• 응용통계연구
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• 제6권1호
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• pp.145-162
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• 1993

본 논문에서는 반복적 계속 표본조사에서 일부의 표본을 교체하는 2회 계속조사의 표본 추 출법들을 요약하고 앞 조사시기의 관찰값을 확률측도로 이용한 RHC(Rao-Hartley-Cochran) 유형의 불균등 확률추출법을 제안하였다. 제안된 추출법과 기존의 확률추출법의 비교를 위 하여 둘째 조사시기의 모평균 추정량과 그의 분산을 유도하였으며, 제안된 추출법의 상대 효율은 이론적인 측면과 수치적 시뮬레이션 방법으로 비교 분석되었다. 시뮬레이션 비교를 위하여 한 특별한 시계열 모형을 가정하고 이를 사용하여 인위적인 모집단을 생성하였으며 이 모집단에서 각 추출법에 해당되는 표본을 컴퓨터로 추출하여 각각의 추정치를 계산하여 비교한 결과에서 RHC 유형의 새로 제안된 추출법의 분산과 편차가 일반적으로 적음을 보 였다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.659-664
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• 2000

Fuel-consumption and catalyst-out emissions of a parallel hybrid electric vehicle are affected by operating region of an engine. In many researches, It is generally known that it is profitable in fuel- consumption to operate engine in OOL(Optimal Operating Line). We established the mathematical model of a parallel hybrid electric vehicle, which is linear time-invariant. To operate an engine in OOL, we applied RHC(Receding Horizon Control) to the driving control of a parallel hybrid electric vehicle. And it is known that the RHC has advantages such as good tracking performance under state and control constraints. This RHC is obtained by using linear matrix inequality (LMI) optimization. In this paper, there are three main topics. First, without state and control constraints, the optimal tracking of OOL was simulated. Second, with state and control constraints by engine and motor performances, the optimal tracking of OOL was simulated. In the last, we studied on the optimal gear ratio. That is to say, we combined the RHC and the iterative simulation to extract the optimal gear ratio. In this simulation, the vehicle is commanded to track the reference vehicle trajectory and the engine is operated in the optimal operating region which is made by the state constraints.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.633-635
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• 1999

We design to the temperature control system based on Receding horizon control(RHC) with a terminal output weighting for stochastic state model. This system has a large time delay, a nonlinear temperature characteristics, a perturbation, a disturbance, etc. In this paper, we show that RHC can easily be applied to the system to track the desired temperature, since it takes the receding horizon strategy for both controller and filter.

• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.140-144
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• 2010

In the case of a linear time-varying system, it is difficult to apply the conventional stability conditions of RHC (Receding Horizon Control) to real physical systems because of computational complexity comes from time-varying system and backward Riccati equation. Therefore, in this study, a frozen time RHC for a linear discrete time-varying system is proposed. Since the proposed control law is obtained by time-invariant Riccati equation solved by forward iterations at each control time, its stability can be ensured by matrix inequality condition and the stability condition based on horizon for a time-invariant system, and they can be applied to real physical systems effectively in comparison with the conventional RHC.

• Advances in robotics research
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• 제2권2호
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• pp.161-182
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• 2018

This paper proposes a novel receding horizon control (RHC) algorithm for formation control of a swarm of unmanned surface vehicles (USVs) using particle swarm optimization (PSO). The proposed control algorithm provides the coordinated path tracking of multi-agent USVs while preventing collisions and considering external disturbances such as ocean currents. A three degrees-of-freedom kinematic model of the USV is used for the RHC with guaranteed stability and convergence by incorporating a sequential Monte Carlo (SMC)-based particle initialization. An ocean current model-based estimator is designed to compensate for the effect of ocean currents on the USVs. This method is compared with the PSO-based RHC algorithms to demonstrate the performance of the formation control and the collision avoidance in the presence of ocean currents through numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.429-432
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• 2004

In this paper, we derive the guaranteed bound of the horizon size for the stabilizing receding horizon control(RHC). From the convergence property of the solution to the Riccati equation, it is shown that the lower bound can be represented in terms of the parameters in the given system model, which makes an off-line calculation possible. Additionally, it is shown to be able to obtain the stabilizing RHC without respect to the final weighting matrix. The proposed guaranteed bound is obtained numerically via simulation.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.235-244
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• 2014

This article introduces recent trends in RHC (Receding Horizon Control), also known as MPC (Model Predictive Control), that has been well recognized in industry and academy as a systematic approach for optimal design and constraint management. Constrained and robust RHCs will be briefly reviewed with milestone results. Among the diverse developments and achievements of RHCs, implementation issues will be focused on, together with the latest applications. In particular, this article introduces results on how to solve a finite horizon open-loop optimal control problem in an efficient way, together with code generation for real-time execution and easy implementation. Instead of traditional applications such as refineries and petrochemical plants, this article highlights some selected emerging applications, such as energy management systems and mechatronics, that have resulted from state-of-the-art high performance computing power and advanced numerical schemes.

