• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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• pp.234-237
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• 1987

Recently various control algorithms for industrial manipulators have been proposed. However, computation time, modelling error, and torque type controller design have prevented real-time implementation. As the result, most of performance evaluations of control algorithms have been carried out only by computer simulations. In this paper, we explore real-time implementation to show the feasibility and effectiveness of such algorithms. Experimental results indicate that computed torque method and learning control algorithms can be effectively applied to control industrial manipulators.

• 설비공학논문집
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• 제15권6호
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• pp.495-501
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• 2003

Control algorithms for the absorption air conditioning system may be developed by using dynamic models of the system. The simplified effective dynamic models, which can predict the dynamic behaviors of the system, may help to develop effective control algorithms for the system. In this study, control algorithms for an absorption air conditioning system were developed by using a dynamic simulation program. A cooling water inlet temperature control algorithm, a chilled water outlet temperature control algorithm, and a supply air temperature control algorithm, were developed and analyzed. The steepest descent method was used as an optimal algorithm. The simulation results showed energy savings and the effective controls of an absorption air conditioning system.

• 자동차안전학회지
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• 제11권2호
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• pp.35-43
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• 2019

This paper describes the improved environment recognition algorithms using some type of sensors like LiDAR and cameras. Additionally, integrated control algorithm for an autonomous vehicle is included. The integrated algorithm was based on C++ environment and supported the stability of the whole driving control algorithms. As to the improved vision algorithms, lane tracing and traffic sign recognition were mainly operated with three cameras. There are two algorithms developed for lane tracing, Improved Lane Tracing (ILT) and Histogram Extension (HIX). Two independent algorithms were combined into one algorithm - Enhanced Lane Tracing with Histogram Extension (ELIX). As for the enhanced traffic sign recognition algorithm, integrated Mutual Validation Procedure (MVP) by using three algorithms - Cascade, Reinforced DSIFT SVM and YOLO was developed. Comparing to the results for those, it is convincing that the precision of traffic sign recognition is substantially increased. With the LiDAR sensor, static and dynamic obstacle detection and obstacle avoidance algorithms were focused. Therefore, improved environment recognition algorithms, which are higher accuracy and faster processing speed than ones of the previous algorithms, were proposed. Moreover, by optimizing with integrated control algorithm, the memory issue of irregular system shutdown was prevented. Therefore, the maneuvering stability of the autonomous vehicle in severe environment were enhanced.

• 컴퓨터교육학회논문지
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• 제19권1호
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• pp.101-109
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• 2016

컴퓨팅 사고 교육에서 알고리즘의 설계는 학습자의 논리적 사고력과 절차적 사고력이 요구되는 중요한 학습 과정이다. 하지만 알고리즘 학습에 관한 연구와 학습자가 실제 학습에서 겪는 오류에 관한 연구가 부족한 실정이다. 이에 본 연구는 알고리즘 설계 학습에서 순서도를 활용한 프로그래밍 제어 구조 설계에서 발견된 학습자의 오류를 분석하여, 오류 유형을 제시하였다. 대학생을 대상으로 한 강의에서 세 가지 제어 구조에 관한 평가 문항을 제시한 결과, 순차 구조에서는 오류 유형이 발견되지 않았다. 하지만 조건 구조에서는 2개의 조건문이 중첩된 경우 조건 설정에서 오류가 발생하였다. 반복 구조에서는 반복의 횟수를 조절하는 조건, 반복되는 명령문의 위치, 중첩된 반복문에서 조건과 명령문의 위치 오류가 발견되었다. 본 연구에서 나타난 오류 유형은 초 중등학교와 대학에서 실시하고 있는 컴퓨팅 사고 교육의 알고리즘 설계 학습에 참고할 수 있는 사례가 될 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.48-51
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• 1996

A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.207-212
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• 2002

As is well-known, the maximum power point(MPP) of PV power generation system depends on array temperature and solar insolation, it is necessary to track MPP of solar array all the time. Among various MPP control algorithms, the constant voltage control method, the perturbation and observation(P&O) method and the incremental conductance method(IncCond) have drawn many attractions due to the usefulness of each system. In this paper, the effectiveness of above mentioned three different control algorithms are thoroughly investigated via simulations and proposed efficiency evaluation method on experiment. Both the steady-state and transient characteristics of each control algorithms along with measured efficiency are analyzed, respectively. Finally, a novel MPPT control algorithm combining the constant voltage control and IncCond method for low insolation condition is proposed to improve efficiency of the 3KW PV power generation system.

• 설비공학논문집
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• 제15권3호
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• pp.203-209
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• 2003

Control algorithms of an air handling unit by using the mixing box plenum pressures were developed and verified by experiments. Control algorithms developed for this study were the setpoint algorithms for the outdoor damper position, the outdoor/fixed plenum pressure, and the return/exhaust plenum pressure. The outdoor/fixed plenum pressure setpoint was used to control the bypass damper position, and the return/exhaust plenum pressure setpoint was used to control the return fan speed. Experimental results showed the good control of the required outdoor air demand. Therefore, setpoint algorithms developed for this study may effectively be applied for the control of the VAV air handling unit.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1997년도 추계학술대회 발표논문집:21세기를 향한 정보통신 기술의 전망
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• pp.463-471
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• 1997

In this paper, a new variable structure controller (VSC) is presented. The presented VSC can be applicable to most mechatronic systems such as robotics. A VSC (or also called sliding mode control；SMC) algorithm is presented first, and next, a VSC with nonlinear integral control algorithms is presented. The algorithms use no linear approximation for the derivation of the control law or in the stability proof. It is shown that the robustness of the developed algorithms are guaranteed by the sliding mode control and that the algorithms are globally convergent.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 전력전자학술대회 논문집
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• pp.246-247
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• 2013

This paper investigates control algorithms for a doubly fed induction generator with a back-to-back three-level neutral-point clamped voltage source converter in medium voltage wind power system under unbalanced grid conditions. Control algorithms to compensate for unbalanced conditions have been investigated with respect to four performance factors; fault ride-through capability, instantaneous active power pulsation, harmonic distortions, and torque pulsation. The control algorithm having zero amplitude of torque ripple shows the most cost-effective performance concerning torque pulsation. The least active power pulsation is produced by control algorithm that nullifies the oscillating component of the instantaneous stator active and reactive power. Combination of these two control algorithms depending on the operating requirements and depth of grid unbalance presents most optimized performance factors under the generalized unbalanced operating conditions leading to high performance DFIG wind turbine system. The proposed control algorithms are verified through transient response in the simulation.