• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Special Issue of the Society of Naval Architects of Korea
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• 2006.09a
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• pp.7-14
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• 2006

In recent years, shipboard noise control is attracting increasing attention to human environmental conditions and crew's opportunity for rest and recreation with work on board. In order to minimize the noise levels, careful attention have to be paid by the experts from initial design stage to the delivery. This paper describes the outlines of shipboard noise control including general characteristics of shipboard noise, measurement, evaluation, prediction, and control measures considering the noise transmission mechanism from source to receiver space.

• The Transactions of the Korean Institute of Power Electronics
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• v.25 no.6
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• pp.490-495
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• 2020

The power loss of large-capacity systems using single-phase inverters has attracted considerable attention. In this study, optimal switching sequence model prediction control at a low switching frequency is proposed to reduce the power loss in a high-power inverter system, and a compensation method that can be utilized for model prediction control is developed to reduce errors in accordance with sampling values. When a three-level, single-phase inverter using a switching frequency of 600 Hz and a sampling frequency of 12 kHz is adopted, the power factor is improved from 0.95 to 0.99 through 3 kW active power control. The performance of the controller is also verified.

• Journal of the Korean Society of Systems Engineering
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• v.12 no.2
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• pp.9-18
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• 2016

Machine switch type control panel is widely used for machine tools in Korea. They, however, have some difficulties in identifying the current operating status of machine tools especially when exposed to cutting oil. And also they have quality problems of operating failures. A new capacitor touch type machine control panel is developed and its reliability is predicted. MIL-HDBK-217F and Teclordia SR-332 are used for its reliability prediction and the prediction results are compared.

• Journal of the Korean Solar Energy Society
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• v.33 no.3
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• pp.114-123
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• 2013

In these days, most of the office buildings are being required to save energy for maintenance. lighting system constitutes 20% to 30% of the total annual electrical energy consumption in office buildings. As an energy saving strategy for lighting system, dimming control system based on illuminance sensors came into use. But the system is accompanied with many illuminance sensors to control lighting and needs a lot of initial investment. In this study, the prediction equation for indoor daylighting illuminance distribution is proposed through the review for conventional research results and field measurements. The proposed equation was verified by the comparison between predicted results and field measurement results. The developed prediction equation for daylighting can be used to control the indoor illuminance level with the limited sensor when dimming control system is operated.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.10-14
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• 2001

We studied the use of time-related information, with and without prediction, to support human operators performing moni-toring and control tasks in the process. Based on monitoring and control techniques used for Project Management we developed a display design for the process industries. A simulated power plant was used to test the hypothesis that availability of predictions along with information on past trends can improve the performances of the human operator handling faults. Several designs of dis-plays were tested in the experiment in which human operators had to detect and handle two types of faults(local and systems wide) in the simulated electricity generation process. Analysis of the results revealed that temporal data, with and without prediction, signifi-cantly reduced response time. Our results encourage the integration of temporal information and prediction in displays used for the control processes to enhance the capabilities of the human operators. Based on the analysis we proposed some guidelines for the de-signer of the human interface of a process control system.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.441-446
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• 2000

This paper presents an approach for the prediction of optimal heating load using a diagonal recurrent neural networks(DRNN) and data base system of outdoor temperature. In the DRNN, a dynamic backpropagation(DBP) with delta-bar-delta teaming method is used to train an optimal heating load identifier. And the data base system is utilized for outdoor temperature prediction. Compared to other kinds of methods, the proposed method gives better prediction performance of heating load. Also a hardware for the controller is developed using a microprocessor. The experimental results show that prediction enhancement for heating load can be achieved with the proposed method regardless of the its inherent nonlinearity and large time constant.

• Journal of Korean Society for Quality Management
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• v.26 no.4
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• pp.143-150
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• 1998

We propose an adaptive monitoring a, pp.oach for serially correlated data. This algorithm uses the adaptive linear prediction lattice filter (ALPLF) which makes it compute process parameters in real time and recursively update their estimates. It involves computation of the forward and backward prediction errors. CUSUM control charts are a, pp.ied to prediction errors simulaneously in both directions as an omnibus method for detecting changes in process parameters. Results of computer simulations demonstrate that the proposed adaptive monitoring a, pp.oach has great potentials for real-time industrial a, pp.ications, which vary frequently in their control environment.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.419-424
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• 1992

A robust nonlinear predictive control strategy using a disturbance estimator is presented. The disturbance estimator is comprised of two parts: one is the disturbance model parameter adaptation and the other is future disturbance prediction. RLSM(recurrsive least square method) with a forgetting factor is used to de the uncertain distance model parameters and for the future disturbance prediction, future process outputs and inputs projected by the process model are used. The simulation results for chemical reactors indicate that a substantial improvement in nonlinear predictive control performance is possible using the disturbance estimator.

• Journal of Power Electronics
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• v.11 no.1
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• pp.59-63
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• 2011

This paper presents the modeling of the sampling effect in the p-type average current mode control. The prediction of the high frequency components near half of the switching frequency in the current loop gain is given for the p-type average current mode control. By the proposed model, the prediction accuracy is improved when compared to that of conventional models. The proposed method is applied to a buck converter, and then the measurement results are analyzed.