• Journal of Power Electronics
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• v.16 no.3
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• pp.946-959
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• 2016

A novel Virtual Space Vector (VSV) modulation strategy for complete control of potential neutral point (NP) issues is proposed in this paper. The neutral point potential balancing problems of multi-level converters, which include elimination of low frequency oscillations and self-balancing for NP dc unbalance, are investigated first. Then a set of improved virtual space vectors with dynamic adjustment factors are introduced and a multi-objective optimization algorithm which aims to optimize these adjustment factors is presented in this paper. The improved virtual space vectors and the multi-objective optimization algorithm constitute the novel Virtual Space Vector modulation. The proposed novel Virtual Space Vector modulation can simultaneously recover NP dc unbalance and eliminate low frequency oscillations of the neutral point. Experiment results show that the proposed strategy has excellent performance, and that both of the neutral point potential issues can be solved.

• Journal of Power Electronics
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• v.18 no.2
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• pp.445-455
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• 2018

A novel algorithm is proposed to regulate the neutral point potential in neutral point clamped three-level inverters. Oscillations of the neutral point potential and an unbalanced dc-link voltage cause distortions of the output voltage. Large capacitors, which make the application costly and bulky, are needed to eliminate oscillations. Thus, the algorithm proposed in this paper utilizes the finite-control-set model predictive control and the multistage medium vector to solve these issues. The proposed strategy consists of a two-step prediction and a cost function to evaluate the selected multistage medium vector. Unlike the virtual vector method, the multistage medium vector is a mixture of the virtual vector and the original vector. In addition, its amplitude is variable. The neutral point current generated by it can be used to adjust the neutral point potential. When compared with the virtual vector method, the multistage medium vector contributes to decreasing the regulation time when the modulation index is high. The vectors are rearranged to cope with the variable switching frequency of the model predictive control. Simulation and experimental results verify the validity of the proposed strategy.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.127-134
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• 2010

In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.41-42
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• 2012

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.7
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• pp.3475-3496
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• 2018

Most of current watermarking algorithms for GIS vector data embed copyright information by means of modifying the coordinate values, which will do harm to its quality and accuracy. To preserve the fidelity of vector line data and protect its copyright at the same time, a lossless watermarking algorithm is proposed based on storage feature in this paper. Firstly, the superiority of embedding watermark based on storage feature is demonstrated theoretically and technically. Then, the basic concepts and operations on storage feature have been defined including length and angle of the polyline feature. In the process of embedding watermark, the watermark information is embedded into directions of polyline feature by the quantitative mechanism, while the positions of embedding watermark are determined by the feature length. Hence, the watermark can be extracted by the same geometric features without original data or watermark. Finally, experiments have been conducted to show that coordinate values remain unchanged after embedding watermark. Moreover, experimental results are presented to illustrate the effectiveness of the method.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.310-314
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• 2008

This paper proposes a very novel method which makes it possible that state feedback controller can be designed for unknown dynamic system with measurable states. This novel method uses the support vector machines (SVM) with its function approximation property. It works together with RLS (Recursive least-squares) algorithm. The RLS algorithm is used for the identification of input-output relationship. A virtual state space representation is derived from the relationship and the SVM makes the relationship between actual states and virtual states. A state feedback controller can be designed based on the virtual system and the SVM makes the controller with actual states. The results of this paper can give many opportunities that the state feedback control can be applied for unknown dynamic systems.

• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.115-116
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• 2014

기존의 2-레벨 인버터에 비해 더 나은 출력특성을 갖는 멀티레벨 인버터가 등장함에 따라 이를 좀 더 효율적으로 사용하고자 많은 연구가 진행되어 왔다. 멀티레벨 인버터 종류의 하나로 Neutral-Point-Clamped 인버터를 들 수 있는데, 이를 구동하기 위한 방식으로 여러 가지 PWM 기법들이 사용되고 있다. 기존의 방식들에서는 dc-link단의 커패시터에서 저주파수리플이 발생하는 문제가 있다. 이에 관하여, virtual space vector PWM 기법이 제안된 바 있다. 본 논문에서는 이 기법을 계통연계 방식에 적용하여 그 결과를 시뮬레이션을 통해 확인하였다.

• Journal of Mechanical Science and Technology
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• v.19 no.6
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• pp.1290-1303
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• 2005

In this research, a remote control system has been developed and implemented, which combines autonomous obstacle avoidance in real-time with force-reflective tele-operation. A tele-operated mobile robot is controlled by a local two-degrees-of-freedom force-reflective joystick that a human operator holds while he is monitoring the screen. In the system, the force-reflective joystick transforms the relation between a mobile robot and the environment to the operator as a virtual force which is generated in the form of a new collision vector and reflected to the operator. This reflected force makes the tele-operation of a mobile robot safe from collision in an uncertain and obstacle-cluttered remote environment. A mobile robot controlled by a local operator usually takes pictures of remote environments and sends the images back to the operator over the Internet. Because of limitations of communication bandwidth and the narrow view-angles of the camera, the operator cannot observe shadow regions and curved spaces frequently. To overcome this problem, a new form of virtual force is generated along the collision vector according to both distance and approaching velocity between an obstacle and the mobile robot, which is obtained from ultrasonic sensors. This virtual force is transferred back to the two-degrees-of-freedom master joystick over the Internet to enable a human operator to feel the geometrical relation between the mobile robot and the obstacle. It is demonstrated by experiments that this haptic reflection improves the performance of a tele-operated mobile robot significantly.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.6190-6213
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• 2019

For small-scale vector data, restrictions on watermark scheme capacity and robustness limit the use of copyright protection. A watermarking scheme based on robust geometric features and capacity maximization strategy that simultaneously improves capacity and robustness is presented in this paper. The distance ratio and angle of adjacent vertices are chosen as the watermark domain due to their resistance to vertex and geometric attacks. Regarding watermark embedding and extraction, a capacity-improved strategy based on quantization index modulation, which divides more intervals to carry sufficient watermark bits, is proposed. By considering the error tolerance of the vector map and the numerical accuracy, the optimization of the capacity-improved strategy is studied to maximize the embedded watermark bits for each vertex. The experimental results demonstrated that the map distortion caused by watermarks is small and much lower than the map tolerance. Additionally, the proposed scheme can embed a copyright image of 1024 bits into vector data of 150 vertices, which reaches capacity at approximately 14 bits/vertex, and shows prominent robustness against vertex and geometric attacks for small-scale vector data.