• 전기의세계
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• v.20 no.4
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• pp.17-22
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• 1971

This paper deals with the analytic structure of feedback controller for linear time invariant discrete systems. On the way of developing the deadbeat controller, some necessary conditions for control policy have been derived. In the case of time delay, it was proved that the q periods delay in the control causes q periods delay in the point at which deadbeat response occurs. Theorems and conclusions are illustrated with some simple nontrivial numerical examples and signal state tracking application problems.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.215-216
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• 2008

This paper is proposed a approximation control method(ACM) for the maximum power of a photovoltaic system. It is designed for power systems application and utilities. The proposed Maximum Power Point Tracking(MPPT) control has the advantage to provide a new simple way to approximate the optimal or rated voltage, the optimal or rated current and maximum power rating produced by a solar panel and the photovoltaic inverter. And this straightforward method has the advantage that Pmax and $V_{op}$ can be approximated using the same variable as the dynamic model without using complicate approximations or Taylor series. This paper is proposed MPPT using AMC using weather condition of domestic moderate program technique. This paper is proposed the experimental results to verify the effectiveness of the new methods.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1215-1217
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• 2007

This paper is proposed a novel method to approximate the maximum power for a photovoltaic inverter system. It is designed for power systems application and utilities. The proposed Maximum Power Point Tracking(MPPT) control has the advantage to provide a new simple way to approximate the optimal or rated voltage, the optimal or rated current and maximum power rating produced by a solar panel and the photovoltaic inverter. And this straightforward method will be named linear reoriented coordinates method(LRCM) with the advantage that Pmax and $V_{op}$ can be approximated using the same variable as the dynamic model without using complicate approximations or Taylor series. This paper is proposed MPPT using LRMC method using weather condition of domestic moderate program technique. This paper is proposed the experimental results to verify the effectiveness of the new methods.

• Journal of The Korean Association of Information Education
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• v.17 no.2
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• pp.211-224
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• 2013

The purpose of this study was to find the effective way of composition in terms of UX(user experience) when configuring UI(user interface) of educational game by utilizing ET(eye-tracking). Experimental material was a game related to the middle school 'force and motion'. SMI (SensoMotoric Instruments)' iView X TM RED was used in order to collect eye movement data. The results of this study was as follows. First, the lead element for fast visual attention should be placed in the center when the educational game UI is configured. Second, burton that changes character's features and the information about them should be placed close to each other. Third, learning quiz caught visual attention faster when it was placed on the left side of UI. Fourth, when one UI was overlapped by another, parts that were not overlapped was fixated, too.

• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1094-1106
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• 2004

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.

• Korean Institute of Interior Design Journal
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• v.25 no.4
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• pp.80-89
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• 2016

The analysis of spatial search direction and its concentration through eye movement can produce some useful data in that it enables to know the features of space elements and their effects on one another. The results by analysing the search features and concentration of spatial sections through the eye-tracking in shops in a department store makes it possible to define the followings. First, the features of 'eye's in & out' could be estimated through the division of sections by the characteristics of those shops and the extraction of central point based on the decision of continuative observation. The decision of continuative observations enabled to analyse the frequency of observation data which can be considered to be 'things watched longtime' and the stared points that is equivalent to 'things seen very often', by which the searching characteristics of spatial sections could be estimated. Second, as with the eye's [in], the right shops had 0.6 times more (3.5%) than those left and as with the eye's [out] the left ones had 0.6 times more (3.5%). It indicates that [in, out] of the right and the left shops had the same difference, which lets us know that with starting point of the middle space, [in] and [out] were paid more attention to the right shops and the left shops respectively. Third, as with the searching directions by section, the searching times [2.9 times] from [B] to [A] were than that [2.6 times] from [A] to [B]. It was also found that the left shops had more searching direction toward [C, D] than the right ones and that those searching activities at the left shops were more active. Fourth, when the searching directions by section are reviewed, the frequency of searching from [B] to [A] was 2.9 and that of the other way 2.6. Also the left shops were found to have more searching direction toward [C, D] than the right ones and those searching activities at the left shops were estimated to be more active.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.704-712
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• 2016

Recently, the installation of photovoltaic (PV) systems has been increasing due to the worldwide interest in eco-friendly and infinitely abundant solar energy. However, the output power of PV systems is highly influenced by the surrounding environment. For instance, a string of PV systems composed of modules in series may become inoperable under cloudy conditions or when in the shade of a building. In other words, under these conditions, the existing control method of PV systems does not allow the string to be operated in the normal way, because its output voltage is lower than the operating range of the grid connected inverter. In order to overcome this problem, we propose a new control method using a DC-DC voltage regulator which can compensate for the voltage of each string in the PV system. Also, based on the PSIM S/W, we model the DC-DC voltage regulator with constant voltage control & MPPT (Maximum Power Point Tracking) control functions and 3-Phase grid connected inverter with PLL (Phase-Locked Loop) control function. From the simulation results, it is confirmed that the present control method can improve the operating efficiency of PV systems by compensating for the fluctuation of the voltage of the strings caused by the surrounding conditions.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.6
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• pp.867-874
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• 2021

The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.277-286
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• 2017

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.