• 대한전자공학회논문지
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• 제23권5호
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• pp.631-636
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• 1986

The self-tuning control theory which has so far been studied has the type of a moving average noise mode. In this paper we propose a self-tuning munimum varinace control of the plant with an autoregressive noise model. New identities are introduced to find a munimum variance control input, and the stability and convergence properties in a closed loop system are studied using the BIBO concepts and ODE method. Also the proposed algorithm is compared withe that of the original self-tuning control by computer simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2020년도 전력전자학술대회
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• pp.212-214
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• 2020

리튬이온 배터리를 고온의 환경에서 장시간 운용함에 따라 배터리 내부 물질의 변형 및 특성 변화가 발생하여 안전성의 문제가 발생하게 된다. 배터리의 안전성을 향상하기 위해 배터리의 고장 및 이상 상태를 진단 및 탐지하는 기법들의 연구가 진행되고 있다. 본 논문에서는 배터리의 이상 상황을 모사하기 위해 열폭주의 한 가지 방법인 고온의 환경에서 배터리의 특성 변화를 전기화학적 임피던스 분광법을 통해 분석하였으며, 등가회로 모델의 특성 인자를 활용하여 이상 상황을 탐지할 수 있는 이동 평균 추세선 기반의 이상 탐지 기법을 제안하며, 열폭주가 발생한 데이터를 통해 이상 탐지 기법을 검증한다.

• 전자공학회논문지 IE
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• 제43권1호
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• pp.59-66
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• 2006

본 연구에서는 동기 구동형 이동 로봇의 제어를 위한 운동 방정식, 주어진 지도 내의 목표 지점으로의 최적 경로 생성과 경로 추적을 위한 경로 계획, 그리고 이동 로봇의 위치를 측정하기 위한 균등 군집 몬테카를로 위치 측정 기법을 제안하였다. 이동 로봇의 위치 측정 실험을 통해 총 73회 반복된 위치 측정에서 기존의 몬테카를로 위치 측정의 평균 수행 속도가 12.8ms로 측정된 반면, 균등 군집 관리 몬테카를로 위치 측정의 평균 수행 속도는 9.3ms로 측정되었다. 또한 기존의 몬테카를로 위치 측정 기법이 위치 측정에 실패하는 동일 환경에서 균등 군집 몬테카를로 기법은 올바른 일치 측정의 결과를 보임을 확인하였다.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권3호
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• pp.188-195
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• 2004

This paper presents neural load torque observer that is used to deadbeat load torque observer and gain compensation by parameter estimator As a result, the response of the PMSM(permanent magnet synchronous motor) follows that nominal plant. The load torque compensation method is composed of a neural deadbeat observer To reduce the noise effect, the post-filter implemented by MA(moving average) process, is adopted. The parameter compensator with RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller The parameter estimator is combined with a high performance neural load torque observer to resolve the problems. The neural network is trained in on-line phases and it is composed by a feed forward recall and error back-propagation training. During the normal operation, the input-output response is sampled and the weighting value is trained multi-times by error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against the load torque and the Parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• Journal of Welding and Joining
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• 제14권6호
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• pp.131-139
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• 1996

The response of the arc sensor using the welding current and/or welding voltage as its outputs has been obtained by the analysis and/or experiments of the static characteristics of arc sensor. But in order to improve the reliability of arc sensor, it is necessary to know its dynamic characteristics. So in this paper, it is presented the dynamic model of arc sensor including the power source, arc voltage, electrode burnoff rate, and wire feed rate. A numerical simulation of the dynamic model of arc sensor was implemented, computing the welding current with input of CTWD. The results of computer simulations and experiments of $CO_2$arc welding showed that a linear relationship between weaving center - weld line distance and current area difference was established. Additionally, a real-time weld seam tracking system interfaced with industrial welding robot was constructed, the result of the weld seam tracking experiment for weld line with an initial offset error of 5$^{\circ}$was good.