• Computers and Concrete
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• 제13권6호
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• pp.695-707
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• 2014

This study investigated the chloride binding isotherms of various cement types, especially the contributions of C-S-H and AFm hydrates to the chloride binding isotherms were determined. Ordinary Portland cement (OPC), Modified cement (MC), Rapid-hardening Portland cement (RHC) and Low-heat Portland cement (LHC) were used. The total chloride contents and free chloride contents were analyzed by ASTM. The contents of C-S-H, AFm hydrates and Friedel's salt were determined by X-ray diffraction Rietveld (XRD Rietveld) analysis. The results showed that OPC had the highest chloride binding capacity, and, LHC had the lowest binding capacity of chloride ions. MC and RHC had very similar capacities to bind chloride ions. Experimental equations which distinguish the chemically bound chloride and physically bound chloride were formulated to determine amounts of the bound chloride basing on chloride binding capacity of hydrates.

• Advances in robotics research
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• 제1권1호
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• pp.41-59
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• 2014

This paper deals with the problem of steering a group of mobile robots along a reference path while maintaining a desired geometric formation. To solve this problem, the overall formation is decomposed into numerous geometric patterns composed of pairs of robots, and the state of the geometric patterns is defined. A control algorithm for the problem is proposed based on the Nash equilibrium strategies incorporating receding horizon control (RHC), also known as model predictive control (MPC). Each robot calculates a control input over a finite prediction horizon and transmits this control input to its neighbor. Considering the motion of the other robots in the prediction horizon, each robot calculates the optimal control strategy to achieve its goals: tracking a reference path and maintaining a desired formation. The performance of the proposed algorithm is validated using numerical simulations.

• 동아시아식생활학회지
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• 제20권3호
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• pp.396-401
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• 2010

본 연구는 농산부산물인 왕겨, 보리외피, 대두외피에 적당한 열처리 및 활성화 처리를 하여 다양한 크기의 다공성 표면을 가진 회화재 및 활성탄 형태의 흡착제를 제조하여 식용유지의 불순물인 유리지방산과 색소 성분인 lutein에 대한 흡착 효과를 살펴보았다. 회화재 형태의 흡착제인 왕겨 회화재(RHA), 보리외피 회화재(BHA), 대두외피 회화재(SHA)는 처리 농도가 증가할수록 유리지방산 흡착 효과도 증가하여 대두 유의 산가가 감소하였는데 SHA와 BHA의 유리지방산 흡착효과가 컸고 RHA와 실리카의 효과는 작았다. SHA와 BHA는 5% 처리시 탈검 대두유의 산가를 82~86% 감소시킨데 비해 RHA는 29%, 실리카는 19% 감소시켰다. 회화재 형태의 흡착제 처리와 달리 활성탄 형태의 흡착제인 왕겨 활성탄(RHC), 보리외피 활성탄(BHC), 대두외피 활성탄(SHC)은 처리 농도를 증가시켜도 유리지방산 흡착 효과가 증가하지 않았다. RHC는 5% 처리시 탈검 대두유의 산가를 16%, BHC와 SHC는 8~10% 감소시켰으나, 상업용 활성탄은 거의 영향을 주지 않았다. 흡착제 종류별 lutein 제거 효과에서는 회화재 형태의 흡착제의 경우 7~8%의 미미한 감소를 보인 반면, 활성탄 형태의 흡착제의 경우 5% 처리 농도에서 RHC는 56%로 가장 큰 흡착 효과를 보였고, BHC는 41%, SHC는 52%, 상업용 활성탄은 49%의 lutein 함량 감소를 나타냈다. 따라서 lutein에 대한 흡착 효과는 회화재 형태의 흡착제보다 활성탄 형태의 흡착제가 훨씬 뛰어남을 알 수 있었다. 회화재 형태의 흡착제들은 비표면적과 전체 세공 부피는 작으나 세공의 크기가 큰 중간 세공이나 거대 세공으로 주로 이루어져 있고, 이런 특성이 유지 중에 불순물로 함유되어 있는 유리지방산 흡착과 관련이 있는 것으로 보인다. 반면에 색소 성분인 lutein은 회화재 형태의 흡착제 처리에서는 거의 감소 효과가 없고 활성탄 형태의 흡착제에서 감소 효과를 보인 것으로 보아 미세 세공에 흡착되는 특성이 있는 것으로 보인다. 따라서 흡착제를 이용하여 식용유지를 정제할 때는 회화재 형태와 활성탄 형태의 흡착제들을 혼합하여 사용하면 유리지방산과 lutein을 동시에 제거할 수 있을 것이다.