• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.438-443
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• 2003

In this paper, we propose a control algorithm for two-wheel mobile robot that can move the rider to his or her command and autonomously keep its balance. The control algorithm is based on a mixed $H_2/H_{\infty}$ control scheme. In this control problem the main issue is to move the rider while keeping its balance in the presence of disturbances and parameter uncertainties. The disturbance force caused by uneven road surfaces and the uncertainty due to different rider's heights are considered. To this end we first consider a state feedback controller as a basic framework. Secondly, we obtain the state feedback gain $K_2$ minimizing the $H_2$ norm and the state feedback gain $K_{\infty}$ minimizing the $H_{\infty}$ norm over the whole range of parameter uncertainty. Finally, we select mixed $H_2$/$H_{\infty}$ state feedback controller K as the geometric mean of $K_2$ and $K_{\infty}$. Simulation results show that the mixed $H_2/H_{\infty}$ state feedback controller combines the effects of the optimal $H_2$ state feedback controller and robust $H_{\infty}$ controller state feedback controller efficiently in the presence of disturbance and parameter uncertainty.

• Journal of Magnetics
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• 제19권1호
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• pp.1-4
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• 2014

We report the correlation between the magnetic properties and lattice parameter of $Fe_xCo_{100-x}$ alloys as a function of constituent concentration. The saturation magnetization increases with Fe content and has a maximum value at approximately x=70 at.%. However, collapse in relative saturation magnetization is observed at approximately 30 at.% to 70 at.% of Fe in $Fe_xCo_{100-x}$ alloys. The collapse is due to the formation of Co-Co and Fe-Fe antibonding states instead of Fe-Co bonds. The lattice parameter also shrinks at approximately 30 at.% to 70 at.% of Fe. This shrinkage is due to an increase in the number of nearest neighbor antisite atoms, which then leads to a decrease in the long range order parameter.

• 동력기계공학회지
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• 제21권5호
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• pp.79-85
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• 2017

Vickers hardness is an important material in the design and reliability is required. Therefore, these values are very important as the basic data for design, manufacture and development, and the identification of quantitative probability distribution characteristics such as mean and dispersion is a very important parameter in design. In this study, Vickers hardness was measured after artificially heat-treated in the temperature range 753K, where chrome depletion near the grain boundary occurred for three kinds of stainless steels, and the Vickers hardness were evaluated. From the results, Vickers hardness increased with increasing heat treatment temperature. In Weibull distribution for Vickers hardness, the dispersion of STS310S at 813K and 873K was small, and the dispersion of STS316L at 753K, 933K and 993K was small. Also, STS347H exhibited the lowest dispersion at 753K in three kinds of stainless steels. The scale parameter increased with increasing heat treatment temperature in three kinds of stainless steels.

• 대한조선학회지
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• 제21권1호
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• pp.21-34
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• 1984

This paper is concerned with the experimental investigation of transverse vibration characteristics in water of rectangular plates having an inner free cutout. Systematic experiments are carried out to investigate effects of the surrounding water on the added mass and the natural frequency of the plates due to the changes of the aspect ratio, hole size and eccentricity. The main subject is the clamped rectangular plate with a circular hole. For the purpose of comparative evaluations, some other common-type boundary conditions and hole shapes such as ellipses and rectangles are also investigated. Some of the results obtain are as follows; 1) For each given aspect ratio of the plate, there is a hole area ratio which gives a minimum value of the nondimensional frequency parameter for each mode. The hole area ratio increases as the order number of the mode increases. 2) The nondimensinal mass-increment parameter decreases as the aspect ration or the order number of the mode increases. For each given aspect ratio, the parameter the fundamental mode decreases monotonically as the hole area ratio increase. In cases of the second and higher order modes, however, each mode has a hole area ratio which gives a maximum value of the parameter for each aspect ratio more then 2/3. 3) Comparing elliptic holes with rectangular ones with same hole area ratio, nondimensional frequency parameters are almost same for each given ratio of the shorter axises to the longer one. 4) The influences of difference in boundary condion on nondimensional frequency parameters in water are similar to those in air.

• 한국자동차공학회논문집
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• 제18권1호
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• pp.66-73
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• 2010

This work was focused on the material parameter extraction for the isothermal cyclic deformation analysis for which Chaboche(Combined Nonlinear Isotropic and Kinematic Hardening) and Overlay(Multi Linear Hardening) models are normally used. In this study all the parameters were driven especially based on Overlay theories. A simple method is suggested to find out best material parameters for the cyclic deformation analysis prior to the isothermal LCF(Low Cycle Fatigue) analysis. The parameter extraction was done using 400 series stainless steel data which were published in the reference papers. For simple and quick review of the parameters extracted by suggested method, 1D FORTRAN program was developed, and this program could reduce the time for checking the material data tremendously. For the application to FE code ABAQUS user subroutine for the material models was developed by means of UMAT(User Material Subroutine), and the stabilized hysteresis loops obtained by the numerical analysis were in good harmony with test results.