• 한국농공학회지
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• 제17권4호
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• pp.3962-3969
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• 1975

1. When the frame of the experimental apparatus was directly fixed on the platform, result from the spectrum density analysis showed that the generated vibration frequecy of the system was nearly-same as the system's own characteristic vibration frequency, 80Hz, in the case of the forcing vibration frequency was 7.5 to 22.5Hz. The reduction ratio of acceleration by balanced type model compare to non-balanced type one was 26.66 percent. 2. When the frame of experimental apparatus was fixed on the platform with putting a shock absorbing rubber between the frame and the platform, the generated vibration frequency of the system was same as forcing vibration frequency. When either frequency or the amplitude of the forcing vibration was increased, the acceleration ratio was increased too. The average reduction ratio was resulted 44.77 per cent. It was concluded that this method of acceleration measurement(the method using a shock absorbing rubber) was a reaonable method, because actual machine will work under such condition. As the vibration frequency and aptitude were increased, the absolute magnitude of acceleration was increased. 3. unbalanced rotating parts, and unbalanced moment of inertia of links were supposed to be causing factors of residual vibration in spite of using the balanced type oscillating mole drainer. This fact suggested that the attachment of the counter weight on the rotating parts which satisfy the condition mw$.$rw=m0e, was necessary. And also, it was expected that the shock absorbing effect could be improved by putting the shock absorbing materials between the moving parts and their supports.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.643-646
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• 2000

In this study, we constructed a preview-sensing visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame process, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data of weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam, such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

• Journal of applied mathematics & informatics
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• 제5권2호
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• pp.373-382
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• 1998

Most of the works in Time Series Analysis are based on the Auto Regressive Integrated Moving Average (ARIMA) models presented by Box and Jeckins(1976). If the data exhibits no ap-parent deviation from stationarity and if it has rapidly decreasing autocorrelation function then a suitable ARIMA(p,q) model is fit to the given data. Selection of the orders of p and q is one of the crucial steps in Time Series Analysis. Most of the methods to determine p and q are based on the autocorrelation function and partial autocor-relation function as suggested by Box and Jenkins (1976). many new techniques have emerged in the literature and it is found that most of them are over very little use in determining the orders of p and q when both of them are non-zero. The Durbin-Levinson algorithm and Innovation algorithm (Brockwell and Davis 1987) are used as recur-sive methods for computing best linear predictors in an ARMA(p,q)model. These algorithms are modified to yield an effective method for ARMA model identification so that the values of order p and q can be determined from them. The new method is developed and its validity and usefulness is illustrated by many theoretical examples. This method can also be applied to an real world data.

• 한국정보통신학회논문지
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• 제18권4호
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• pp.986-991
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• 2014

모바일 헬스케어와 원격진료에서 사용되는 광용적 맥파(PPG) 신호는 환자로부터 발생되는 여러 가지의 동잡음을 포함하고 있다. 이러한 동잡음을 제거하기위해 이동평균필터, 적응필터, 가속도 센서 등을 이용한 기법이 제시되었으나, 아직까지도 그 성능이 만족 스럽지 못하다. 따라서 본 연구에서는 이러한 동잡음 문제를 해결하기 위해 칼만필터와 적응필터를 이용한 새로운 동잡음 제거 기법을 제안하고 그 성능을 평가하기위해 다양한 동잡음을 사용하였다. 이 실험의 결과에서 제안된 방법의 신호대 잡음비는 이동 평균 필터 보다 4.8배인 우수한 성능을 보였다.

• 전력전자학회논문지
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• 제9권1호
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• pp.42-49
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• 2004

본 논문은 데드비트 외란 관측기를 사용한 외부 부하 외란 보상과 파라미터 추정기에 의한 보상 이득의 조정을 나타내고 있다. 결론적으로 PMSM의 응답은 지표 시스템을 따른다. 부하 토크 보상 방법은 데드비트 관측기로 구성된다. 노이즈 영향을 감소시키기 위해 MA 처리에 의해 구현된 후단 필터를 적용하였고, RLSM 파라미터 추정기를 가진 파라미터 보상기가 주어진 실제 시스템의 이득 계산시 사용된 파라미터로 가상 동작하여 이득이 오차가 없는 것처럼 동작하게 한다. 제안된 추정기는 문제를 풀기 위해 고성능 외란 관측기와 조합하여 사용한다. 제안된 제어 시스템은 부하토크와 파라미터 변화에 대해 강인하고 정밀한 시스템이 된다. 이상의 제안된 시스템의 안정성과 유용함이 컴퓨터 시뮬레이션과 실험을 통하여 확인되었다.