• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.534-538
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• 2017

There are three types of robots that move on the ground classified as drivetrain. Wheels, tracks and Legs. Wheels and tracks are much easier to construct and control, but they have problems passing through obstacles like people. This paper discusses the design of line tracing using Theo Jansen, one of multi-legged walking mechanism. In order to increase the moving speed, the Jansen mechanism is designed by maximizing the objective variable as GL (Ground Length), GAC (Ground Angle Coefficient). In this project, only three sensors were attached and Arduino was used for optimal control of the motor using the sensor values.

• 전기전자학회논문지
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• 제18권2호
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• pp.255-262
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• 2014

The uncertain integral linear system is the integral-augmented uncertain system to improve the resultant performance. In this note, for a MI(Multi Input) uncertain integral linear case, Utkin's theorem is proved clearly and comparatively. With respect to the two transformations(diagonalizations), the equation of the sliding mode is invariant. By using the results of this note, in the SMC for MIMO uncertain integral linear systems, the existence condition of the sliding mode on the predetermined sliding surface is easily proved. The effectiveness of the main results is verified through an illustrative example and simulation study.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권11호
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• pp.483-490
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• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• Smart Structures and Systems
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• 제24권2호
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• pp.193-207
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• 2019

This study concerns with morphing structures, e.g. as applied in the aerospace industry. A morphing aerofoil structure capable of variable geometry was developed, which was shown to be able to cater for the different aerodynamic requirements at different stages of flight. In this work, the useful and relatively simple method has been applied, which provides a direct method for calculating required morphing shape displacements via finding the most effective bar through calculating bar sensitivity to displacement and calculating set of length actuations for bar assembly to control/adjust shape imperfection of prestressable structural assemblies including complex elements ("macro-elements", e.g., the pantographic element), involving Matrix Condensation. The technique has been verified by experiments on the physical model of an aerofoil shaped morphing pantographic structure. Overall, experimental results agree well with theoretical prediction. Furthermore, the technique of multi-iteration adjustment was presented that effective in eliminating errors that occur in the practical adjustment process itself. It has been demonstrated by the experiments on the physical model of pantographic morphing structure. Finally, the study discusses identification of the most effective bars with the objective of minimal number of actuators or minimum actuation.

• 한국전산구조공학회논문집
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• 제24권1호
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• pp.69-78
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• 2011

본 연구에서는 스마트 TMD를 효과적으로 제어할 수 있는 퍼지제어알고리즘을 개발하기 위하여 다목적 유전자알고리즘을 이용한 최적화기법을 제안하였다. 예제구조물로는 풍하중을 받는 76층 벤치마크건물을 선택하였다. 스마트 TMD를 구성하기 위하여 100kN 용량의 MR 감쇠기를 사용하였고, 스마트 TMD의 진동주기는 예제구조물의 1차모드 고유진동주기에 맞추어 조율되었다. MR 감쇠기의 감쇠력은 예제구조물의 풍응답을 최소화할 수 있도록 퍼지제어기를 통해서 조절된다. 퍼지제어기의 입력변수는 75층의 가속도 응답과 스마트 TMD의 변위응답으로 하였고, 출력변수는 MR 감쇠기로 전달되는 명령전압으로 하였다. 퍼지제어기의 최적화를 위하여 다목적 유전자알고리즘인 NSGA-II 기법이 사용되었고, 이때 75층의 가속도 응답과 스마트 TMD의 변위응답을 목적함수로 사용하였다. 최적화 결과, 구조물의 풍응답과 STMD의 변위응답을 동시에 적절히 제어할 수 있는 다수의 퍼지제어기를 얻을 수 있었다. 수치해석을 통해서 스마트 TMD의 성능이 수동 TMD에 비하여 월등히 뛰어남을 알 수 있었고 경우에 따라서는 샘플 능동 TMD보다 더 우수한 제어성능을 발휘하였다.

• 한국태양에너지학회 논문집
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• 제36권6호
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• pp.1-12
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• 2016

A control algorithm for a 100 kW wind turbine is designed in this study. The wind turbine is operating as a variable speed variable pitch (VSVP) status. Also, this wind turbine is a permanent magnet synchronous generator (PMSG) Type. For the medium capacity wind turbine considered in this study, it was found that the optimum tip speed ratios to achieve the maximum power coefficients varied with wind speeds. Therefore a commercial blade element momentum theory and multi-body dynamics based program was implemented to consider the variation of aerodynamic coefficients with respect to Reynolds numbers and to find out the power and thrust coefficients with respect tip speed ratio and blade pitch angles. In the end a basic power controller was designed for below rated, transition and above rated regions, and a load reduction algorithm was designed to reduce tower vibration by the nacelle motion. As a result, damage equivalent Load (DEL) of tower fore-aft has been reduced by 32%. From dynamic simulations in the commercial program, the controller was found to work properly as designed. Experimental validation of the control algorithm will be done in the future.

