• 한국산업융합학회 논문집
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• 제25권2_1호
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• pp.161-168
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• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• Weed & Turfgrass Science
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• 제2권3호
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• pp.322-326
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• 2013

본 연구는 벼 최소경운 건답직파재배기술을 이용하여 논잡초성벼 방제를 시도하기 위하여 2011년에 수행되었다. 벼 최소경운 건답직파재배는 1자형 로타리날을 이용하여 무경운 상태의 논에서 조파 27 cm간격으로 폭 4 cm의 파종골을 내어 파종하는 벼 건답직파재배 기술이다. 이 재배기술은 파종 작업시 경운을 최소화하기 때문에 잡초성벼 방제가 가능하다. 2012년의 경우 4월 28일 잡초성벼가 발생을 시작하였고 5월 9일경 잡초성벼 발생 비율이 61.9% 이었다. 이때 파종을 하고 파종후 10일 제초제를 처리하면 89~96%, 파종후 15일에 처리하면 97~99%의 잡초성벼를 방제할 수 있었다. 하지만 해에 따라 잡초성벼 발생은 4월중 기온과 강수량에 영향을 받아 달라질 수 있다. 따라서 잡초성벼를 효과적으로 방제하면서 안정적인 쌀 수량을 확보하기 위해서는 4월 15~20일경 관개하여 잡초성벼 발생을 유도하여 적정파종시기가 당겨지는 방법이 좋을 것으로 판단되었다.

• 디지털산업정보학회논문지
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• 제9권3호
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• pp.67-78
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• 2013

In this paper, We proposed an development method of application framework for using the precision time protocol(PTP) based on physical layer devices to synchronize clocks across a network with IEEE1588 capable devices. The algorithm was not designed as a complete solution across all conditions, but is intended to show the feasibility of such a for the PTP(Precision Time Protocol) based on time synchronization of heterogeneous network between devices that support in IEEE 1588 Standard application framework. With synchronization messages per second, the system was able to accurately synchronize across a single heavily loaded switch. we describes a method of synchronization that provides much more accurate synchronization in systems with larger networks. In this paper, using the IEEE 1588 PTP support for object-oriented modeling techniques through the 'application framework development Development(AFDM)' is proposed. The method described attempts to detect minimum delays, or precision packet probe and packet metrics. The method also takes advantage of the Tablet PC(Primary to Secondary) clock control mechanism to separately control clock rate and time corrections, minimizing overshoot or wild swings in the accuracy of the clock. We verifying the performance of PTP Systems through experiments that proposed method.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.101-108
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• 1997

The initial token value required to the optimal performance of discrete event systems can be decided by Sum of Delay Time and Synchronic Time ratio, which are new synchronic variables in Timed Place Petri Nets. For the system consisting of two Live-and-Bounded circuits(LB-circuits) fused in common Transition-Transition-Path or common Place-Place-Path, we prove that the Synchronic Time Ratio is the initial token ratio between two LB-circuits to optimally perform system functions. These results are generalized and formulated as a theorem. The initial tokens of a specific place can imply shared resources. Using the theorem, we can decide the minimum number of the shared resources to obtain the optimal performance, and minimize the idling time of resources. As an example, an automated assembly system is modeled by Timed Place Petri Net, and the initial tokens to achieve the optimal system performance are identified. All the values are verified by simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Korean Chemical Engineering Research
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• 제45권1호
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• pp.73-80
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• 2007

