• 전기전자학회논문지
• /
• 제25권4호
• /
• pp.762-765
• /
• 2021

본 논문에서는 자동차의 위치 및 자세 추정에 사용되는 칼만 필터 가속기를 내장한 차량용 ECU(electronic control unit)를 설계하고 구현하였다. 프로세서 코어는 RISC-V를 사용하였으며 칼만 필터의 행렬 연산을 수행하는 가속기, 차량 내 통신에 사용되는 CAN(controller area network) 제어기, 센서 연결에 사용되는 LIN(local interconnect network) 제어기를 내장하였다. 칼만 필터 연산은 시간 업데이트와 측정 업데이트의 두 단계로 나뉘며 시간 업데이트 단계에서는 현재 상태변수와 오차 공분산을 예측하고 측정 업데이트 단계에서는 입력값을 받아 칼만 이득을 계산하여 값을 보정한다. 보통 소프트웨어에서는 곱셈에 부동소숫점 연산을 사용하지만 본 논문에서는 하드웨어 면적을 줄이기 위해 정밀도 분석을 고려한 고정소숫점 곱셈기를 사용하였다. 설계된 ECU는 Verilog HDL을 이용하여 검증하였으며 28nm 실리콘 공정으로 구현하였다. 28nm 실리콘 공정으로 구현하였을 때 동작 주파수는 100MHz, 면적은 0.37mm², 게이트 수는 76만 게이트였다.

• 한국전자파학회논문지
• /
• 제13권2호
• /
• pp.208-216
• /
• 2002

본 논문에서는 X-형 모노펄스 축 곡조를 가지는 도파관 광벽 슬롯 배열 모노펄스 안테나의 설계 방법을 제안하고, 제작을 통하여 방법의 타당성과 안테나 특성을 검증하였다. 본 논문에서의 안테나는 크기가 작아서 연속 함수의 복사면 분포함수가 부적합하며, 모노펄스 축 구조가 X-형이기 때문에 안테나 자 분면이 대칭적이지 않다. 또한 도파관 높이가 0.1파장 정도로 매우 낮기 때문에 일반적인 경우와 같이 슬롯 특성을 쉽게 모델링 하기가 어렵다 이러한 이유 때문에, 본 논문에서는 무작위수를 이용하여 복사면 분포를 최적화하고, 이 과정에서 안테나 각 분면의 출력 파워가 같도록 복사 분면 가중치를 조절하였다. 또한 내삽법을 이용해서 모멘트 행렬의 일부를 미리 계산해서 사용함으로써 계산 속도를 높이고. 배열 합성 프로그램의 부프로그램으로 첨부하여 필요할 때마다 직접 계산해서 사용될 수 있도록 하였다. 이러한 방범으로 설계된 안테나를 직접 제작하여 28 ㏈i의 이득을 확인하였으며, 안테나 빔폭, 효율, 부엽준위도 설계치와 유사한 특성을 보였다.

• International Journal of Control, Automation, and Systems
• /
• 제5권5호
• /
• pp.559-569
• /
• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 품질경영학회지
• /
• 제44권2호
• /
• pp.265-276
• /
• 2016

Purpose: This paper reviews the papers on service quality issues which are published in the Journal of the Korean Society for Quality Management (KSQM) since 1965. The literature review is purposed to survey a variety of service quality issues for several categories in terms of industry as well as research model. Methods: By use of the double diamond design process model 71 papers are analyzed 4 stages which are discover, define, develop and deliver. And all of service quality issues are classified into 4 categories: service factory, mass service, service shop and professional service by the service process matrix typology. Results: According to this review, there are several features of research trends. There are 'from physical service to information-intensive service pattern' and 'from private sector to public sector pattern'. And the Kano model has been a steady-selling model to measure the service quality as like a SERVQUAL. Another meaningful issue was a convergency of the research method and tools such as BSC, CRM, AHP, DEA, Information System, Systgem Dynamics and 6 Sigma. Conclusion: The review paper is expected to provide future direction to improve service quality theories and applications. There are three future research topics: Application area, measurement model and research purpose.

