• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.7
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• pp.761-768
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• 2010

This paper presents an effective method to achieve the wideband waveform for high resolution SAR(Synthetic Aperture Radar) using the frequency multiplication technique. And also this paper analyzes the root causes for the spectral regrowth due to 3rd-order intermodulation in chirp bandwidth expansion scheme using quadrature modulator and frequency multipliers. The amplitude and phase imbalance requirement are defined based on the simulation results in terms of quadrature channel imbalance. This minimizes the degradation of range resolution, peak sidelobe ratio and integrated sidelobe ratio. The wideband chirp generator using the frequency multiplier and memory map scheme was manufactured and the compensation technique was presented to reduce the spectral regrowth of SAR waveform by minimizing the amplitude and phase imbalance. After I and Q channel imbalance adjustment, the carrier level reduces －28.7 dBm to －53.4 dBm. Chirp signal with 150 MHz bandwidth at S-band expands to 600 MHz bandwidth at X-band. The sidelobe levels are reduced by about 8 to 9 dB by compensating the amplitude balance between I and Q channels.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.6
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• pp.222-234
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• 2020

Autonomous vehicles are equipped with a wide rage of sensors such as GPS, RADAR, LIDAR, camera, IMU, etc. and are driven by recognizing and judging various transportation systems at intersections in the city. The accident ratio of the intersection of the autonomous vehicles is 88% of all accidents due to the limitation of prediction and judgment of an area outside the sensing distance. Not only research on non-signalized intersection collision avoidance strategies through V2V and V2I is underway, but also research on safe intersection driving in failure situations is underway, but verification and fragments through simple intersection scenarios Only typical V2V failures are presented. In this paper, we analyzed the architecture of the V2V module, analyzed the causal factors for each V2V module, and defined the failure mode. We presented intersection scenarios for various road conditions and traffic volumes. we used the ISO-26262 Part3 Process and performed HARA (Hazard Analysis and Risk Assessment) to analyze the risk of autonomous vehicle based on the simulation. We presented ASIL, which is the result of risk analysis, proposed a monitoring concept for each component of the V2V module, and presented monitoring coverage.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.36 no.2
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• pp.93-103
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• 2023

Warships widely spread numerous chaffs using a blast, which form chaff clouds that create false radar cross-sections to deceive enemy radars. In this study, we established a numerical framework based on a one-way coupling of computational fluid dynamics and discrete element method to simulate the spatiotemporal distribution of chaff clouds for warships in the air. Using the framework, we investigated the effects of wind, initial chaff cartridge angle, and blast pressure on the distribution of chaff clouds. We observed three phases for the chaff cloud diffusion: radial diffusion by the explosion, omnidirectional diffusion by turbulence and collision, and gravity-induced diffusion by the difference in the fall speed. The wind moved the average position of the chaff clouds, and the diffusion due to drag force did not occur. The direction of radial diffusion by the explosion depended on the initial angle of the cartridge, and a more vertical angle led to a wider distribution of the chaffs. As the blast pressure increased, the chaff clouds spread out more widely, but the distribution difference in the direction of gravity was not significant.