본 연구는 생물학적 폐수 처리 공정인 연속 회분식 반응기(sequencing batch reactor, SBR)에서 질소 제거 최적화를 위해 활성 오니 공정모델(activated sludge model, ASM No.1, ASM1)과 반복 동적 프로그래밍(iterative dynamic programming, IDP)을 이용하여 SBR의 처리 기준을 만족하면서 최적 운전 조건을 탐색하고 하는 것을 목적으로 하였다. 연속 회분식 반응기의 최적화를 위해 에너지 최소화와 최소 회분 시간이 질소 처리의 농도 그래프의 면적과 비례하는 점을 이용하여 이를 고려한 새로운 performance index를 제안하였다. 회분 시간과 에너지에 대항하는 면적에 적절한 비중(weight)을 줌으로써 최소 회분 시간과 최소 에너지 문제를 동시에 고려하였다. SBR에서 IDP를 이용한 최적 운전서 최적 용존 산소 농도의 설정치가 전체 회분 시간과 전체 에너지 비용에 동시에 영향을 미침을 알 수 있었고 최적 운전시 기존의 운전 방법과 같은 유기물과 질소 제거가 가능하고 동시에 전체 비용을 20％까지 줄일 수 있었다. 더 나아가 공정이상으로 실제 공정이 모델과 다른 모델링 에러에 의해 잘못된 모사의 경우에도 IDP를 이용하여 다시 재최적화할 수 있음을 보였다.

• 설비공학논문집
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• 제16권5호
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• pp.475-481
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• 2004

This paper presents a force model of the clean tube system, which was developed as a means of transferring air-floated wafers inside a closed tube filled with super clean air. The recovering force from the holes for floating wafers is modeled as a linear spring and thus the wafers motion is modeled as a mass-spring-damper system. The propelling forces are modeled as linear along with the wafer location. The paper also proposes a control method to emit and stop a wafer at the center of a control unit. It reveals the minimum value of the propelling force to leave from the control unit. In order to stop the wafer, it utilizes the exact time when the wafer arrives at the position to activate the propelling force. Experiments with the clean tube system built for the 12 inch wafer shows the validity of the proposed model and the algorithm.

• 한국산업융합학회 논문집
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• 제6권1호
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• pp.3-10
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• 2003

Application of matrix converter to vector control of induction motor using simplified Venturini algorithm which is capable of achieving the maximum output voltage is developed. This algorithm simplifies the control algorithm and therefor reduces the digital implementation time. Matrix converter is used as voltage-referenced voltage fed vector controlled induction motor drive. This paper describes the performance of vector controlled induction motor with four quadrant capability employing a matrix converter power circuit. The advantage of this system over the conventional rectifier-inverter arrangement are capability for regeneration into the utility, sinusoidal supply currents and minimum passive components. The steady-state and transient performance of the induction motor drive under the vector control technique is demonstrate with simulation and experiment results.

• 오토저널
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• 제15권3호
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• pp.36-46
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• 1993

In CVT vehicle, the engine speed is completely decoupled from the vehicle speed within the range from maximum transmission ratio to minimum transmission ratio. This allows the engine to operate in optimal state(e.g. best fuel economy or maximum power mode.) In this study, the CVT control algorithm for optimal operation of engine is suggested. In order to implement the real time digital control of electro-hydraulic CVT system, a software called CVTCON has been developed. CVTCON also includes the CVT operation module, (2) system test module, (3) system control module and (4) data management module. By using the CVTCON and the electro-hydraulic CVT system, two modes of experiments were carried out: constant throttle opening mode and acceleration mode. From the experimental result, it was found that the algorithm suggested in this study showed optimal operation of the CVT system.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.905-912
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• 2010

Modern version of advanced supersonic fighter have ATCS (Automatic Thrust Control System) to maximum flight safety, fuel efficiency and mission capability the integrated advanced autopilot system such as TFS (Terrain Following System), GCAS (Ground Collision Avoidance System) and AARS (Automatic Attitude Recovery System) and etc. This paper addresses the design and verification of ATCS based on advanced supersonic trainer in HILS (Hardware In the Loop Simulator) with minimum hardware modification to reduce of development cost and maintain of system reliability. The function of ATCS is consisted of target speed hold mode in UA (Up and Away) and angle of attack hold mode in PA (Power Approach). The real-time pilot evaluation reveals that pilot workload is minimized in cruise and approach flight stage by ATCS.