• International Journal of Aeronautical and Space Sciences
• /
• 제16권1호
• /
• pp.77-88
• /
• 2015

The dynamics of relative motion in a perturbed orbital environment are exploited based on Gauss' and Cowell's variational equations. The inertial coordinate frame and relative coordinate frame (Hill frame) are used, and a linear high fidelity model is developed to describe the relative motion. This model takes into account the primary gravitational and atmospheric drag perturbations. Then, this model is used in the design of a navigation, guidance, and control system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman filter based on this relative model to estimate the relative position/velocity of the chaser vehicle with respect to the target vehicle. This filter uses the range and angle measurements of the target relative to the chaser from a simulated LIDAR system. The corresponding measurement models, process noise matrix, and other filter parameters are provided. Numerical simulations are performed to assess the precision of this model with respect to the full nonlinear model. The analyses include the navigation errors and trajectory dispersions.

• 한국항공우주학회지
• /
• 제43권5호
• /
• pp.405-412
• /
• 2015

본 논문은 회전안정성을 갖는 탄도수정탄의 대기속도 추정을 위한 필터 설계에 대하여 설명한다. 대상 시스템은 운용상의 제약(공간, 파워)으로 인하여, 대기속도 측정을 위한 센서를 사용할 수 없다. 따라서 한정된 센서를 이용한 대기속도 추정이 필요하다. 따라서 본 연구에서는 IMU(가속도계, 자이로)에서 측정하는 3축 가속도와 각속도 데이터만 이용하여, 대기속도 추정을 위한 필터를 설계하였다. 대상 시스템의 경우, 넓은 속도, 고도의 운용범위를 커버하기 위한 추정 필터가 필요하므로 본 연구에서는 확장 칼만필터를 설계하여 기존의 연구와의 차별성을 두었다. 확장 칼만필터 설계를 위한 자코비안 행렬은 NRF(No-roll frame)에서의 간략화된 선형모델을 이용하여 구성하였다. 최종적으로 센서 오차와 바람 모델을 포함한 시뮬레이션을 통해 그 성능을 검토하였다. 이때, 시뮬레이션은 설계한 대기속도와 각속도 모델 오차의 영향을 분석하기 위하여 네 가지 경우의 프로세스 공분산 행렬 값에 대한 영향을 분석하였다.

• Structural Engineering and Mechanics
• /
• 제90권1호
• /
• pp.19-26
• /
• 2024

In recent years, an increasing number of experimental studies have shown that the practical application of mature active control systems requires consideration of robustness criteria in the design process, including the reduction of tracking errors, operational resistance to external disturbances, and measurement noise, as well as robustness and stability. Good uncertainty prediction is thus proposed to solve problems caused by poor parameter selection and to remove the effects of dynamic coupling between degrees of freedom (DOF) in nonlinear systems. To overcome the stability problem, this study develops an advanced adaptive predictive fuzzy controller, which not only solves the programming problem of determining system stability but also uses the law of linear matrix inequality (LMI) to modify the fuzzy problem. The following parameters are used to manipulate the fuzzy controller of the robotic system to improve its control performance. The simulations for system uncertainty in the controller design emphasized the use of acceleration feedback for practical reasons. The simulation results also show that the proposed H∞ controller has excellent performance and reliability, and the effectiveness of the LMI-based method is also recognized. Therefore, this dynamic control method is suitable for seismic protection of civil buildings. The objectives of this document are access to adequate, safe, and affordable housing and basic services, promotion of inclusive and sustainable urbanization, implementation of sustainable disaster-resilient construction, sustainable planning, and sustainable management of human settlements. Simulation results of linear and non-linear structures demonstrate the ability of this method to identify structures and their changes due to damage. Therefore, with the continuous development of artificial intelligence and fuzzy theory, it seems that this goal will be achieved in the near future.

