• Proceedings of the KSR Conference
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• 2006.11a
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• pp.145-159
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• 2006

This paper describes the development of a clustering based fuzzy controller of an electromagnetic suspension vehicle using gain scheduling method and Kalman filter for a simplified single magnet system. Electromagnetic suspension vehicle systems are highly nonlinear and essentially unstable systems For achieving the levitation control of the DC electromagnetic suspension system, we considered a fuzzy system modeling method based on clustering algorithm which a set of input/output data is collected from the well defined Linear Quadratic Gaussian(LQG) controller. Simulation results show that the proposed clustering based fuzzy controller methodology robustly yields uniform performance with adequate gap response over the mass variation range.

• Journal of Korean Society for Atmospheric Environment
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• v.33 no.6
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• pp.616-625
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• 2017

Measurements using five real-time particle samplers were compared to measurements using three NRM (National Reference Method system) filter-based samplers(Gravimetric method) at Incheon, Korea, between May and August, 2014. The purpose of this study was to suggest the quality assurance/quality control (QA/QC) method of each instrument for use in a real-time continuous particle sampler to measure the mass of airborne particles with an aerodynamic diameter less than $2.5{\mu}m$ ($PM_{2.5}$). Five real-time particle samplers of BAM1020, FH62C_14, TEOM, PM-711 and SPM-613 were evaluated by comparing its measured 23 hr average $PM_{2.5}$ concentrations with those measured with NRM filter-based samplers simultaneously. The parameters(e.g. Inlet heating condition, Slope factor, Film response, Intercept, Background, Span value) of the real-time samplers were optimized respectively by conducting test performance evaluation during 7 days in field sampling. For example, inlet heating temperature of TEOM sampler controls $35{\sim}40^{\circ}C$ to minimize the fluctuation of the real-time measurement data and background value of BAM1020 is the key factor affecting the accuracy of $PM_{2.5}$ mass concentration. We classified the $PM_{2.5}$ concentration according to relative humidity (80%) to identify water absorbed in aerosols by measuring the ${\beta}$-ray samplers(BAM1020, FH62C_14) and TEOM. ${\beta}$-ray samplers were not strongly affected by relative humidity that the difference of the average $PM_{2.5}$ concentration was about 5%. On the other hand, The TEOM sampler overestimated $PM_{2.5}$ mass concentration about 15% at low relative humidity (<80%).

• Journal of Power Electronics
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• v.15 no.4
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• pp.1093-1104
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• 2015

A standard repetitive controller (RC) is theoretically able to replace a bank of resonant controllers in harmonic signals tracking applications. However, the traditional RC has some drawbacks such as a poor dynamic response and a complex structure to compensate grid frequency deviations for an effective unified power quality conditioner (UPQC) control scheme. In order to solve these problems, an improved RC with an outstanding dynamic response and a simplified grid frequency adaptive scheme is proposed for UPQC control systems in this paper. The control strategy developed for the UPQC has delay time, i.e., one-sixth of a fundamental period (T_p/6), repetitive controllers. As a result, the UPQC system can provide a fast dynamic response along with good compensation performance under both nonlinear and unbalanced loads. Furthermore, to guarantee the excellent performance of the UPQC under grid frequency deviations, a grid frequency adaptive scheme was developed for the RC using a simple first order Padé's approximation. When compared with other approaches, the proposed control method is simpler in structure and requires little computing time. Moreover, the entire control strategy can be easily implemented with a low-cost DSP. The effectiveness of the proposed control method is verified through various experimental tests.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Journal of the Korean Applied Science and Technology
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• v.34 no.1
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• pp.58-65
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• 2017

Fluidized bed gasification is technically and economically proven technology, which shows the high possibility of realization and commercialization. However, in Korea, development of FBG to the commercial scale for power generation and industry is mainly blocked by the fact that there is no experience of design, troubleshooting and operation of even pilot scale fluidized bed gasifier. In this study, a $3MW_{th}$ circulating fluidized bed(CFB) was newly developed for biomass gasification. The fluidized bed was mainly composed of circulating and bubbling fluidized reactors integrating in-situ tar removal step in the system. For cleaning of the tar and acid gas in the product gas, the sequential gas cleaning process comprised of a ceramic filter, rapid quencher and wet scrubber was adopted. Effect of equivalence ratio was investigated to find the optimal operating conditions for the $3MW_{th}$ integrated system of fluidized bed gasification.

