• 한국항공우주학회지
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• 제32권7호
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• pp.69-75
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• 2004

비행중인 다른 항공기를 회피하며 항공기를 목표점까지 유도하는 문제를 2차원 평면에서 고려하였다. 항공기는 속도의 크기가 일정한 질점이며, 제어입력으로 측가속도를 사용하는 것으로 가정하였다. 이동장애물에는 척력 포텐셜함수를 목적점에는 인력 포텐셜함수를 인공적으로 부여하여 항공기에 척력과 인력이 작용하도록 하였다. 유도/회피명령은 이들 포텐셜력과 상대속도를 사용하여 실시간으로 구현 가능한 유도/회피법칙을 구현하였다. Log 형태의 포텐셜함수를 사용하면 구현된 유도법칙은 잘 알려진 비례항법유도법칙이 되며, 회피법칙은 장애물까지 도달시간에 반비례하고 시선각 변화의 반대 방향으로 항공기를 회전시킨다. 제안된 유도/회피법칙은 시뮬레이션을 통하여 타당성을 검증하였다.

• KIEE International Transactions on Power Engineering
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• 제2A권4호
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• pp.131-135
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• 2002

This paper describes a new ultra-fast contingency screening algorithm for on-line TSA without time simulation. All machines are represented in a classical model and the stability index is defined as the ratio between acceleration power during a fault and deceleration power after clearing the fault. Critical clustering of machines is done based on the stability index, and the power-angle curve of the critical machines is drawn assuming that the angles of the critical machines increase uniformly, while those of the non-critical ones remain constant. Finally, the critical clearing time (CCT) is computed using the power-angle curve. The proposed algorithm is tested on the KEPCO system comprised of 900-bus and 230-machines. The CCT values computed with the screening algorithm are in good agreement with those computed using the detailed model and the SIME method. The computation time for screening about 270 contingencies is 17 seconds with 1.2 GHz PC.

• Journal of Electrical Engineering and information Science
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• 제2권4호
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• pp.66-71
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• 1997

The dielectrophoretic(DEP) force acting on a cell in an electric field is experimentally determined. A cell is accelerated by the DEP force in an electric field generated between micro planar electrodes. the position of the cell is measured and the velocity and acceleration of the cell are calculated based on the measured position data. The DE force is determined from the motion equation of a moving cell in suspension. The electrode structure is fabricated by micromachining technology and the height of electrodes is 1 $\mu\textrm{m}$. Radish cell and yeast are used in th experiments. In the case of radish cell, the DEP force increases as voltage or frequency(1MHz∼3MHz) increases. The voltage dependence can be explained that the DEP force increases when ▽│E│$^2$increases. The frequency dependence means that Re[x\ulcorner] of radish cell is maximized in a certain frequency. In the case of yeast, the DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force on a yeast does not vary when the frequency varies from 1MHz to 3MHz. This result coincides with the fact that the value of calculated Re[x\ulcorner] is constant in the test frequency range.

• 대한기계학회논문집
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• 제16권12호
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• pp.2298-2305
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• 1992

본 연구에서는 보의 종방향 강성치를 실제보다 훨씬 작은 횡방향 강성치 수준 으로 낮추어 시간 적분을 수행하는 대신, 종방향에 작용하는 힘을 분산시켜서 계산시 종방향 상대 변형을 억제하는 기법을 사용하였다. 또 여러개의 물체가 조인트에서 서로 연결되어 이루어진 다물체 도역학의 해는 운동 방정식과 기구학적 제한조건을 모 두 만족시켜야 하며, 상미분 방정식 해법용 시간 적분을 바로 적용할 수는 없다. 본 논문에서는 참고문헌(13)과 (14)에 소개된 반복계산법 및 계산가속기법에 의하여 Lag- range multiplier를 운동 방정식에서 소거한 후 시간 적분을 수행하는 방법을 사용한 다.

• 로봇학회논문지
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• 제2권3호
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• pp.234-241
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• 2007

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.

