• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.156-164
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• 2004

The unmanned tandem helicopter, which is a MIMO nonlinear system with complexity and inherent instability, exists in unstable zero dynamics. In this paper, approximate linearization is presented to design the controller for output tracking of an unmanned tandem helicopter based on the dynamic augment method, and the simulation results are encouraging.

• 한국항공운항학회지
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• 제23권4호
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• pp.22-29
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• 2015

Quadrotor is widely used in variable application nowadays. Due to its inherent unstable characteristics, control system to augment the stability is essential for quadrotor operation. To design control system and verify its performance through simulation, accurate dynamic model is required. Quadrotor dynamic model is simply compared with conventional rotorcraft such as helicopter. However, the accurate dynamic model of quadrotor is not easy to develop because of the highly correlated aerodynamic effect of each rotor. In this paper, quadrotor dynamic model is identified from the flight data using frequency domain approach. Flight test of quadrotor is performed in closed loop configuration with stability augmentation system included. Frequency sweep input is applied in each of lateral, longitudinal, yaw and heave axis separately. The bare dynamic model is identified from the flight data of quadrotor responses and thrust measurement through Pulse Width Modulation(PWM) data. The frequency responses of identified model match well with those of flight data, and time responses of identified model for doublet input in each axis are also shown to agree with flight data.

• 한국콘텐츠학회논문지
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• 제13권6호
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• pp.1-8
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• 2013

증강현실에서 움직이는 가상 모델을 증강물로 활용하려면 대개 별도의 모델링이나 애니메이션 도구 사용이 필요하며 이는 매우 전문적이고 복잡한 작업이다. 본 논문에서는 그러한 과정 없이 동적 가상 객체를 증강 환경에 삽입할 수 있는 방법으로 비디오 객체 기반 저작 방법을 제시한다. 그랩컷과 그로컷을 통합 적용하여 대상물의 초기 영역을 분리한 후, 스냅컷을 이용해 프레임간 경계선 변화를 자동 추적하여 동작이 담긴 연속 프레임을 실사 비디오에 증강하는 방식이다. 실험결과로, 몇 단계의 메뉴 선택과 경계선 오류 정정 스케치만으로 특정 비디오 객체 컷아웃 및 증강 객체 저작이 가능함을 보였다.

• 한국항공우주학회지
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• 제31권3호
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• pp.50-57
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• 2003

본 연구에서 헬리콥더의 궤적추종을 위한 제어기의 설계 및 평가를 수행하였다. 제어시스템의 알고리즘은 선형 되먹임 기법과 두 단계 시간분리 구조를 이용하여 구성하였다. 또한 헬리콥터 동특성에 대한 정확한 정보의 결핍으로 인한 모델 역변화 오차를 보상하기 위해 신경회로망을 이용한 실시간 적응제어 구조를 자세제어 시스템에 적용하였다. 제어 시스템의 궤적추종성능은 아파치 헬기의 동측성을 나타내는TMAN 시뮬레이션 프로그램의 단순형을 사용하여 평가하였다. 이를 통하여 실시간 신경회로망 적응제어 구조가 동특성 정보의 부족으로 이한 궤도 추종 제어의 성능 저하 문제에 매우 효과적으로 기여함을 보였다.

• Smart Structures and Systems
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• 제21권4호
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• pp.449-467
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• 2018

In this paper, a theoretical and numerical study on bridge simultaneous damage detection procedure for identifying both the system parameters and input excitation mass, are presented. This method is called 'Adjoint Variable Method' which is an iterative gradient-based model updating method based on the dynamic response sensitivity. The main advantage of proposed method is inclusion of an analytical method to augment the accuracy and speed of the solution. Moving mass is a model which takes into account the inertia effects of the vehicle. This interaction model is a time varying system and proposed method is capable of detecting damage in this variable system. Robustness of proposed method is illustrated by correctly detection of the location and extension of predetermined single, multiple and random damages in all ranges of speed and mass ratio of moving vehicle. A comparison study of common sensitivity and proposed method confirms its efficiency and performance improvement in sensitivity-based damage detection methods. Various sources of errors including the effects of measurement noise and initial assumption error in stability of method are also discussed.

• 대한기계학회논문집B
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• 제27권4호
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• pp.432-439
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• 2003

In this research, we are trying to develop the new hydraulic driven tire roller which is conventionally operated by mechanical transmission system. The reason why we would like to develop it is that tire roller is one of the most useful machine for the road construction site and also imported totally from overseas. In this paper, we conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. And we investigate system modeling by using DAQ system. Finally, we will design the controller, which can manage the hydraulic circuit of steering and traction mechanism system. The advent of modern high-speed computers coupled with the application of high-fidelity simulation technology can be used to create “virtual prototypes of construction equipment. Tests conducted on these virtual prototypes may be used to augment actual machine testing, thereby lowering costs and shortening time to production. So, we studied tire roller to integrate development technology. In System Analysis, We formulate hydraulic driving system model and hydraulic steering system model. Also, We integrate DAQ system to acquire experimental result in real tire roller equipment.

