• Journal of Mechanical Science and Technology
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• 제19권10호
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• pp.1864-1874
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• 2005

This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.

• Journal of Power Electronics
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• 제18권1호
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• pp.185-194
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• 2018

Interaction among multiple grid-connected inverters has a negative impact on the stable operations and power quality of a power grid. The interrelated influences of inverter inductor-capacitor-inductor filters constitute a high-order power network, and consequently, excite complex resonances at various frequencies. This study first establishes a micro-grid admittance matrix, in which inverters use deadbeat control. Multiple resonances can then be evaluated via modal analysis. For the active damping method applied to deadbeat control, the sampling frequency and the stable domain of the virtual damping ratio are also presented by analyzing system stability in the discrete domain. Simulation and experimental results confirm the efficiency of modal analysis and stable domain calculation in multi-inverter grid-connected systems.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.619-624
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• 2014

This paper introduces a robot-based learning system which is designed to teach multiplication to children. In addition to a small humanoid and a smart device delivering educational content, we employ a type of mixed-initiative operation which provides enhanced multi-modal cognition to the r-learning system through human intervention. To investigate major factors that influence people's intention to use the r-learning system and to see how the multi-modality affects the connections, we performed a user study based on TAM (Technology Acceptance Model). The results support the fact that the quality of the system and the natural interaction are key factors for the r-learning system to be used, and they also reveal very interesting implications related to the human behaviors.

• Composites Research
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• 제14권1호
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• pp.39-46
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• 2001

본 논문에서는 신경망 제어기를 이용하여 복합재 보의 적응 다중 모드 진동 제어에 관한 실험적 연구를 수행하였다. 신경망 제어기는 계산량이 많기 때문에 실시간 적용에 어려움이 따른다. 본 논문에서는 진동 신호를 모드별로 분리하기 위한 적응 노치 필터를 제안하였다. 연결 강도의 개수가 적어서 계산량이 적은 두 개의 신경망 제어기를 이용하여 각 모드의 제어력을 계산하였다. 끝단 질량의 위치의 차이로 인해 고유 진동수가 다른 두 시편 A, B에 대하여 적응 노치 필터와 신경망 제어기를 이용한 적응 진동 제어를 수행한 결과, 두 경우 모두 효과적으로 진동 제어가 이루어졌다. 이러한 결과로 시스템 파라미터의 변환에 대한 신경망 제어기의 적응 진동 제어 성능을 확인할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.201-204
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• 1998

This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

• 한국소음진동공학회논문집
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• 제12권1호
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• pp.5-11
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• 2002

Active vibration control of intelligent laminated composite plates is performed experimental1y Laminated composite place is modeled by the system identification method. For the system identification process, the laminated composite place is excited by two piezoelectric actuators with PRBS signals. At the same time, the displacement of the laminated composite plate is measured by a gap sensor. From these excited PRBS signals and the measured displacement sequence, system parameters of the laminated composite plate are estimated using a recursive prediction error method. Model of the laminated composite plate with two piezoeletric actuators is assumed to be the form of ARMAX. From the estimated ARHMAX model, a state space equation of the observable canonical form is obtained. With this state space equation, a controller and an observer for active vibration control is designed using the optimal control method. Controller and observer are implemented on a digital system. Experiments on the vibration control are Performed with changing the outer layer fiber orientation of intelligent composite plates.

• Nuclear Engineering and Technology
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• 제22권4호
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• pp.371-379
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• 1990

제논의 공간적인 진동은 원자로의 운전에 지장을 초래할 수 있다. 본 연구에서는 가압경수로에서의 제논에 의한 불안정성을 분석하기 위하여, 보다 일반적이고 다중입력/다중출력 계통에 적합한 일반화된 Nyquist조건을 사용하는 진동수위주의 기술을 적용하였다. 또한 모드전개 방법에 의하여 선형화된 중성자속을 구했다. 이 모형으로 출력 준위, 제어봉 위치, 그리고 평균 노심 연소도둥의 노물리 변수의 변화에 따른 영광 1호기의 제논에 대한 축방향 안정성을 조사하였다. 결과로는, 출력 준위의 증가나 제어봉 삽입의 증가는 안정성을 저해하는 효과를 가져오고, 연소도가 증가할 수록 불안정한 것으로 나타났다.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.780-786
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• 2012

Surveillance has become one of promising application areas of wireless sensor networks which allow for pervasive monitoring of concerned environmental phenomena by facilitating context awareness through sensor fusion. Existing systems that depend on a postmortem context analysis of sensor data on a centralized server expose several shortcomings, including a single point of failure, wasteful energy consumption due to unnecessary data transfer as well as deficiency of scalability. As an opposite direction, this paper proposes an energy-efficient distributed context-aware surveillance in which sensor nodes in the wireless sensor network collaborate with neighbors in a distributed manner to analyze and aware surrounding context. We design and implement multi-modal sensor stations for use as sensor nodes in our wireless sensor network implementing our distributed context awareness. This paper presents an initial experimental performance result of our proposed system. Results show that multi-modal sensor performance of our sensor station, a key enabling factor for distributed context awareness, is comparable to each independent sensor setting. They also show that its initial performance of context-awareness is satisfactory for a set of introductory surveillance scenarios in the current interim stage of our ongoing research.

• 한국인터넷방송통신학회논문지
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• 제10권6호
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• pp.17-22
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• 2010

본 논문에서는 유럽향 지상파 디지털 방송 표준인 DVB-T(Digital Video Broadcasting Terrestrial)와 지상파 모바일 방송 표준인 T-DMB(Terrestrial Digital Multimedia Broadcasting)의 TS(Transport Stream)를 하나의 TS로 역다중화하는 멀티모드 방송의 통합 역다중화기(Demultiplexer)를 제안한다. 제안한 TS통합 역다중화 기능을 수행하는 USB 기반의 통합 수신기는 메모리공유기법에 의해 시스템의 부하를 감소하도록 스트림을 제어함으로서 오디오를 재생하였다. 그 결과로 위도우즈 기반의 통합 역다중화기는 각각 기존의 단일모드 DVB-T 역다중화기에 비해 CPU의 사용 점유율 성능이 향상되었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.441-447
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• 2002

KSR-III(Korea Sounding Rocket - III), which is being developed by Space Technology R&D Division of KARI(Korea Aerospace Research Institute) will be launched in late 2002. It is a three-stage, liquid propellant rocket which can reach 250 km altitude and will carry out observation of ozone layer and scientific experiments, such as microgravity experiment, and atmospheric measurement. KSR-III is believed to be an intermediate to the launch vehicle capable of carrying a satellite to its orbit. Space Test Department of KARI performed GVT(Ground Vibration Test) fer KSR-III EM at Rocket Test Building of KARI. GVT is very important for predicting the behavior of rocket in its operation, developing flight control program and performing aerodynamic analysis. This paper gives an introduction of rocket GVT configuration and information on test procedures, techniques and results of It. In this test. to simulate free-free condition, test object hung in the air laterally by 4 bungee cords specially devised. For the excitation of test object, pure random signal by two electromagnetic shakers was used and total 22 frequency response functions were achieved. Polyreference parameter estimation was performed to identify the modal parameters with MIMO(Multi-Input-Multi-Output) method. As the result of the test, low frequency mode shapes and modal parameters below 60Hz were identified