• Composites Research
• /
• 제36권6호
• /
• pp.435-440
• /
• 2023

본 연구에서는 기존 사용후핵연료(Spent nuclear fuel) 운반/저장 용기에 사용되는 중성자 흡수용 B₄C/Al 복합소재의 열전도도를 개선하기 위해 탄화붕소(B₄C)와 입방정 질화붕소(cBN)를 동시에 강화재로 사용한 알루미늄(Al) 기지 복합소재를 제조하고 평가를 진행하였다. 이를 위해서 교반주조 공정을 통해 복합재 잉곳을 제조하고 이를 압연하여 중성자 흡수용 소재를 성공적으로 제조하였다. 제조된 소재의 평가를 위해 cBN 첨가에 따른 열전도도와 중성자 흡수능 변화를 관찰하였다. 열전도도 측정 결과, B₄C 단일 입자만을 사용한 복합소재 대비 B₄C, cBN을 함께 사용한 복합소재가 동일 체적률 조건 하에서 약 3%의 열전도도 증가가 발생하는 것을 확인하였으며 중성자 흡수 단면적 계산을 통해 중성자 흡수능이 무시할 수 있는 수준으로 저하가 발생하는 것을 확인하였다. 본 연구의 결과를 바탕으로, 중성자 흡수 소재의 새로운 설계 방안을 제시하고 고성능 운반/저장 용기의 개발에 기여할 수 있을 것으로 기대된다.

• 전기화학회지
• /
• 제16권1호
• /
• pp.30-38
• /
• 2013

In this study, a catalyst slurry was prepared with a Pt/C catalyst, Nafion ionomer solution as a binder, an ionic liquid (IL) (1-butyl-3-methylimidazolium tetrafluoroborate), deionized water and ethanol as a solvent for the application to polymer electrolyte fuel cells (PEFCs) at high-temperatures. The effect of the IL in the electrode of each design was investigated by performing a cyclic voltammetry (CV) measurement. Electrodes with different IL distributions inside and on the surface of the catalyst electrode were examined. During the CV test, the electrochemical surface area (ESA) obtained for the Pt/C electrode without ILs gradually decreased owing to three mechanisms: Pt dissolution/redeposition, carbon corrosion, and place exchange. As the IL content increased in the electrode, an ESA decrement was observed because ILs leaked from the Nafion polymer in the electrode. In addition, the CVs under conditions simulating leakage of ILs from the electrode and electrolyte were evaluated. When the ILs leaked from the electrode, minor significant changes in the CV were observed. On the other hand, when the leakage of ILs originated from the electrolyte, the CVs showed different features. It was also observed that the ESA decreased significantly. Thus, leakage of ILs from the polymer electrolyte caused a performance loss for the PEFCs by reducing the ESA. As a result, greater entrapment stability of ILs in the polymer matrix is needed to improve electrode performance.

• 수산해양기술연구
• /
• 제29권1호
• /
• pp.39-55
• /
• 1993

Modal Analysis is the process of characterizing the dynamic properties of an elastic structure by identifying its modes of vibration. A mode of vibration is a global property of an elastic structure. That is, a mode has a specific natural frequency and damping factor which can be identified from response data at practically any point on a structure, and it has a characteristic mode shape which identifies the mode spatially over the entire structure. Modal testing is able to be performed on structural and mechanical structure in an effort to learn more about their elastic behavior. Once the dynamic properties of a structure are known its behavior can be predicted and therefore controlled or corrected. Resonant frequencies, damping factors and mode shape data can be used directly by a mechanical designer to pin point weak spots in a structure design, or this data can also be used to confirm or synthesize equations of motion for the elastic structure. These differential equations can be used to simulate structural response to know input forces and to examine the effects of pertubations in the distributed mass, stiffness and damping properties of the structure in more detail. In this paper the measurement of transfer functions in digital form, and the application of digital parameter identification techniques to identify modal parameters from the measured transfer function data are discussed. It is first shown that the transfer matrix, which is a complete dynamic model of an elastic plate structure can be written in terms of the structural modes of vibration. This special mathematical form allows one to identify the complete dynamics of the structure from a much reduced set of test data, and is the essence of the modal approach to identifying the dynamics of a structure. Finally, the application of transfer function models and identification techniques for obtaining modal parameters from the transfer function data are discussed. Characteristics on vibration response of elastic plate structure obtained from the dynamic analysis by Finite Element Method are compared with results of modal analysis.