• 전기전자학회논문지
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• 제24권3호
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• pp.867-876
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• 2020

본 논문에서는 3레벨 인버터로 구동되는 IPMSM의 고주파 주입 센서리스 운전에서 중성점 전압 리플 저감을 제안한다. 고주파 전압 주입 기반의 센서리스 제어는 IPMSM의 저속 영역에서 일반적으로 사용하는 센서리스 제어 기법이다. 고주파 전압 주입을 이용한 IPMSM의 센서리스 제어 과정에서 중성점에서의 전압 리플이 증가하는 문제가 발생한다. 중성점에서의 큰 전압 리플은 출력 전류를 왜곡시킬 뿐만 아니라 직류단 커패시터의 수명을 단축시키므로 저감되어야 한다. 본 논문에서 제안하는 기법은 지령 전압에 적절한 값을 보상하여 중성점 전압 리플을 저감하며, 보상값은 지령 전압과 전류를 이용하여 간단히 계산한다. 제안하는 중성점 전압 리플 저감 기법의 타당성은 시뮬레이션을 통해 검증한다.

• 한국정밀공학회지
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• 제24권10호
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• 제어로봇시스템학회논문지
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• 제21권1호
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• pp.1-6
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• 2015

This paper investigates the longitudinal flight dynamics and stability of flapping-wing micro air vehicles. Periodic external forces and moments due to the flapping motion characterize the dynamics of this system as NLTP (Non Linear Time Periodic). However, the averaging theorem can be applied to an NLTP system to obtain an NLTI (Non Linear Time Invariant) system which allows us to use a standard eigen value analysis to assess the stability of the system with linearization around a reference point. In this paper, we investigate the dynamics and stability of a hawkmoth-scale flapping-wing air vehicle by establishing an LTI (Linear Time Invariant) system model around a hovering condition. Also, a direct time integration of full nonlinear equations of motion of the flapping-wing micro air vehicle is conducted to see how the longitudinal flight dynamics appear in the time domain beyond the reference point, i.e. hovering condition. In the study, the flapping-wing air vehicle exhibited three distinct dynamic modes of motion in the longitudinal plane of motion: two stable subsidence modes and one unstable oscillatory mode. The unstable oscillatory mode is found to be a combination of a pitching velocity state and a forward/backward velocity state.

• Restorative Dentistry and Endodontics
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• 제18권1호
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• pp.133-143
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• 1993

The aim of this study was to establish reproducible method for measurements of radiopacity and to investigate the level of radiopacity of root canal sealers. The experiments were performed in two parts. In the first part, densitometric readings were performed using an aluminum step wedge as a reference at variable voltages and exposure times. Then standard curves for the aluminum step wedge were compared to comprehend the effect of voltage and exposure time. In the second part, on the basis of these results, appropriate conditions for exposure were adopted for standardized measurements of radiopacity. Under standardized set of conditions, densitometric measurements of ten root canal sealers and one gutta-percha point were performed and the levels of radiopacity referable to an equivalent thickness of aluminum were compared. The following results were obtained : 1. At 50 and 60 kVp, increasing the exposure time caused a decrease in the slope of the standard curve for the aluminum step wedge. However, at 70 kVp increasing the exposure time causing a parallel shift of the standard curve to the right. 2. At constant exposure time, increasing the voltage caused a decrease in the slope of the standard curve. 3. The radiopacity of root canal sealers and a gutta-percha point varied between 2.43 mm Al and 9.20 mm Al equivalent. 4. All the root canal sealers had radiopacities more than dentin, and the radiopacity of the gutta-percha point was approximately 5 times as much as that of dentin in terms of equivalent thickness of aluminum. 5. The AH26 had radiopacity more than the gutta-percha point, and the radiopacities of ZOE, Vitapex, Canals, Kerr PCS, Nogenol were similar to that of the gutta-percha point, and Tubliseal, Apatite II, Apatite III, Silapex were less radiopaque than the gutta-percha point.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.279-289
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• 2021

GNSS receivers capable of tracking multiple Global Navigation Systems (GNSSs) simultaneously are widely used. In order to estimate accurate user position and velocity, it is necessary to consider the key elements that contribute to the interoperability of the different GNSSs. Typical examples are the time system and the coordinate system. Each GNSS is operated based on its own reference time system depending on when the system was developed and whether the leap seconds are applied. In addition, each GNSS is designed based on its own coordinate system based on earth model constant values. This paper addresses the interoperability issues from the viewpoint of Single Point Positioning (SPP) users utilizing multiple GNSS signals from GPS, GLONASS, BeiDou, and Galileo. Since the broadcast ephemerides of each GNSS are based on their own time and coordinate systems, the time and the coordinate systems should be unified for any user algorithm. For this purpose, this paper proposes a method of converting each GNSS coordinate system into the reference coordinate system through Helmert transformation. The error of the broadcast ephemerides was calculated with the precise ephemerides provided by the International GNSS Service (IGS). The effectiveness of the proposed multi-GNSS correction and transformation method is verified using the Multi-GNSS Experiment (MGEX) station data.

