• 인간식물환경학회지
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• 제22권5호
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• pp.525-539
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• 2019

Much research has been conducted on user behavior by taking surveys and interviews to plan the green space effectively. However, there is a limitation in understanding detailed user characteristics such as personalities and values. This study applied the Persona-based Scenario Method (PSM) to Hongneung Experimental Forest to understand the detailed needs and behaviors of the users in the forest recreation area. The PSM is a user experience modeling technique, which tries to understand the users by describing the type of users as real people. This study 1) extracts the factors of visitor recreation activities in Hongneung Experimental Forest based on the results of the survey, 2) develops user personas based on the results of survey and comes up with activity factors, and 3) designs user scenarios. As a result of applying the PSM, 64 factors of visitor activities were derived from the observation survey in 14 sites of Hongneung Experimental Forest and 25 key factors of visitor activities were chosen through observer's brainstorming. Second, three types of personas were developed considering the key factors and the results of user characteristics with quantitative and qualitative analysis. Lastly, context scenarios were designed by applying the key factors of visitor recreation activities to the persona model. We identified the design problems of the space and design requirements through the scenarios. This study has significance in that it takes an approach from the user perspective and was applied to the forest recreation area, which was mainly used in product design. The developed personas could be used for deriving design elements and setting the direction for planning considering detailed needs, behaviors and characteristics of users.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.991-997
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• 2008

A new RMRAC scheme far the PMSM current regulation is proposed in a synchronous frame, which is completely free from the parameter's uncertainty. A current regulator of PMSM is the inner most loop of electromechanical driving systems and plays a foundation role in the control hierarchy. When the PMSM runs in high speed, the cross-coupling terms must be compensated precisely for large system BW. In the proposed RMRAC, the input signal is composed of a calculated voltage defined by MRAC law and an output of the disturbance compensator. The gains of feed forward and feedback controller are estimated by the proposed modified gradient method, where the system disturbances are assumed as filtered current regulation errors. After the compensation of the system disturbance from error information, the corresponding voltage is fed forward to control input to compensate for real disturbances. The proposed method robustly compensates the system disturbance and cross-coupling terms. It also shows a good realtime performance due to the simplicity of control structure. Through real experiments, the efficiency of the proposed method is verified.

• Smart Structures and Systems
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• 제14권6호
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• pp.1055-1079
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• 2014

Substructure shake table testing is a class of real-time hybrid simulation (RTHS). It combines shake table tests of substructures with real-time computational simulation of the remaining part of the structure to assess dynamic response of the entire structure. Unlike in the conventional hybrid simulation, substructure shake table testing imposes acceleration compatibilities at substructure boundaries. However, acceleration tracking of shake tables is extremely challenging, and it is not possible to produce perfect acceleration tracking without time delay. If responses of the experimental substructure have high correlation with ground accelerations, response errors are inevitably induced by the erroneous input acceleration. Feeding the erroneous responses into the RTHS procedure will deteriorate the simulation results. This study presents a set of techniques to enable reliable substructure shake table testing. The developed techniques include compensation techniques for errors induced by imperfect input acceleration of shake tables, model-based actuator delay compensation with state observer, and force correction to eliminate process and measurement noises. These techniques are experimentally investigated through RTHS using a uni-axial shake table and three-story steel frame structure at the Johns Hopkins University. The simulation results showed that substructure shake table testing with the developed compensation techniques provides an accurate and reliable means to simulate the dynamic responses of the entire structure under earthquake excitations.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (1)
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• pp.608-610
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• 1998