• 한국정보통신학회논문지
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• 제7권2호
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• pp.177-182
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• 2003

본 연구는 유사음에 강인한 음성인식을 위하여 음성의 유ㆍ무성음 척도를 특징 파라미터에 추가 구성하여 음절과 음소단위의 음성인식을 행하였다. 이를 위하여 피치검출에 이용되는 알고리듬인 HPS(Harmonic Product Spectrum)의 스펙트럼 정보를 이용하여 유ㆍ무성음의 정도를 나타내는 척도를 제안한다. 제안된 척도는 HPS의 첨도와 피크의 개수 그리고 높이척도이다. 이들 척도 값을 포함하여 특징 파라미터를 재구성하고 제안된 특징의 유효성을 검증하기 위하여 CVC형 유사 음절 DB하에서 기존 특징 파라미터와 비교하여 음성인식 실험을 행하였다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.24.1-24.1
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• 2008

We examine the eccentricity parameter (EP) of Coronal Mass Ejections (CMEs). For this, we select 298 front-side CMEs from SOHO LASCO CMEs whose speed is larger than 1000km/s and angular width is greater than $120^{\circ}$ during from 1997 to 2007. These are thought to be the most plausible candidate of geoeffective CMEs. We examine the relation between CMEs eccentricity parameter and the minimum value of the Dst index. We find that strong geomagnetic storms (Dst < -200nT) are well correlated with the EP from the scattered plot. We also find that CMEs have high geoeffectiveness when they occurred near the center of the solar disk with the small EP and they have the small speed with the small EP. These results indicate that the CME EP also can be an important indicator to forecast CME geoeffectiveness such as Earthward direction parameter (Moon et al. 2005, Kim et al. 2008).

• 한국경영과학회지
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• 제42권2호
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• pp.35-48
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• 2017

As the technology convergence paradigm emerges, the need for "CIA techniques" to analyze the mutual effects of technology is increasing. However, since the CIA input parameter estimation is difficult, the present study suggests a "CIA input parameter setting model" to alleviate the difficulty of CIA input parameter estimation. This paper is focused on the difference of measurement difficulty by each scale which expert's estimation behavior was defined as measurement activity quantifying the judgment of future technology. Therefore, this model is designed to estimate the input variable as a sequence or isometric scale that is relatively easy to measure, and then converts it into a probability value. The input parameter setting model of the CIA technique consists of three sub-models : 'probability value derivation model', 'influence estimation model', and 'impact value calculation model', in order to develop a series of models the Thurstone V model, Regression Analysis, etc has been used.

• 한국콘텐츠학회논문지
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• 제5권3호
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• pp.175-181
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• 2005

현재 제공되는 인터넷 서비스들의 동작 특성은 기존에 고려되던 트래픽 특성과는 완전히 다른 자기 유사성(Self-similarity)이라는 성질을 가진다는 것이 증명되었다. 자기 유사성은 장기간 의존성으로 표현되는데, 이것은 단기간 의존성 성질을 갖는 기존의 모델인 포아송(Poisson) 모델과는 상반되는 개념이다 따라서 차세대 통신망의 설계 및 디멘져닝을 위해서는 무엇보다도 데이터 트래픽의 주요 특성인 버스트성(Burstiness)과 자기유사성이 반영된 트래픽 모델이 요구된다. 여기서 자기유사성은 허스트 파라미터(Hurst Parameter)로 특성화 될 수 있다. 이러한 관점에서 본 논문에서는 데이터 트래픽 특성이 서로 다른 다수의 데이터 트래픽의 통합되어 통신망에 입력되는 경우 주요 파라미터인 허스트 파라미터의 변화를 다양한 환경 하에서 분석하였고 이를 시뮬레이션 결과와도 비교하였다.

• 한국산학기술학회논문지
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• 제17권2호
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• pp.697-702
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• 2016

매입형 영구자석 동기전동기의 원활한 제어를 위해서는 전동기의 상수인 고정자 저항이나 각종 인덕턴스의 값, 그리고 쇄교 자속의 값 등을 정확하게 알아야 한다. 그러나 이러한 상수들은 전동기 운행에 따른 전동기 온도의 상승이나 각 작동점 등의 변화에 따라 계속적으로 변하기 때문에 이들의 값을 정확하게 추정하는 것은 매우 어렵다. 이러한 문제점을 극복하기 위해서 실시간으로 상수의 값을 추정하는 기법이 필요한데 본 논문에서는 MRAS(Model Reference Adaptive System) 기법을 이용한 상수의 추정 및 적응제어 기법을 제시한다. 시스템의 관계식이 이들 상수에 대해 비선형으로 구성되어 있어 일반적인 제어기법을 적용하는데 문제가 있어 일부 논문에서는 상수의 일부를 안다고 가정하였지만 본 논문에서는 이러한 가정 없이 모든 상수를 추정하는 제어기법을 제시하고 적응제어 기법의 수렴성을 입증하였다. 제시하는 알고리즘의 우수성은 시뮬레이션을 통해 입증하도록 한다.