• 한국의학물리학회:학술대회논문집
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• 한국의학물리학회 2002년도 Proceedings
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• pp.260-262
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• 2002

An accurate measurement of dose distribution is indispensable to perform radiation therapy planning. A measurement technique using a radiographic film, which is called a film dosimetry, is widely used because it is easy to obtain a dose distribution with a good special resolution. In this study, we tried to develop an analyzing system for the film dosimetry using usual office automation equipments such as a personal computer and an image scanner. A film was sandwiched between two solid water phantom blocks (30 ${\times}$ 30 ${\times}$ 15cm). The film was exposed with Cobalt-60 ${\gamma}$-ray whose beam axis was parallel to the film surface. The density distribution on the exposed film was stored in a personal computer through an image scanner (8bits) and the film density was shown as the digital value with NIH-image software. Isodose curves were obtained from the relationship between the digital value and the absorbed dose calculated from percentage depth dose and absorbed dose at the reference point. The isodose curves were also obtained using an Isodose plotter, for reference. The measurements were carried out for 31cGy (exposure time: 120seconds) and 80cGy (exposure time: 300seconds) at the reference point. While the isodose curves obtained with our system were drawn up to 60% dose range for the case of 80cGy, the isodose curves could be drawn up to 80% dose range for the case of 31cGy. Furthermore, the isodose curves almost agreed with that obtained with the isodose plotter in low dose range. However, further improvement of our system is necessary in high dose range.

• 대한전자공학회논문지SP
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• 제41권3호
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• pp.209-219
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• 2004

본 논문에서는 핵심어 검출 시스템을 실시간 적용이 가능한 하드웨어로 구현하기 위해 연산량이 적고 구조가 간단한 단일 끝점 DTW 방법을 제안한다. 제안된 알고리즘은 일반적 DTW가 양쪽 끝점을 요구하는데 비하여 단지 한쪽 끝점만 필요하므로 이용하기에 편리하며, 국부 검색의 연속이 전역 경로를 이루게 되므로 매우 적은 연산량을 가진다. 그리고, 제안한 단일 끝점 DTW가 보다 나은 성능을 지니도록 하기 위해 새로운 경사 가중치와 거리 측정법을 가지도록 하였다. 이외에도, 단일 끝점 DTW는 특징벡터 정규화를 적용하여 특징벡터 각각의 차원에서 데이터들이 같은 표준편차를 가지게 하며 모든 프레임이 같은 에너지를 가지도록 정규화 되었다 또한, 주어진 학습 패턴들에 클러스터링을 적용한 후, 각 클러스터 내에서 평균을 계산하여 구한 패턴을 해당 핵심어를 대표하는 여러 개의 기준패턴으로 삼았다. 이러한 기준패턴들과 입력 음성의 특징벡터가 이미 정해진 문턱값 보다 작은 거리 내에 있을 때 핵심어는 검출된다. 제안된 알고리즘을 고립단어 음성인식과 핵심어 검출 실험에 적용하여 다른 방법을 이용한 결과보다 성능이 뛰어남을 확인하였다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 추계학술발표대회
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• pp.733-734
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• 2016

This study proposes a novel approach for ground segmentation of 3D point cloud. We combine two techniques: gradient threshold segmentation, and mean height evaluation. Acquired 3D point cloud is represented as a graph data structures by exploiting the structure of 2D reference image. The ground parts nearing the position of the sensor are segmented based on gradient threshold technique. For sparse regions, we separate the ground and nonground by using a technique called mean height evaluation. The main contribution of this study is a new ground segmentation algorithm which works well with 3D point clouds from various environments. The processing time is acceptable and it allows the algorithm running in real time.

• Journal of Power Electronics
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• 제15권5호
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• pp.1207-1216
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• 2015

In order to suppress the low frequency oscillation of the neutral-point voltage for three-level inverters, this paper proposes a new discontinuous pulse width modulation (DPWM) control method. The conventional sinusoidal pulse width modulation (SPWM) control has no effect on balancing the neutral-point voltage. Based on the basic control principle of DPWM, the relationship between the reference space voltage vector and the neutral-point current is analyzed. The proposed method suppresses the low frequency oscillation of the neutral-point voltage by keeping the switches of a certain phase no switching in one carrier cycle. So the operating time of the positive and negative small vectors is equal. Comparing with the conventional SPWM control method, the proposed DPWM control method suppresses the low frequency oscillation of the neutral-point voltage, decreases the output waveform harmonics, and increases both the output waveform quality and the system efficiency. An experiment has been realized by a neutral-point clamped (NPC) three-level inverter prototype based on STM32F407-CPLD. The experimental results verify the correctness of the theoretical analysis and the effectiveness of the proposed DPWM method.

• 유통과학연구
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• 제14권3호
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• pp.31-38
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• 2016

Purpose - This paper reviews the change of steel export-import structure between Japan and China by the courtesy of international business reference index and stress to analyze comparative advantage under the circumstance of time-series evaluating database by 3 indexes. Research design, data, methodology - Per economic phase, both China-Japan have mutually a complementary base. Under this kind of view point, the reason why to conduct this study is to realize how this 2 country's trade competitiveness should be improved and strengthened. Results - Under this research data and analysis outcomes, bilateral intra-economy's potential supplementation is enormous. Additionally, expected benefits from here are so sufficiently assured as we compare them with any other regional economic integrated society. Conclusions - When we review our economic point of view, Northeast economic cooperations between China and Japan can provide a chance for industrial technological cooperations not only in steel business but also in other business areas. Come to think of the circumstance to accelerate competitions between 2 country's industries past time and acknowledge concrete resource supplier including expanding export market and diversification.