• Journal of the Korean Ceramic Society
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• v.39 no.5
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• pp.503-510
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• 2002

Silicon carbide candle filters for the pressurized fluidized bed combustion system were fabricated by extrusion process. Carbon black was added to control the porosity. Inorganic additives such as clay and calcium carbonate were added to exhibit appropriate strength. Silicon carbide layer with a finer pore size (mean pore diameter ~$10{\mu}m$) was coated on the silicon carbide support layer (mean pore diameter ~$47{\mu}m$, porosity ∼40%). After that, the filter was sintered at 1400${\circ}C$ in air. We evaluated the filtration performances of the filter at 500${\circ}C$ and $5kgf/cm^2$ of pressure. As a result, high separation efficiency, >99.999% was measured. It is expected that silicon carbide candle filter can be successfully used for the pressurized fluidized bed combustion system.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.2 s.233
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• pp.263-270
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• 2005

An experimental study was performed to investigate the effects of partially premixing, varying the equivalence ratios from $0.79{\sim}{\infty}$, on NOx emissions and chemiluminescence of excited $OH^{\ast},\;CH^{ast}\;C_2^{\ast}$ radicals in laminar partially premixed flames. the signal from the electronically excited state of $OH^{\ast},\;CH^{ast}\;C_2^{\ast}$ was detected through a band pass filter with a photo multiplier tube, which are processed to the intensity ratio ($C_2^{\ast}/CH^{\ast},\;C_2^{\ast}/OH^{\ast},\;and\;CH^{\ast}/OH^{\ast}$) to reveal the correlation with local equivalence ratio. And measurements of NOx emission were made to investigate the relationship between visible flame appearance, chemiluminescence, and EINOX. The results demonstrated that (1) the flames at ${\phi}<1.59$ exhibited classical double flame structure, at ${\phi}>4.76$, the flames exhibited diffusion flame structure, and the intermediate flames at $1.59<{\phi}<4.76$ was a merged flame, (2) the $OH^{\ast}$ peak was located inside the $CH^{\ast}\;and\;C_2^{\ast}$ radical for all measured conditions and the emission intensity ratio of $C_2^{\ast}/CH^{\ast}\;and\;C_2^{\ast}/OH^{\ast}$ were identified as good marker for local equivalence ratio over a range of ${\phi}=0.79{\sim}1.2\;and\;CH^{\ast}/OH^{\ast}\;is\;0.79<{\phi}<1.9$. However, it was difficult to predict the equivalence ratio in partially premixed flames using this system for ${\phi}>2.38$, (3) the minimum NOX emission index (EINOx) is obtained for a equivalence ratio of 3.19 in the intermediate flames.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.364-370
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• 2006

Optical coherence tomography (OCT) is high resolution medical imaging system which is obtaining image inside biological objects with non-destructive method. OCT system is based on Michelson interferometer with a reciprocating mirror in the reference arm and a biological object in the sample arm. The obtained OCT image suffers from a granular or mottled image, called speckle. Speckle is caused by random interferences between reflected coherence waves. In this paper, we propose effective speckle reduction method that uses wavelet transform. With wavelet domain image, sub-windowing and thresholding are performed. Finally, speckle reduction experiments for Misgurnus mizolepis skin and rat eye images are shown.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2011.07a
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• pp.303-304
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• 2011

영역기반 스테레오 매칭의 분야에서 최근 인간의 시각체계(Human Visual System)에 기반하여 영역내의 밝기값과 거리값에 따라 적응적으로 가중치를 부여하는 적응적 영역 가중치(Adaptive Support-Weight) 방법이 좋은 매칭 결과를 보이고 있다. 하지만 이 방법은 영역 윈도우의 크기가 커짐에 따라 기하급수적으로 계산량이 많아지는 단점을 보이고 있다. 이에 Bilateral filter 수식으로 근사화 후 Integral Histogram 기법을 적용하여 영역 윈도우의 크기에 상관없이 상수 시간 O(1) 내에 매칭을 수행하는 연구가 진행되었다. 하지만 이 방법은 근사화 과정에서의 원 ASW 수식을 왜곡하기 때문에 매칭 정확도의 손실을 가져오게 된다. 이에 본 논문에서는 Bilateral 접근 방식, Sub-Block 방식 및 적응적 시차 탐색 방식에 대하여 각 방식에서 필요한 메모리 자원과 소모되는 계산량의 비용과 동시에 매칭 결과 정확도 면에서 비교하고 가장 좋은 접근 방식을 도출하고자 한다.