• Journal of Welding and Joining
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• 제28권4호
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• pp.26-32
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• 2010

The purpose of this study is to evaluate the residual stresses at the multi-pass FCA weldment using the finite element analysis (FEA). In order to do it, an H-type specimen was selected as a test specimen. The variable used was in-plane restraint intensity. The temperature distribution at the multi-pass FCA butt weldment was evaluated in accordance with the relevant guidance recommended by the KWJS. The effective conductivity for the weld metal corresponding to each welding pass was introduced to control the maximum temperature below the vaporization temperature of weld metal. The heat flux caused by welding arc was assumed to be applied to the weld metal corresponding to welding pass. With heat transfer analysis results, the distribution of transverse residual stresses was evaluated using the thermo-mechanical analysis and compared with the measured results by XRD and uniaxial strain gage. In thermo-mechanical analysis, the plastic strain resetting at the temperature above melting temperature of $1450^{\circ}C$ was considered and the weld metal and base metal was assumed to be bilinear kinematics hardening continuum. According to the comparison between FEA and experiment, transverse residual stresses at the multi-pass FCA butt weldment obtained by FEA had a good agreement with the measured results, regardless of in-plane rigidity. Based on the results, it was concluded that thermo-mechanical FE analysis based on temperature distribution calculated in accordance with the KWJS’s guidance could be used as a tool to predict the distribution of residual stress of the multi-pass FCA butt weldment.

• 물과 미래
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• 제18권3호
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• pp.225-233
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• 1985

홍수시 한강수계 댐군의 Simmulation에 의한 연계 운영방안을 개발하기 위하여 충주댐 단일 운영 방안들을 비교 검토한다. 따라서, 본 논문에서는 저수지 및 하도 특성을 고려하여 수립된 제약조건과 빈도별 유입량 자료를 사용하여 Spillway rule curve에 의한 방안과 rigid ROM, 그리고 Linear Decision Rule에 의한 방안을 수립하였다. Simulation에 의하여 각 운영방안의 설계홍수에 대한 저류 및 방류특성을 비교하고, 여러 가지 빈도에 대한 조절율 및 이용율을 산출하였으며, 조절상수의 설계빈도에 따른 변화를 검토하였다. 이와 같은 비교검토 결과, 홍수크기에 따른 최적방안을 제안하고, 유입량의 예측에 따른 조절상수의 산정에 의하여 rigid ROM과 Linear Decision Rule에 의한 방안 적용의 효과를 개선할 수 있다.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2009년도 춘계학술대회 논문집
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• pp.404-407
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• 2009

The field oriented control of induction motors is widely used in high performance applications. However, detuning caused by parameter disturbance still limits the performance of these drives. In order to accomplish variable speed operation conventional PI-like controllers are commonly used. These controllers provide limited good performance over a wide range of operation even under ideal field oriented conditions. This paper is proposed adaptive fuzzy controller(AFC) and artificial neural network(ANN) based on the vector controlled induction motor drive system. Also, this paper is proposed control of speed and current using fuzzy adaptation mechanism(FAM), AFC and estimation of speed using ANN. The proposed control algorithm is applied to induction motor drive system using FAM, AFC and ANN controller. Also, this paper is proposed the analysis results to verify the effectiveness of this controller.

• 한국통신학회논문지
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• 제18권12호
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• pp.1870-1883
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• 1993

본 논문에서는 ATM 방식으로 운용되는 사용자 네트워크를 구축하기 위해서 필수적인 주요 기능 그룹들-B-TE, B-NT2, LEX-이 수행하여야할 트래픽 제어기법에 대하여 연구한다. 사용자 네트워크에서 가장 중요한 기능 그룹인 B-NT2의 구성을 매우 단순화하여 정의한다. 또한 LEX의 구성기능 역시 B-NT2와 유사하게 정의한다. 가상 경로 식별자를 트래픽의 특성별로 고정할당하여 전체적인 트래픽 제어 기능의 분산을 가능하게 한다. 트래픽 제어를 위하여 연결수작 제어, 사용 파라미터 제어, 대역폭 할당 기능등의 연관성을 정의하고 소스 트래픽 특성에 따라 최적의 제어를 수행하기 위한 구조로서 멀티 룰-베이스 트래픽의 특성에 따른 최적의 제어를 수행하기 위한 구조로서 멀티 룰-베이스 구조를 제안한다. 그리고 멀티 룰-베이스 구조에 적합하도록 간단하게 구성된 실시간 가변 윈도우 알고리즘을 제안한다. 컴퓨터 시뮬레이션을 통하여 제안된 하드웨어적인 구성을 가지는 가상 시스템에 온 오프 소스 트래픽을 발생시켜서 제안한 알고리즘의 성능을 분석한다. 그리고 분산 제어의 기능성과 보다 단순화된 시스템의 구현이 가능함을 확인한다.