• 한국항공우주학회지
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• 제48권11호
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• pp.881-888
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• 2020

본 논문에서는 관측자가 얻을 수 있는 시선각(LOS) 측정값을 사용하여 관심표적의 상태변수를 추정하는 연구를 수행하였다. 관심상태변수는 표적의 위치, 속도 및 가속도로 설정하였다. 시선각 측정값은 필터에 표적운동모델 적용을 어렵게 하는 비선형성이 강한 측정값이다. 이러한 문제해결을 위해 가측정치 공식(Pseudomeasurement equation)을 사용하여 시선각 측정값 수식을 변경한 후 3D 가변선회(3D Variable Turn) 표적운동모델을 적용하였다. 또한 필터의 성능을 위해 기구학적구속조건(Kinematic Constraint)을 적용하였다. 필터는 초기조건에 강건한 특성을 가진 Bias Compensation Pseudomeasurement Filter (BCPMF)를 사용하였다. 병렬 계산의 이점을 위해 Two Stage Kalman Filter 형태를 추가적으로 적용하였다. 이 기법들을 사용하여 TBCPMF 3DVT-KC 필터를 제안하였고 시뮬레이션을 통해 성능을 확인하였다.

• The Korean Journal of Physiology and Pharmacology
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• 제1권3호
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• pp.263-273
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• 1997

The purpose of this study was to evaluate the effects of electrical stimulation on vestibular compensation following ULX in rats. Electrical stimulation (ES) with square pulse ($100{\sim}300uA$, 1.0 ms, 100 Hz) was applied to ampullary portion bilaterally for 6 and 24 hours in rats receiving ULX. After ES, animals that showed the recovery of vestibular symptoms by counting and comparing the number of spontaneous nystagmus were selected for recording resting activity of type I, II neurons in the medial vestibular nuclei (MVN) of the lesioned side. And then the dynamic neuronal activities were recorded during sinusoidal rotation at a frequency of 0.1 Hz and 0.2 Hz. The number of spontaneous nystagmus was significantly different 24 hours (p<0.01, n=10), but not 6 hours after ULX+ES. As reported by others, the great reduction of resting activity only in the type I neurons ipsilateral to lesioned side was observed 6, 24 hours after ULX compared to that of intact labyrinthine animal. However, the significant elevation (p<0.01) of type I and reduction (p<0.01) of type II neuronal activity were seen 24 hours after ULX+ES. Interestingly, gain, expressed as maximum neuronal activity(spikes/sec)/maximum rotational velocity(deg/sec), was increased in type I cells and decreased in type II cells 24 hours after ULX+ES in response to sinusoidal rotation at frequencies of both 0.1 Hz and 0.2 Hz. This result suggests that accompanying the behavioral recovery, the electrical stimulation after ULX has beneficial effects on vestibular compensation, especially static symptoms (spontaneous nystagmus), by enhancing resting activity of type I neurons and reducing that of type II neurons.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.626-637
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• 2014

On ship, especially on large ship, the flexure deformation between Master (M)/Slave (S) Inertial Navigation System (INS) is a key factor which determines the accuracy of the integrated system of M/S INS. In engineering this flexure deformation will be increased with the added ship size. In the M/S INS integrated system, the attitude error between MINS and SINS cannot really reflect the misalignment angle change of SINS due to the flexure deformation. At the same time, the flexure deformation will bring the change of the lever arm size, which further induces the uncertainty of lever arm velocity, resulting in the velocity matching error. To solve this problem, a $H_{\infty}$ algorithm is proposed, in which the attitude and velocity matching error caused by deformation is considered as measurement noise with limited energy, and measurement noise will be restrained by the robustness of $H_{\infty}$ filter. Based on the classical "attitude plus velocity" matching method, the progress of M/S INS information fusion is simulated and compared by using three kinds of schemes, which are known and unknown flexure deformation with standard Kalman filter, and unknown flexure deformation with $H_{\infty}$ filter, respectively. Simulation results indicate that $H_{\infty}$ filter can effectively improve the accuracy of information fusion when flexure deformation is unknown but non-ignorable.

• 전자공학회논문지SC
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• 제41권1호
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• pp.1-8
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• 2004

INS는 위치, 속도 및 자세정보를 고속으로 제공하며 스스로 항법정보를 제공하는 장점이 있으나 오차가 시간에 따라 증가하는 단점이 있다. 반면에 GPS는 데이터를 저속으로 제공하며 재밍(Jamming)에 영향을 쉽게 받으나 오차가 시간에 상관없이 일정하다는 장점이 있다. 따라서 상호보완적인 특성을 가지는 INS와 GPS를 통합하였을 때 더욱더 정확한 항법해를 제공할 수 있다. 그러나 INS와 GPS를 통합하는 과정에서 INS정보와 GPS정보의 정확한 시각적 동기가 어려우며, 시각적 비동기에 의한 오차는 일정한 측정오차를 유발하며 고속으로 운항하는 경우에는 큰 영향을 미치게 된다. 본 연구는 GPS/INS 통합항법 시스템에서 측정치 시간지연에 의해 유발되는 오차를 효과적으로 줄이기 위해 바이어스 분리형 칼만필터를 이용한 시간지연오차 보상기법을 강결합 방식과 약결합 방식에 대하여 각각 제안하였다. 각각의 통합모델에서 위치와 속도보정의 측정방정식을 지연시간에 관하여 선형화하였고 지연 상태변수를 기존의 선형 오차방정식에 추가하고 바이어스 분리형 칼만필터를 적용하여 시간지연을 초기에 추정하여 보상하도록 구성하였으며 시뮬레이션을 통하여 성능을 검증하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.357-362
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• 2002

