• 전기학회논문지
• /
• 제59권11호
• /
• pp.2073-2082
• /
• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
• /
• pp.235-240
• /
• 2002

This paper shows the desist concept of an ATS(Antenna Tracking Software) to control the movement of the MSC(Multi-Spectral Camera) antenna. The MSC has a two-axes directional X-band antenna for image transmission to KGS(KOMSAT2 Ground Station). The main objective of the ATS is to drive the APM(Antenna Pointing Mechanism) to the required elevation and the azimuth position according to an appropriate TPF(Tracking Parameter File). The ATS is implemented as one task of the SBC(Single Board Computer) software, which uses VxWorks as a real time OS. The ATS has several operational modes such as STANDBY mode, First EL mode, First AZ mode, Normal Operation mode, and so on. The ATS uses two PI controllers fur the velocity and the position loop respectively, to satisfy the requirements specification. In order to show the feasibility of the described design concept, the various simulations and the experiments are performed under specific test configuration.

• 한국정밀공학회지
• /
• 제12권2호
• /
• pp.48-58
• /
• 1995

A micro positioning system using piezoelectric actuators have very wide application region such as ultra-precision machine tool, optical device, measurement systen. In order ro keep a high precision displacement resolution, they use a position sensor and feedback the error. From the practical point of view, a high-resolution displacement sensor system are very expensive and difficult to guarantee such sensitive sensors work properly in the hard opera- tion environment of industry. In this study, a micro-positioning grinding table which does not require position sensor but uses piezoelectric voltage feedback, has been developed. It is driven by hystersis-considering reference input voltage which calculated from computer and then uses actuator/sensor characteristics of piezoelectric materials. From the result of experiments we proved a fast and stable response of micro-positioning system and suggested efficient technique to control the piezoelectric actuator. And through grinding experiments, it is revealed that a characteristics of ground surfaces transient to plastic deformation as extremely small depth of grinding.

• 한국군사과학기술학회지
• /
• 제27권1호
• /
• pp.70-79
• /
• 2024

This paper describes the results of the development of the the unmanned aerial vehicle system integration laboratory(UAV SIL) for the integrated verification. This UAV SIL is designed to test the robustness of the UAV system including the operational logics and the flight control system behaviors under many abnormal and emergency conditions such as data-link losses, airborne subsystem failures, engine shut down conditions, and ground control station faults. This paper presents how to build the UAV SIL and how to verify the in-development UAV system through the UAV SIL.

• 로봇학회논문지
• /
• 제19권1호
• /
• pp.31-38
• /
• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• 보존과학회지
• /
• 제37권2호
• /
• pp.120-134
• /
• 2021

조선 말기 방한용 깔개인 모담(毛毯)이 창덕궁 성정각의 해체 공사 중 발견되었다. 문헌기록에 비해 현전하는 조선시대 모직물 유물이 많지 않아 유물로서 가치가 높다. 특히 1907년 창덕궁 성정각을 수리한 기록이 있어, 모담은 19세기 말 또는 20세기 초에 제작된 것으로 생각된다. 출토 모담은 자적색 계열의 바탕 직물로 위에 황색, 홍색 등으로 선염한 색사를 표면에만 삽입하여 문양을 시문하였다. 모담의 식서부분은 S연의 면사가 확인되었으며, 지경사는 Z연의 황마사, 지위사는 S연의 황마사, 문경사는 S연의 모사를 사용했다. 특히 무늬는 루프파일의 색사로, 색사의 경계면에서 일부 컷 파일이 확인되나 지위사로 고정되어 표면에 거의 드러나지 않는 다. 황마사와 모사를 사용한 것은 18세기 중엽 유럽의 브뤼셀 카펫의 영향을 받은 것으로 짐작된다. 모담의 문양을 밝히는 데 한계가 있으며 다만 문양이 부분적으로 반복됨을 알 수 있다. 이상의 연구내용을 도출하기 위해 문헌과 회화자료 외에 현미경 분석, 적외선 분광분석을 실시하였다. 또한 유물에 사용된 염료를 밝히기 위해 색도측정을 토대로 자외-가시광 분광분석을 실시하여 천연 염색한 직물 샘플에 대한 교차분석을 시도하였다. 그 결과 모담의 녹색 모사는 쪽을 사용하지 않았으며, 자적색의 바탕조직은 소목으로 염색한 것으로 추정할 수 있다.

