• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.36.1-36.1
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• 2008

An Unscented Kalman Filter(UKF) for estimation of attitude and rate of a spacecraft using only magnetometer vector measurement is presented. The dynamics used in the filter is nonlinear rotational equation which is augmented by the quaternion kinematics to construct a process model. The filter is designed for low Earth orbit satellite, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. To stabilize the attitude, linear PD controller is applied and the actuator is assumed to be thruster. A Monte-Carlo simulation has been done to guarantee the stability of the filter performance to the various initial conditions. The UKF performance is compared to that of EKF and it reveals that UKF outperforms EKF.

• 말소리와 음성과학
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• 제7권1호
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• pp.97-105
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• 2015

This research mainly focuses on intonational characteristics of synchronous English speech. Intonation contours were extracted from 1,848 utterances produced in two different speaking modes (solo vs. synchronous) by 28 (12 women and 16 men) native speakers of English. Synchronous speech is found to be slower than solo speech. Women are found to speak slower than men. The effect size of speech rate caused by different speaking modes is greater than gender differences. However, there is no interaction between the two factors (speaking modes vs. gender differences) in terms of speech rate. Analysis of pitch point features has it that synchronous speech has smaller Pt (pitch point movement time), Pr (pitch point pitch range), Ps (pitch point slope) and Pd (pitch point distance) than solo speech. There is no interaction between the two factors (speaking modes vs. gender differences) in terms of pitch point features. Analysis of sentence level features reveals that synchronous speech has smaller Sr (sentence level pitch range), Ss (sentence slope), MaxNr (normalized maximum pitch) and MinNr (normalized minimum pitch) but greater Min (minimum pitch) and Sd (sentence duration) than solo speech. It is also shown that the higher the Mid (median pitch), the MaxNr and the MinNr in solo speaking mode, the more they are reduced in synchronous speaking mode. Max, Min and Mid show greater speaker discriminability than other features.

• 전자공학회논문지CI
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• 제45권5호
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• pp.155-161
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• 2008

자동화된 건강관리 모니터링은 많은 시간이 소요되고, 많은 문제들이 발생할 수 있다. 왜냐하면 정시에 환자들의 건강 상태에 대한 모니터링 정보를 제공받기 어렵기 때문이다 이 논문에서는 임베디드된 건강 관리 서비스가 iSCSI 프로토콜에 의해 제안된다. 이 프로토콜은 자동화된 멀티에이전트와 제한된 자원의 디바이스들(예. PD4 스마트폰, 테블릿PC)의 협력체계에 기반을 두고 있다. 이 둘의 협력체계는 쌍방향 iSCSI 프로토콜에 의해 유지된다. 자동화된 건강관리 제어는 반복되는 방식에서 매우 유용할 수 있다. 완전 집중화된 제어에서는 이 방법이 적용될 수 없다.

• International Journal of Aeronautical and Space Sciences
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• 제14권1호
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• pp.58-66
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• 2013

This paper addresses the performance of three different types of attitude control systems for the Quad-rotor UAV to perform the flip maneuver. For this purpose, Quad-rotor UAV's 6-DOF dynamic model is derived, and it was used for designing an attitude controller of the Quad-rotor UAV. Attitude controllers are designed by three different methods. One is the open-loop control system design, another is the PD control system design, and the last method is the sliding mode control system design. Performances of all controllers are tested by 6-DOF simulation. In case of the open-loop control system, control inputs are calculated by the quad-rotor dynamic model and thrust system model that are identified by the thrust test. The 6-DOF realtime simulation environment was constructed in order to verify the performances of attitude controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.581-586
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• 2003

This paper presents control designs using neural networks (NN) for a XY positioning table. The proposed neurocontroller is composed of an outer PD tracking loop for stabilization of the fast flexible-mode dynamics and an NN inner loop used to compensate for the system nonlinearities. A tuning algorithm is given for the NN weights, so that the NN compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded weight estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The proposed neuro-controller is implemented and tested on an IBM PC-based XY positioning table, and is applicable to many precision XY tables. The algorithm, simulation, and experimental results are described. The experimental results are shown to be superior to those of conventional control.

• 천문학회보
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• 제38권2호
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• pp.43.1-43.1
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• 2013

We report the preliminary results of our GMVA(Global mm VLBI Array) observation at the frequency of 86 GHz. Observation were made in the dual polarization mode (LCP and RCP), to produce the polarimetric maps with the maximum angular resolution which the array is capable of. We aim to link the source-integrated AGN polarization properties with the polarized spatial source structure, by mapping the polarized "fine structure" of the target AGN. We selected 2 targets, 0954+658 and 0716+714, which (1) have been observed multiple times by the PdBI polarimetric monitoring program; (2) have sufficient integrated fluxes ($S_{90GHz}$ > 1 Jy) ; (3) are close enough to resolve the source structure < 1 pc with given angular resolution ; and (4) are located at high northern declination for good UV coverages. As preliminary results, we present LL and RR polarized images of each target with the maximum angular resolution of ${\sim}60{\mu}as$. Extended structures, probably the jet outflows, are discovered in both sources.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• 약학회지
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• 제38권6호
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• pp.664-672
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• 1994

Eighteen new hybrid bivalent ligand quinolones that contain two different type of pharmacophores in a single molecule were prepared and evaluated for in viかo antibacterial activity. Hybrid bivalent ligands p-nitrobenzyloxycarbonyl quinolones were prepared by the treatment of active esters of succinyl fluoroquinolones with 1,7-disubstituted fluoroquinolone carboxylic acids in DMF. Eighteen final quinolone carboxylic acids were obtained by the reduction of compounds $25{\sim}42$ with hydrogen in the presence of 10% Pd-C. Among these derivatives, compound[56] showed the most potent antibacterial activity against a wide range of microoranisms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1628-1631
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• 2005

Ship Autopilots are usually designed based on the PD and Pill controllers because of simplicity, reliability and easy to construct. However their performance in various environmental conditions is not as good as desired. This disadvantage can be overcome by adjusting works or constructing adaptive controllers. But those methods are complex and not easy to do. This paper presents a new method for constructing a Ship Autopilot based on the combination of Fuzzy Logic Control (FLC) and Linear Control Theory (Pill control). The new Ship Autopilot has the advantages of both the Pill and FLC control methodologies: easy to construct, and optimal control laws can be established based on ship masters' knowledge. Therefore, the new ship autopilot can be well adapted with parameter variations and strong environment effects. Simulation using MATLAB software for a ship with real parameters shows high effectiveness of the Fuzzy Pill autopilot in course keeping and course changing manoeuvres in comparison with the ordinary Pill ship autopilots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,