• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 추계학술대회 특별세미나 특별세션
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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.

• 한국대기환경학회지
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• 제33권6호
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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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• 제15권4호
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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.

• 한국전자통신학회논문지
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• 제14권1호
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• pp.265-274
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• 2019

본 논문은 저가형 AHRS(: Attitude Heading Reference System)센서를 이용하여 무인 운송체(Unmanned vehicle)의 자세를 무향 칼만 필터 (Unscented Kalman filter)통해 추정하는 방법을 제안한다. 측정된 가속도와 지구자기장 값을 이용하여 UKF의 보정 단계에서 사용될 자세를 계산한다. 롤 (roll)과 피치 (pitch)는 가속도로부터 구해지며 요 (yaw)는 지구 자기장을 이용하여 연산한다. 이때 사용되는 지구자기장 측정값은 강철 효과(hard-iron effect)와 연철 효과(soft-iron effect)에 의해 쉽게 왜곡되기 때문에 계산된 요의 불확실성이 롤이나 피치의 불확실성에 비하여 크다. 본 논문은 이러한 불확실성을 줄이기 위하여 측정된 지구자기장에 포함된 편차성분을 추정하고 보정하여 더 정밀한 요값을 구한다. 제안된 방법을 수조에서의 무인 운송체 항법 실험을 통하여 검증하였다. 실험결과, 자세 추정 성능이 개선되고 이에 따라 위치 추정 성능도 개선됨을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제16권8호
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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.

• 한국응용과학기술학회지
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• 제34권1호
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• pp.58-65
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• 2017

유동층가스화기는 경제적으로 기술적으로 입증된 기술로서 가장 상용화에 가까운 가능성을 보여주고 있다. 그러나 한국에서는 설계, 현장문제 해결뿐 아니라 파일럿 규모의 설비 운전 등이 부족하여 상용화에 이르지 못하고 있다. 본 연구에서는 바이오매스의 가스화를 위하여 3 MWth 급 순환유동층(CFB) 반응기를 개발하여 운전하였다. 유동층반응기는 순환유동층 반응기와 기포유동층 반응기로 구성되었으며 타르와 산성가스를 제거하기 위하여 세라믹필터, 급속냉각, 습식스크러버를 사용하였다. 3MWth 급 바이오매스 가스화기의 최적 운전조건을 도출하기 위하여 equivalence ratio에 따른 영향을 조사하였다

• 한국세라믹학회지
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• 제39권5호
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• pp.503-510
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• 2002

가압유동층 복합발전용으로 사용 가능한 탄화규소 캔들형 필터를 압출성형법으로 제조하였다. 필터의 기공율을 조절하기 위해 2.5 vol%의 탄소분말을 첨가하였고, 필터의 강도를 부여하기 위해 무기결합제로써 점토와 $CaCO_3$를 첨가하였다. 평균 기공율이 약 40%, 평균 기공크기가 약 $47{\mu}m$인 지지체 위에 평균 기공크기가 약 $10{\mu}m$를 갖도록 탄화규소 분말을 분무 코팅하였고, 이후 대기압 분위기 하에서 1400${\circ}C$의 온도로 소결하였다. 코팅층이 형성된 캔들형 필터를 500${\circ}C$, $5kgf/cm^2$의 고온, 고압 하에서 성능평가를 행한 결과 입자크기별 집진 성능이 모두 99.99% 이상을 나타내었다. 따라서 제조된 탄화규소 캔들형 필터는 가압유동층 연소가스에 포함되어 있는 미세한 먼지를 효과적으로 제거할 수 있을 것으로 판단되었다.

• 대한기계학회논문집B
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• 제29권2호
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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.

• 제어로봇시스템학회논문지
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• 제12권4호
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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.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2011년도 하계학술대회
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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.