Most of battery industries are growing explosively as a core strategy industry for the development of the semi-conductor, the LCD, and the mobile communication device. In this thesis, dynamic characteristics of the steel can labeling machine on the automatic cell assembly line are studied. Dynamic characteristic analysis consists of dynamic behavior analysis and finite element analysis and is necessary for effective design of machines. In the dynamic behavior analysis, the displacement, velocity, applied force and angular velocity of each components are simulated according to each part. In the FEA, stress analysis, mode analysis, and frequency analysis are performed for each part. The results of these simulations are used for the design specification investigation and compensation for optimal design of cell manufacturing line. Therefore, Virtual Engineering of the steel can labeling machine on the automatic cell assembly line systems are modeled and simulated. 3D motion behavior is visualized under real-operating condition on the computer window. Virtual Prototype make it possible to save time by identifying design problems early in development, cut cost by reducing making hardware prototype, and improve quality by quickly optimizing full-system performance. As the first step of CAE which integrates design, dynamic modeling using ADAMS and FEM analysis using NASTRAN are developed.

• 화약ㆍ발파
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• 제19권3호
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• pp.91-104
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• 2001

As in Korean environments with mountainous and hilly areas, the rock generally has to be removed in construction or civil engineering work in tunnelling or excavation for development in urban area. Explosives should be used for blasting, which may cause serious problems on local people for their claim for compensation due to ground vibration, noise. For safe and economic blasting, geology and engineering characteristics of rocks such as discontinuities of rock or weathering are very important factors, together with site characteristics for prediction of ground vibration. In this study, conducted were the detailed study for major rocks most widely distributed in the South-east area, in-situ geological survey, geological and geochemical analysis, and further laboratory uniaxial rock stress, seismic velocity of core samples together with in-situ seismic velocity measurements. Regulations on ground vibration and noise were reviewed for assessing their adaptabilities, and a total of 4,856 measured blasting vibration data were examined for enhancing the confidence level in estimating the predictive formulation using scaled distance statistically.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.727-730
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• 2002

Most of battery industries are growing explosively as a core strategy industry for the development of the semi-conductor, the LCD, and the mobile communication device. Dynamic characteristic analysis consists of dynamic behavior analysis and finite element analysis and is necessary for effective design of machines. In the dynamic behavior analysis, the displacement, velocity, applied force and angular velocity of each components are simulated according to each part. In the FEA, stress analysis, mode analysis, and frequency analysis are performed far each part. The results of these simulations are used for the design specification investigation and compensation for optimal design of cell manufacturing line. Virtual Engineering of the separator inserting machine on the automatic cell assembly line systems are modeled and simulated. 3D motion behavior is visualized under real-operating condition on the computer window. Virtual Prototype make it possible to save time by identifying design problems early in development, cut cost by reducing making hardware prototype, and improve quality by quickly optimizing full-system performance. As the first step of CAE which integrates design, dynamic modeling using ADAMS and FEM analysis using NASTRAN are developed.

• 오토저널
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• 제13권4호
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• pp.62-75
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• 1991

The purpose of this study is to perform modelings and experiments to measure air flow rate using hot-wires and a CTA(Constant Temperature Anemometer). The flow rate can be obtained by measuring the heat loss of the hot-wire due to the variations of flow velocity when the hot-wire is maintained at uniform temperature. But the defect of this method is that the output signal changes not only by the flow rate but also by the ambient temperature. Thus, in the present study, a method which compensates the variations of the ambient temperature has been introduced to measure exact flow rate. To be more specific, the bridge circuit of the usual hot-wire anemometer system has been modified in such a way that a temperature resistance sensor and a variable resistance are placed in one of the legs to compensate the different temperature coefficients of both the hot-wire and the temperature compensating resistance for flow velocity or for flow mass up to the flow temperature of 50 .deg.C. Comparing the modeling and experimental results, it has been shown that the compensating point differs as the flow rate varies. Therefore, optimum compensation points are sought to construct the circuit. The present modeling and experimental results may be applied to the design of actual air flow meters for automobiles.

• 한국정밀공학회지
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• 제19권7호
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• pp.154-162
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to model. This paper is concerned with the compensation for friction using the variable structure system approach as nonmodel based method. The problem of chattering in the sliding mode controller is suppressed by the implementation of the boundary layer concept. And the estimation for friction using sliding mode observer makes the upper bound of matched uncertainty reduced. Accordingly, the effect of chattering can be more suppressed. And the sliding surface is constructed by adding an integral component to the switching function that is made by using error dynamics. This sliding surface guarantees the good tracking performance. Experimental results for a XY table system show that the proposed method has a good performance especially in the low velocity.

• 대한기계학회논문집A
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• 제29권7호
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• pp.938-946
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• 2005

Friction is a dominant nonlinear factor in servomechanisms, which seriously deteriorates system accuracy. A friction compensator is indispensable to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism, identification of the friction elements is required. To estimate the friction of the servomechanism, an accurate linear element model of the system is required first. Tn this paper, a nonlinear friction model, in which static, coulomb and viscous frictions as well as Stribeck effect are included, is identified through the describing function approximation of the nonlinear element. A nonlinear element composed of two relays is intentionally devised to induce various limit cycle conditions in the velocity control loop of the servomechanism. The friction coefficients are estimated from the intersection points of the linear and nonlinear elements in the complex plane. A Butterworth filter is added to the velocity control loop not only to meet the assumption of the harmonic balance method but also to improve the accuracy of the friction identification process. Validity of the proposed method is confirmed through numerical simulations and experiments. In addition, a model-based friction compensator is applied as a feedforward controller to compensate fur the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.