• Journal of IKEEE
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• v.25 no.4
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• pp.762-765
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• 2021

In this paper, an automotive ECU (electronic control unit) with Kalman filter accelerator is designed and implemented. RISC-V is exploited as a processor core. Accelerator for Kalman filter matrix operation, CAN (controller area network) controller for in-vehicle network, and LIN (local interconnect network) controller are designed and embedded. Kalman filter operation consists of time update process and measurement update process. Current state variable and its error covariance are estimated in time update process. Final values are corrected from input measurement data and Kalman gain in measurement update process. Usually floating-point multiplication is exploited in software implementation, but fixed-point multiplier considering accuracy analysis is exploited in this paper to reduce hardware area. In 28nm silicon fabrication, its operating frequency, area, and gate counts are 100MHz, 0.37mm², and 760k gates, respectively.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.13 no.2
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• pp.208-216
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• 2002

In this paper, the design method of a waveguide broad-wall longitudinal slot array monopulse antenna of X-type monopulse axes is presented, and the method is verified through manufacture and measurement. In the antenna design of this paper, the antenna size is small and the monopulse axes are X-type. Thus, the common continuous aperture distribution fuction is not suitable and the power balance among antenna quadrants should be considered. Also, since the waveguide height is reduced into 0.1 wavelength, the modelling of the slot characteristics is not simple. Thus, in this paper, the aperture distribution is optimized by using random number, and the balance among the quadrants is achieved by applying the quadrant weighting factor during the aperture optimization process. Also, the moment method procedure is accelerated by applying the interpolation technique to some part of the moment matrix, and the moment method procedure is added to the array synthesis program as a subroutine so that the slot characteristics can be calculated directly when it is required. Based on this method, a antenna of 28dBi is designed and manufactured. It is found that the antenna characteristics is similar to design data.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.559-569
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• 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.

• Journal of Korean Society for Quality Management
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• v.44 no.2
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• pp.265-276
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• 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
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• v.16 no.1
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• pp.77-88
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• 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.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.5
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• pp.405-412
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• 2015

This paper represents a filter design to estimate the airspeed of a spin-stabilized, trajectory-correctible artillery ammunition. Due to the limited power and space in operational point of view, the airspeed sensor is not installed, and thus the airspeed need to be estimated using limited sensor measurements. The only IMU measurements(three-axis specific forces and angular rates) are used in this application. The extended Kalman filter algorithm is applied since a linear filter can not cover the its wide operational range in airspeed and altitude. In the implementation of the EKF, the state and measurement equations are transformed into the no-roll frame for simple form of Jacobian matrix. The simulation study is conducted to evaluate the performance of the filter under various environment conditions of sensor noise and wind turbulence. In addition, the effect of the choice in filter design parameters, i.e. process error covariance matrices is analyzed on the performance of the estimation of airspeed and angular rates.

• Structural Engineering and Mechanics
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• v.90 no.1
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• pp.19-26
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• 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
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• v.36 no.6
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• pp.435-440
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• 2023

This study aimed to enhance the thermal conductivity of B₄C/Al composite materials, commonly used in transport/storage containers for spent nuclear fuel, by incorporating both boron carbide (B₄C) and cubic boron nitride(cBN) as reinforcing agents in an aluminum (Al) matrix. The composite materials were successfully manufactured through a stir casting process and practical neutron-absorbing materials were obtained by rolling the fabricated composite ingot. The evaluation of the thermal conductivity of the fabricated composites was carried out because thermal conductivity is critical for neutron absorbing materials. The thermal conductivity measurement results indicated an approximately 3% increase in thermal conductivity under the same volume fraction when compared to composite materials using only B₄C particles. Through neutron absorption cross-sectional area calculations, it was confirmed that the neutron absorption capability decreased to a negligible level. Based on the findings of this study, new design approaches for neutron absorption materials are proposed, contributing to the development of high-performance transport/storage containers.

• Journal of the Korean Electrochemical Society
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• v.16 no.1
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• pp.30-38
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• 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.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.29 no.1
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• pp.39-55
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• 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.