• PNF and Movement
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• 제2권1호
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• pp.25-33
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• 2004

Purpose : The purpose of this article is to summarize the characteristics of isotonic combination. Method : Some studies of the motor unit activation patterns during isometric, concentric, and eccentric actions, neural strategies in the control of muscle force, and concentric versus combined concentric-eccentric training were reviewed. Results & Conclusions : Eccentric torque may be relatively higher than concentric torque for two potential reasons: 1) stretch responses in the antagonist are not elicited to restrain the motion as can occur concentrically and 2) stretch responses in the agonist may augment eccentric torque production. Concentric-eccentric training has a greater influence on functional capacity than that of concentric training. Both maximal force and average force throughout the motion were significantly higher when the dynamic action was started with preactivation as compared to the mode without preactivation. The peak torques observed during the concentric phase of the eccentric-concentric muscle actions were higher than those noted in the pure concentric contraction.

• 한국음향학회지
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• 제37권6호
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• pp.475-482
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• 2018

본 논문에서는 DNN(Deep Neural Network) 기반 오디오 표식을 위한 데이터 증강 방법을 연구한다. 본 시스템에서는 오디오 신호를 멜-스펙트로그램으로 변환하여 오디오 표식을 위한 심층신경망의 입력으로 사용한다. 적은 수의 훈련 데이터를 사용하는 경우 발생하는 문제를 해결하기 위해, 타임 스트레칭, 피치 변화, 동적 영역 압축, 블록 혼합 등의 방법을 사용하여 훈련 데이터를 증강시켰다. 사용된 데이터 증강 기법의 최적 파라미터와 최적 조합을 오디오 표식 시뮬레이션을 통해 확인하였다.

• International Journal of Computer Science & Network Security
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• 제21권2호
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• pp.158-170
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• 2021

Virtualization technologies are being adopted and broadly utilized in many fields and at different levels. In cloud computing, achieving load balancing across large distributed virtual machines is considered a complex optimization problem with an essential importance in cloud computing systems and data centers as the overloading or underloading of tasks on VMs may cause multiple issues in the cloud system like longer execution time, machine failure, high power consumption, etc. Therefore, load balancing mechanism is an important aspect in cloud computing that assist in overcoming different performance issues. In this research, we propose a new approach that combines the advantages of different task allocation algorithms like Round robin algorithm, and Random allocation with different threshold techniques like the VM utilization and the number of allocation counts using least connection mechanism. We performed extensive simulations and experiments that augment different scheduling policies to overcome the resource utilization problem without compromising other performance measures like makespan and execution time of the tasks. The proposed system provided better results compared to the original round robin as it takes into consideration the dynamic state of the system.

• 디지털융복합연구
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• 제15권4호
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• pp.529-536
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• 2017

본 연구의 목적은 마비측 다리에 나선형 방향으로 테이핑을 적용하여 뇌졸중 환자의 보행능력에 미치는 즉각적인 효과를 알아보고자 하였다. 뇌졸중 환자 42명을 각각 실험군(나선형 테이핑군) 21명과 대조군(넙다리네갈래근 테이핑군)21명으로 나누어 테이핑을 부착하였다. 두 집단 모두 10m 보행 검사(10 meter walk test)와 동적 보행 지수(Dynamic Gait Index; DGI), 가속도계(Accelerometer)를 이용한 시 공간적 보행변수 중 보행율(cadence), 속도(speed), 마비측 보행주기(gait cycle duration), 마비측 디딤기(stance phase duration), 마비측 양발 지기기(double support duration)를 측정하였다. 연구 결과 중재 전과 중재 후 두 집단 모두 10m 보행과 DGI 그리고 보행율, 보행속도에서 유의한 증가를 보였고 마비측 디딤기, 마비측 보행주기, 마비측 양발지지기에서 증가 및 감소하였지만 유의한 차이가 없었다. 두 집단간 변화량 차이는 유의한 차이가 없었다. 테이핑을 통한 뇌졸중 환자의 보행능력 변화에서 두 방법 모두 보행능력에 증가함을 알 수 있었다. 하지만 나선형 테이핑은 테이핑 절단 횟수가 적고 비교적 쉽게 적용이 가능하므로 가정에서 적용 시 보다 쉽게 적용할 수 있는 방법일 것이다.