• 지질공학
• /
• 제24권4호
• /
• pp.487-499
• /
• 2014

최근 지열에너지 활용 증가 추세와 더불어 지하수 부존량이 풍부한 지역에서 수직개방형의 효율이 더 높다는 연구결과가 제시됨에도 불구하고, 국내 지열냉난방시스템의 열교환 방식은 수직밀폐형 방식이 주를 이루고 있다. 따라서, 본 연구에서는 지하수 부존량이 풍부한 지역에서 수직개방형 방식의 효율성을 검증하기 위하여, 수리지질 및 열적 특성을 반영한 최적의 지열에너지 활용 방식을 수치 모의하였다. 1차 모의 결과, 지하수 부존량이 풍부한 지역에서 지열냉난방시스템을 활용하는 경우 수직밀폐형보다 지하수를 직접 이용하는 수직개방형이 더욱 효과적인 것으로 분석되었으며, 수직개방형 중에서는 SCW (standing column well)형 보다는 주입정과 추출정이 분리된 복수관정형에서 지반과 열교환을 통해 얻을 수 있는 주입수와 추출수의 온도차 (${\Delta}$)가 커 더욱 효율적인 것으로 나타났다. 2차 모의에서는 수직개방형 지열에너지 공급방식인 단일관정형, SCW형, 복수관정형을 대상으로 열 이송, 이격거리 및 유량, 지하수 수리경사 등을 고려한 최적의 활용 방식을 검토하였으며, 이를 바탕으로 지열냉난방시스템의 지중 열교환 방식 선정 시 활용할 수 있는 흐름도를 제시하였다. 본 연구결과 제시된 다양한 선정 기준을 기초로 실제 선정 시에는 전체 지열냉난방 시스템에 대한 COP (coefficient of performance) 계산 및 세부적인 타당성 검토가 필요할 것으로 판단된다.

• 대한화학회지
• /
• 제61권1호
• /
• pp.29-33
• /
• 2017

Formation of Au particles in nonstoichiometric $Cu_{2-x}{^I}Cu{_2}^{II}O_{3-{\delta}}$ ($x{\approx}0.20$; ${\delta}{\approx}0.10$) oxide from aniline + hydrochloric acid mixtures and chloroauric acid in the ratios 30 : 1; 60 : 1; 90 : 1 (S1-S3) by volume and 0.01 mol of copper acetate, $Cu(OCOCH_3)_2.H_2O$, in each case is performed by sol-gel growth. Powder x-ray diffraction (XRD) results show Au particles are dispersed in tetragonal nonstoichiometric dicopper (I) dicopper (II) oxides, $Cu_{2-x}{^I}Cu{_2}^{II}O_{3-{\delta}}$ ($x{\approx}0.20$; ${\delta}{\approx}0.10$). Average crystallite sizes of Au particles determined using Scherrer equation are found to be in the approximate ranges ${\sim}85-140{\AA}$, ${\sim}85-150{\AA}$ and ${\sim}80-150{\AA}$ in S1-S3, respectively which indicate the formation of Au nano-micro size particles in $Cu_{2-x}{^I}Cu{_2}^{II}O_{3-{\delta}}$ ($x{\approx}0.20$; ${\delta}{\approx}0.10$) oxides. Hysteresis behaviour at 300 K having low loop areas and magnetic susceptibility values ${\sim}5.835{\times}10^{-6}-9.889{\times}10^{-6}emu/gG$ in S1-S3 show weakly ferromagnetic nature of the samples. Broad and isotropic electron paramagnetic resonance (EPR) lineshapes of S1-S4 at 300, 77 and 8 K having $g_{iso}$-values ${\sim}2.053{\pm}0.008-2.304{\pm}0.008$ show rapid spin-lattice relaxation process in magnetic $Cu^{2+}$ ($3d^9$) sites as well as delocalized electrons in Au ($6s^1$) nano-micro size particles in the $Cu_{2-x}{^I}Cu{_2}^{II}O_{3-{\delta}}$ ($x{\approx}0.20$; ${\delta}{\approx}0.10$) oxides. Broad and weak UV-Vis diffuse reflectance optical absorption band ~725 nm is assigned to $^2B_{1g}{\rightarrow}^2A_{1g}$ transitions, and the weak band ~470 nm is due to $^2B_{1g}{\rightarrow}^2E_g$ transitions from the ground state $^2B_{1g}$(${\mid}d_{x^2-y^2}$>) of $Cu^{2+}$ ($3d^9$) ions in octahedral coordination having tetragonal distortion.

