• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• Computers and Concrete
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• v.23 no.1
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• pp.69-80
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• 2019

Modeling approach for mesoscopic model of concrete depicting mass transportation and physicochemical reaction is important since there is growing demand for accuracy and computational efficiency of numerical simulation. Mesoscopic numerical simulation considering binder, aggregate and Interfacial Transition Zone (ITZ) generally produces huge number of DOFs, which is inapplicable for full structure. In this paper, a three-dimensional multiscale approach describing three-phase structure of concrete was discussed numerically. An effective approach generating random aggregate in polygon based on checking centroid distance was introduced. Moreover, ITZ elements were built by parallel expanding the surface of aggregates on inner side. By combining mesoscopic model including full-graded aggregate and macroscopic model, cases related to diffusivity and thickness of ITZ, volume fraction and grade of aggregate were studied regarding the consideration of multiscale compensation. Results clearly showed that larger analysis model in multiscale model expanded the diffusion space of chloride ion and decreased chloride content in front of rebar. Finally, this paper addressed some worth-noting conclusions about the chloride distribution and rebar corrosion regarding the configuration of, rebar diameter, concrete cover and exposure period.

• Journal of the Korea Computer Graphics Society
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• v.17 no.4
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• pp.31-40
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• 2011

Projector-based visual systems are widely used for VR and experience display applications. But the illumination irregularity on the screen surface due to the screen material and its light reflection properties sometimes deteriorates the user experience. This phenomenon is particularly troublesome when the participants of the head tracking VR system such as CAVE or the motion generation experience system continually move around the system. One of reason to illumination irregularity is projector-screen specular reflection component to participant's eye's position and it's analysis needs high computation complexity. Similar to calculate specular lighting term using GPU's programmable shader, Our research adjusts every pixel's brightness in runtime with given 3D screen space model to reduce illumination irregularity. For doing that, Angle-based brightness compensate function are considered for specific screen installation and modified it for GPU-friendly compute and access. Two aspects are implemented, One is function access transformation from angular form to product and the other is piecewise linear interpolate approximation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.462-467
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• 2013

This paper presents a modified disturbance observer (MDOB) for controlling two arms of a manipulator designed for a home service robot. The MDOB is slightly different from the original DOB in that it uses an accelerometer to measure acceleration of the robot arm. Then it uses the acceleration to estimate the disturbance to cancel out in the control loop. Relying on the acceleration information of the robot arm, a partial model-based control structure is formed. Experimental studies of position control of 2 DOF robot arm are conducted to evaluate the performance of the proposed position control by an MDOB method.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1278-1283
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• 2014

This study proposes a NN (Neural Networks)-based adaptive control method for a 6X6 skid-type UGV (Unmanned Ground Vehicle) with 6 in-wheel motors. The UGV experiences lots of uncertainties and, thus, the control performance can degrade significantly without a compensation of the unknown terms. To improve the control performance of the UGV, the NN is utilized to design the adaptive controller. Then, the designed overall force and moment are optimally distributed into 6 traction forces with the assumption that six vertical forces of the UGV are known exactly, because the six traction forces are original source to be excited to the UGV to move. Finally, numerical simulations with the TruckSim model are performed to validate the effectiveness of the proposed approach.

• International Journal of Fluid Machinery and Systems
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• v.2 no.1
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• pp.1-12
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• 2009

Surrogate modeling is applied to a compressor blade shape optimization to modify its stacking line and thickness to enhance adiabatic efficiency and total pressure ratio. Six design variables are defined by parametric curves and three objectives; efficiency, total pressure and a combined objective of efficiency and total pressure are considered to enhance the performance of compressor blade. Latin hypercube sampling of design of experiments is used to generate 55 designs within design space constituted by the lower and upper limits of variables. Optimum designs are found by formulating a PRESS (predicted error sum of squares) based averaging (PBA) surrogate model with the help of a gradient based optimization algorithm. The optimum designs using the current variables show that, to optimize the performance of turbomachinery blade, the adiabatic efficiency objective is improved substantially while total pressure ratio objective is increased a very small amount. The multi-objective optimization shows that the efficiency can be increased with the less compensation of total pressure reduction or both objectives can be increased simultaneously.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.7
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• pp.65-71
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• 2001

The development process of the polishing system for the aspherical lens mold for opto-electronics industry is described. The system uses the method that polishing tool is scanned on the surface under PC-NC control for the aspherical lens mold. The two axes interpolation of the minimum translation mechanism is applied to give uniform working condition by motion analysis. An aspherical surface is divided into multiple sections and each dwell time is calculated from the polishing rate model based on the Preston equation. As result of form error compensation experiment, initial form error is decreased about 25% while an average value of surface roughness is also reduced successfully from 180nm to 19nm.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.699-708
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• 2001

This paper presents a new approach to the AFR (Air-to-Fuel Ratio) control problem, which is based on the wide-band oxygen sensor output. The dedicated nonlinear controller is based on the feedback lineaization technique. It is well known that the feedback linearizing control technique requires an exact model of the plant for the cancellation of plant nonlinearities. A sliding mode control scheme is applied which can effectively compensate the modeling uncertainties. The measurement time delay of an oxygen sensor limits the gain of the feedback controller. Hence, time delay compensation procedure is necessary for the improvement of control performance. The Smith predictor is adopted to compensate the effects of time delay. The simulation and experimental results show that the proposed controllers can effectively reduce the transient peaks of AFR in spite of fast tip-in and tip-out maneuvers of the throttle.

• Journal of the Korean Operations Research and Management Science Society
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• v.35 no.3
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• pp.45-58
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• 2010

Due to rapid developments of IT technologies, convergence services like IPTV (Internet protocol television) are shown up. Even though expert and customer had great expectations for this innovative service, commercialization was delayed for years by the legal dispute between industry players. One of the biggest problems was that whether internet backbone providers have to share their internet network backbone with IPTV service providers (which don't have network backbone) or not. As other countries, Korean government set the rules that ISP have to offer indiscriminate access to other IPTV service provider. At the same time, internet backbone providers can charge access charge based on cost by way of compensation. Thus access charge is very critical to the IPTV industry players. The objective of this paper is to provide model that can calculate the reasonable access charge by system dynamics, based upon real data in Korean telecommunication industry.