• 한국조명전기설비학회지:조명전기설비
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• 제6권2호
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• pp.56-61
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• 1992

유도 전동기의 일정자속 벡터제어에서 유도전동기의 속도를 별도의 속도검출장치가 없이, 전동기의 속도를 1차측 전압과 전류 및 전동기정수에 의하여 추정하는 방법을 제시하고 전류추종형 PWM인 버터에 의하여 구동 시스템을 구성하였다. 모든 연산 및 제어회로를 마이크로프로세서에 의하여 보다 간단하게 실현시켜 유도전동기의 가변속 구동특성을 컴퓨터 시뮬레이션과 실험에 의하여 조사하였다. 속도검출장치를 이용한 경우와 연산회로에 의하여 계산된 경우의 입력 전류파형상의 차이를 조사한 결과 미소한 리플성분을 제외하고는 잘 일치하였으며, 기동 및 가감속시의 속도추종특성도 시뮬레이션의 결과와 함게 양호하게 얻어졌다.

• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.659-668
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• 2018

This paper proposes an optimization approach of a grid-connected photovoltaic and wind hybrid energy system including energy storage considering voltage fluctuation in the electricity grid. A techno-economic analysis is carried out in order to minimize the size of hybrid system by considering the benefit-cost. Lithium-ion battery type is used for both managing the electricity selling to the grid and reducing voltage fluctuation. A new technique is developed to limit the voltage perturbation caused by the solar irradiance and the wind speed through determining the state-of-charge of battery for every hour of a day. Improved particle swarm optimization (PSO) methods, referred to as FC-VACPSO which combines Fast Convergence Particle Swarm Optimization (FCPSO) method and Variable Acceleration Coefficient Based Particle Swarm Optimization (VACPSO) method are used to solve the optimization problem. A comparative study has been performed between standard PSO method and PSO based methods to extract the best size with the benefit cost. A sensitivity analysis has been studied for different kinds and costs of batteries, by considering variable and constant state-ofcharge of battery. The simulations, performed under Matlab environment, yield good results using the FC-VACPSO method regarding the convergence and the benefit cost of the hybrid system.

• 대한기계학회논문집A
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• 제21권6호
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• pp.907-917
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• 1997

The purpose of this study is to design an anti-sway motion for industrial overhead cranes which transport objects on a horizontal plane by adjusting movements of a trolley motor and a girder motor. The movement of a hoist motor has not been considered at this time since its role was assumed to move objects only vertically, therefore, not to affect the swing motion of objects. The dynamic behavior of the swing motion shows nonlinear characteristics, which makes the design of anti-sway motion controller difficult. First of all, the nonlinear state equation for the motion of industrial overhead cranes has been derived. Then they have been linearized about normal operating states determined by the dynamic characteristics of motor motion-acceleration, constant speed, and deceleration, and deceleration, during transportation. The partial state feedback control algorithm based on this linearized state equation has been developed on order to suppress the swing motion. The simulation results have demonstrated satisfactory performance of the proposed controller.

• Elastomers and Composites
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• 제50권4호
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• pp.292-296
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• 2015

Biomimetic artificial basilar membrane being a core part of artificial cochlear requires performance evaluation through aging test. To evaluate the aging properties of PVDF piezoelectric membrane used for artificial basilar membrane, its mechanical properties such as tensile strength and elastic modulus and piezoelectric property such as piezoelectric constant were measured. The aging test conditions and acceleration constants were calculated based on Arrhenius model. The changes in tensile strengths and elastic moduli measured were less than 10~20% after aging test equivalent for 10 years. The piezoelectric constants were decreased drastically to 80% of its initial value in the early stage of the aging test and expected to decrease slowly down to 65% over 10 years. The experimental results show the reliability of totally implantable novel artificial cochlear and will contribute its commercialization.

• Smart Structures and Systems
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• 제9권2호
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• pp.105-125
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• 2012

A modified Pagano method is developed for the three-dimensional (3D) free vibration analysis of simply-supported, multilayered functionally graded material (FGM) circular hollow cylinders with a constant rotational speed with respect to the meridional direction of the cylinders. The material properties of each FGM layer constituting the cylinders are regarded as heterogeneous through the thickness coordinate, and then specified to obey a power-law distribution of the volume fractions of the constituents, and the effects of centrifugal and Coriolis accelerations, as well as the initial hoop stress due to rotation, are considered. The Pagano method, which was developed for the static and dynamic analyses of multilayered composite plates, is modified in that a displacement-based formulation is replaced by a mixed formulation, the complex-valued solutions of the system equations are transferred to the real-valued solutions, a successive approximation method is adopted to extend its application to FGM cylinders, and a propagator matrix method is developed to reduce the time needed for its implementation. These modifications make the Pagano method feasible for multilayered FGM cylinders, and the computation in the implementation is independent of the total number of the layers, thus becoming less time-consuming than usual.