• 인터넷정보학회논문지
• /
• 제25권1호
• /
• pp.147-155
• /
• 2024

현재 4차 산업 혁명은 다른 혁명처럼 인류에게 커다란 변화와 새로운 삶을 가져다주고 있으며, 특히 빅데이터, 인공지능, ICT 등 다양한 기술들을 합쳐 응용할 수 있는 드론에 대한 수요와 활용도가 증가하고 있다. 최근에는 러시아-우크라이나 전쟁, 북한의 대남 정찰 등 위험한 군사 작전 및 임무를 수행하는 데 많이 사용되고 있으며 드론에 대한 수요와 활용도가 높아짐에 따라 드론의 안전성과 보안에 대한 우려가 커지고 있다. 현재 드론에 관련된 무선 통신 이상 탐지, 센서 데이터 이상 탐지 등 다양한 연구가 진행되고 있지만, 무선 주파수 특성 데이터를 사용하여 위협을 실시간으로 탐지하는 연구는 미비하다. 따라서, 본 논문에서는 실제 환경과 유사한 HITL(Hardware In The Loop) 시뮬레이션 환경에서 드론이 미션을 수행하는 동안 지상 제어 시스템과 통신하면서 발생하는 무선 주파수 신호 특성 데이터를 수집하여 특성 데이터가 정상 신호 데이터인지 비정상 신호 데이터인지 판단하는 연구를 진행하였다. 또한, 드론이 미션을 수행하는 중 실시간으로 위협 신호를 탐지할 수 있는 비지도 학습 기반의 위협 탐지 시스템 및 최적의 임계값을 제안한다.

• Smart Structures and Systems
• /
• 제25권2호
• /
• pp.155-167
• /
• 2020

This paper demonstrates a real-time hybrid substructuring (RTHS) shake table test to evaluate the seismic performance of a base isolated building. Since RTHS involves a feedback loop in the test implementation, the frequency dependent magnitude and inherent time delay of the actuator dynamics can introduce inaccuracy and instability. The paper presents a robust stability and performance analysis method for the RTHS test. The robust stability method involves casting the actuator dynamics as a multiplicative uncertainty and applying the small gain theorem to derive the sufficient conditions for robust stability and performance. The attractive feature of this robust stability and performance analysis method is that it accommodates linearized modeled or measured frequency response functions for both the physical substructure and actuator dynamics. Significant experimental research has been conducted on base isolators and dampers toward developing high fidelity numerical models. Shake table testing, where the building superstructure is tested while the isolation layer is numerically modeled, can allow for a range of isolation strategies to be examined for a single shake table experiment. Further, recent concerns in base isolation for long period, long duration earthquakes necessitate adding damping at the isolation layer, which can allow higher frequency energy to be transmitted into the superstructure and can result in damage to structural and nonstructural components that can be difficult to numerically model and accurately predict. As such, physical testing of the superstructure while numerically modeling the isolation layer may be desired. The RTHS approach has been previously proposed for base isolated buildings, however, to date it has not been conducted on a base isolated structure isolated at the ground level and where the isolation layer itself is numerically simulated. This configuration provides multiple challenges in the RTHS stability associated with higher physical substructure frequencies and a low numerical to physical mass ratio. This paper demonstrates a base isolated RTHS test and the robust stability and performance analysis necessary to ensure the stability and accuracy. The tests consist of a scaled idealized 4-story superstructure building model placed directly onto a shake table and the isolation layer simulated in MATLAB/Simulink using a dSpace real-time controller.