The control performance of the proposed algorithm is compared with PD control by the experiments. The results of SMCSPO algorithm showed more accuracy and better performance than PD control. Therefore we may apply the algorithms to a high speed and accuracy control for SFFS.

• 전기학회논문지
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• 제58권8호
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• pp.1615-1623
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• 2009

In order to develop reliable on-site partial discharge (PD) pattern recognition algorithm, we introduce Type-2 Fuzzy Neural Networks (T2FNNs) optimized by means of Particle Swarm Optimization(PSO). T2FNNs exploit Type-2 fuzzy sets which have a characteristic of robustness in the diverse area of intelligence systems. Considering the on-site situation where it is not easy to obtain voltage phases to be used for PRPDA (Phase Resolved Partial Discharge Analysis), the PD data sets measured in the laboratory were artificially changed into data sets with shifted voltage phases and added noise in order to test the proposed algorithm. Also, the results obtained by the proposed algorithm were compared with that of conventional Neural Networks(NNs) as well as the existing Radial Basis Function Neural Networks (RBFNNs). The T2FNNs proposed in this study were appeared to have better performance when compared to conventional NNs and RBFNNs.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.914-922
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• 1999

A study on the improvement of tracking performance of a 3 DOF planar parallel manipulator is performed. A class of adaptive tracking control sheme is designed using self tuning adaptive fuzzy logic control theory. This control sheme is composed of three classical PD controller and a multi learning type self tuning adaptive fuzzy logic controller set. PD controller is tuned roughly by manual setting a priori and fuzzy logic controller is tuned precisely by the gradient descent method for a global solution during run-time, so the proposed control scheme is tuned more rapidly and precisely than the single learning type self tuning adaptive fuzzy logic control sheme for a local solution. The control performance of the proposed algorithm is verified through experiments.

• 한국지능시스템학회논문지
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• 제14권3호
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• pp.363-368
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• 2004

In this paper, the robustness property of 2nd-order iterative learning control(ILC) method for a class of linear and nonlinear discrete-time dynamic systems is studied. 2nd-order ILC method has the PD-type learning algorithm based on both time-domain performance and iteration-domain performance. It is proved that the 2nd-order ILC method has robustness in the presence of state disturbances, measurement noise and initial state error. In the absence of state disturbances, measurement noise and initialization error, the convergence of the 2nd-order ILC algorithm is guaranteed. A numerical example is given to show the robustness and convergence property according to the learning parameters.

• 한국위성정보통신학회논문지
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• 제8권2호
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• pp.44-49
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• 2013

LED 통신은 LED(Light Emitting Diode)에서 나오는 가시광선을 이용해 정보를 전송하는 무선통신기술로 RF(Radio Frequency) 통신의 문제점인 주파수 할당, 인체 내 유해성, 보안의 취약성, 전자기기 간 간섭 등을 극복할 수 있는 기술이다. LED를 이용하여 조명과 통신을 동시에 사용할 수 있는 융합 기술로 유비쿼터스 환경에 적합하다. 본 논문에서는 LED, PD(Photodiode) 및 MCU(Micro Controller Unit)를 이용한 LED 통신 시스템의 데이터 전송 알고리즘을 개발하였고 구현하는 과정을 소개한다.

• KIEE International Transactions on Power Engineering
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• 제4A권1호
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• pp.33-41
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• 2004

Knowledge of partial discharge (PD) is important to accurately diagnose and predict the condition of insulation. The PD phenomenon is highly complex and seems to be random in its occurrence. This paper indicates the possible use of chaos theory for the recognition and distinction concerning PD signals. Chaos refers to a state where the predictive abilities of a systems future are lost and the system is rendered aperiodic. The analysis of PD using deterministic chaos comprises of the study of the basic system dynamics of the PD phenomenon. This involves the construction of the PD attractor in state space. The simulation results show that the variance of an orthogonal axis in an attractor of chaos theory increases according to the magnitude and the number of PDs. However, it is difficult to clearly identify the characteristics of the PDs. Thus, we calculated the magnitude on an orthogonal axis in an attractor using singular value decomposition (SVD) and principal component analysis (PCA) to extract the numerical characteristics. In this paper, we proposed the condition monitoring method for gas insulated switchgear (GIS) using SVD for efficient calculation of the variance. Thousands of simulations have proven the accuracy and effectiveness of the proposed algorithm.

• 전기학회논문지
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• 제61권2호
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• pp.251-256
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• 2012

This study deals with the location of partial discharges(PDs) for power cables and GIS using 2 PD sensors and long coaxial signal cables. Throughout the experiments by use of simulated PD pulses and corona discharges in the power cable system, it is found out that the impedance matching between the coaxial signal cable and the measuring equipment should be done for good S/N ratio and the on-site measurement using more than 100m-long coaxial signal cable is possible. In addition, new PD location algorithm with the polarities of PD pulses and the arrival time difference between two pulses was proposed and was proved through the partial discharge experiments for the cable joint defect and artificial void defect.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제53권3호
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• pp.168-174
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• 2004

On-line monitoring system(OMS) has been developed for the pumped storage generator/motor The OMS is applied to diagnosis of the PD(partial discharge) activity of stator insulation, the shorted-turn of rotor winding and the variation of the air-gap between stator and rotor. The OMS consists of DAS(data acquisition system), main server system, gateway and display PC. The DAS measures the PD, the shorted-turn and air-gap from three sensors installed on the generator/motor. The gateway controls the data which sent by DAS. The main server system saves the data, analyzes the data and conducts the diagnostic algorithm. The display PC shows the diagnostic results of partial discharge, shorted-turn and air-gap. Field tests were conducted using PDA(partial discharge analyzer). The results of the OMS and PDA measurements can be directly correlated with normalized quantity number(NQN), PD magnitude(Qm) and PD pattern.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
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• pp.544-547
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• 2003

The purpose of this paper is to develop the straightforward design guidelines of PD/PID speed controller for Industry servo drives with plug and play concept. The controller gains are uniquely determined from the current control loop dynamics, speed loop delay, and mechanical parameters. In order to eliminate the mechanical friction uncertainties, an automatic PD/PI control mode switching algorithm Is introduced using online spectrum analysis of motor torque command. The dynamic performance of the proposed scheme assures a fast tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of conventional PI control scheme, extensive test is carried out on actual servo system.