분산 M/VC 응용 프로그램의 조립식 작성기, DOC(Distributed Object Composer)는 M/VC(Model/View.Controller) 모델 기반 실시간 클라이언트/서버 응용의 신속한 개발을 지원한다. 본 논문에서는 DOC를 이용한 분산 M/VC 응용 프로그램의 조립식 작성 과정과 함께 그 구현을 소개한다. DOC는 개방화 및 표준화를 주도하는 CORBA 미들웨어를 기반으로 하여, 이질적인 통신 환경에서 클라이언트와 서버 객체간의 네트워크 투과성을 제공하고, 분산된 객체들 간의 상호작용(interaction) 패턴을 추상화하여 조립식 분산 응용 프로그램의 작성을 가능하게 한다. 분산 객체들 간의 상호작용을 처리하기 위해 자바의 관찰자/피관찰자(Observer/Observable) 패턴을 분산 관찰자/피관찰자 패턴으로 확장하여, serverDOC와 clientDOC로 구성된 DOC의 구현에 사용한다. 분산 피관찰자는 M/VC의 모델에 해당하고, 분산 관찰자는 뷰.콘트롤러에 해당한다. 개발자는 분산 환경을 고려하지 않고 필요한 관찰자/피관찰자 객체들을 생성하여 로컬상의 DOC에 조립식으로 연결하기만 하면 피관찰자의 상태 변화는 곧 관찰자에게 전달되고, 관찰자를 통한 사용자의 입력은 피관찰자에게 전달되어 반영된다. DOC를 이용한 응용 프로그램의 작성은 구성 객체들을 DOC에 plug-and-play 방식으로 조립하는 과정이다. 따라서 DOC는 분산 환경하의 컴포넌트 재사용성을 개선하고, 분산 응용의 생산성을 높인다.

• 전기학회논문지
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• 제60권10호
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권12호
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• pp.689-697
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• 2005

In this paper, an application of a decentralized $H_{\infty}$ controller(DHC) to multiple controlled-permanent magnet(CMAG) magnetic levitation(Maglev) systems is presented. The designed DHC using two Riccati equations iteratively has simpler structure and needs less computational loads than conventional centralized $H_{\infty}$ controller. A target plant is a hybrid-type CMAG system with permanent magnet and coil, and its mathematical model is firstly derived to design the DHC. To implement the designed algorithm, a real Maglev vehicle system including digital controller, chopper, sensor, etc., is manufactured. To compare the performances of the DHC method with an observer-based state feedback control(OSFC), the input tracking and disturbance rejection characteristics are experimentally tested. As performance indices(PI), integral of squared error(ISE), integral of absolute error(IAE), integral of time multiplied by absolute error(ITAE) and integral of time multiplied by squared error(ITSE) are used. From the experimental results, it can be seen that the input tracking and disturbance rejection performances of the DHC are better than those of the conventional controller.

• 한국소음진동공학회논문집
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• 제15권3호
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• pp.290-296
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• 2005

This paper proposes the modeling scheme of the Miniature Universal Testing Machine (MUTM) composed of 36 thin-beam-type bimorph PZTs and the control algorithm to minimize the residual vibration of the MUTM in the dynamic testing of specimens. In the operation of the MUTM, hysteresis, residual displacement and vibration of it are major issues. From the analysis of the MUTM behaviors, the hysteresis is described by the curving fitting scheme with the function of an input voltage. The dynamic characteristics of the MUTM are identified by the frequency domain modeling technique based on the experimental data. The interested bandwidth is focused on 125-315HZ for effective modeling and control. For the robust vibration control of the MUTM, the sliding mode control and the Kalman filter as observer are proposed. The paper also proposes the best input signal type to operate the MUTM effectively. The feasibility of the proposed modeling scheme and control algorithm are tested and verified experimentally.

• 한국생산제조학회지
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• 제20권2호
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• 조명전기설비학회논문지
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• 제20권6호
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• pp.96-103
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• 2006

서보 드라이브의 성능 향상을 위해 AC 서보 전동기의 MRAC (Model Reference Adaptive Control) 기반 적응 전류 제어 기법이 제시된다. 인버터 구동 전류 제어 기법 중 예측형 전류 제어 기법은 이상적인 과도 응답 및 정상 상태 응답을 주지만, 전동기 파라미터 변화 시 정상상태 응답 성능이 저하된다. 이러한 제한 점을 극복하기 위해 파라미터 변화에 의한 외란이 MRAC 기법에 의해 추정되어 전향 제어에 의해 보상된다. 제안된 방식은 기존의 외란 추정 방식과 달리 관측기 구성을 위한 인버터의 상전압 측정을 필요로 하지 않는다. 제안된 적응 제어 방식의 점근안정성과 효과적으로 서보 드라이브에 적용될 수 있음이 입증된다. 제안된 방식이 DSP TMS320C31을 이용하여 구현되고 유용성이 시뮬레이션과 실험을 통해 입증된다.