• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.4
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• pp.257-264
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• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• Journal of Korean Society on Water Environment
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• v.29 no.4
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• pp.466-475
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• 2013

Non-point source pollution management is one of the most important issues in Korean water quality/watershed management. In recent years, Low Impact Development (LID) has emerged as an effective approach to control stormwater in an urban area. This study illustrates how to design and evaluate the effect of non-point pollutant management using EPA-SWMM LID module and suggests design parameters for modeling LID facilities. In addition, optimal installation locations of LID can be determined by a simple distributed hydrologic model by using SWMM for a long-term.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.883-887
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• 2016

Navigating an unknown environment is a challenging task for a robot, especially when a large number of obstacles exist and the odometry lacks reliability. Pose tracking allows the robot to determine its location relative to its previous location. The ICP (iterative closest point) has been a powerful method for matching two point clouds and determining the transformation matrix between the maps. However, in a situation where odometry is not available and the robot moves far from its original location, the ICP fails to calculate the exact displacement. In this paper, we suggest a method that is able to match two different point clouds taken a long distance apart. Without using any odometry information, it only exploits the features of corner points containing information on the surroundings. The algorithm is fast enough to run in real time.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1060-1061
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• 2015

This paper presents the control method of MPPT (Maximum Power Point Tracking) using back-to- back converter. The windturbine system use PMSG(ermanent Magnet Synchronous Generator) system considering low maintenance costs and driving performance at low wind. This paper use the adaptive sliding mode control to the torque control. Proposed method was analyzed mathematically.

• The Transactions of the Korean Institute of Power Electronics
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• v.24 no.1
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• pp.1-8
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• 2019

In this study, a maximum power point tracking (MPPT) algorithm based on the perturb and observe (P&O) method with variable step size is proposed to improve the dynamic response characteristic of MPPT, using the existing P&O method. The proposed algorithm, which we verified by simulation and experiment, can track the maximum power point (MPP) through duty control and consisted of three operation modes, namely, constant voltage mode, fast mode, and variable step mode. When the insolation is constant, the voltage variation of the operating point at the MPP is reduced through the step size reduction of the duty in the variable step mode. Consequently, the vibration of the operating point is reduced, and the power generation efficiency is increased. When the insolation changes, the duty and the photovoltaic (PV) voltage are kept constant through the constant voltage mode. The operating point then rapidly tracks the new MPP through the fast-mode operation at the end of the insolation change. When the MPP is reached, the operation is changed to the variable step mode to reduce the duty step size and track the MPP. The validity of the proposed algorithm is verified by simulation and experiment of a PV system composed of a PV panel and a boost converter.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.46-58
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• 2009

This paper deals with design procedure of online guidance and control law for future missiles that requires agile maneuverability. For the purpose, the missile with high powered side thruster is proposed. The guidance and control law for such missiles is discussed from a point of view of optimal control theory in this paper. Minimum time problem is solved for the approximated system. It is derived that bang- bang control is optimal input from the necessary conditions of optimal solution. Feedback guidance without iterative calculation is useful for actual systems. In this paper. multiple design point method is applied to design feedback gains and feed forward inputs of the guidance and control law. The numerical results show that the proposed guidance and control law has a high -performance for wide-ranging boundary conditions.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.3
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• pp.45-53
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• 2015

A I-V and P-V characteristic of solar cell is changed to nonlinear by radiation and temperature. Therefore, to use efficiently PV system, operating point of PV system is must operate at maximum power point always. A performance of conventional the PO and the IC method is depend on the step size. So it has weakness which is must select optimal step size. Also, MPPT control applying PI and fuzzy control is not expected satisfactory performance, because of PI controller has fixed gain and fuzzy control has cumulative error by an integral calculus. Therefore, this paper proposes the VS-PO(Variable Stepsize - Perturbation & Observation) MPPT control that is automatically adjusted the step size according to the operating conditions. The VS-PO MPPT method proposed in this paper analyzes control characteristic about condition of radiation and compares with conventional methods. The validity of this paper proves using this results.

• Journal of Korean Society of Rural Planning
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• v.24 no.4
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• pp.99-119
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• 2018

Unit load factor, which is used for the quantification of non-point pollution in watersheds, has the limitation that it does not reflect spatial characteristics of soil, topography and temporal change due to the interannual or seasonal variability of precipitation. Therefore, we developed the method to estimate a watershed-scale non-point pollutant load using seasonal forecast data that forecast changes of precipitation up to 6 months from present time for watershed-scale water quality management. To establish a preemptive countermeasure against non-point pollution sources, it is possible to consider the unstructured management plan which is possible over several months timescale. Notably, it is possible to apply various management methods such as control of sowing and irrigation timing, control of irrigation through water management, and control of fertilizer through fertilization management. In this study, APEX-Paddy model, which can consider the farming method in field scale, was applied to evaluate the applicability of seasonal forecast data. It was confirmed that the rainfall amount during the growing season is an essential factor in the non-point pollution pollutant load. The APEX-Paddy model for quantifying non-point pollution according to various farming methods in paddy fields simulated similarly the annual variation tendency of TN and TP pollutant loads in rice paddies but showed a tendency to underestimate load quantitatively.

• Journal of IKEEE
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• v.19 no.2
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• pp.225-231
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• 2015

The parameter K which decides how much to convert wind energy to electric energy in MPPT(maximum power point tracking) control of wind turbine system using torque controller is changed because blade shape and air density change. If the parameter K is not optimal value, power lose occur. The changed parameter K is important issue in wind turbine system. In this paper, to solve this problem, considering wind turbine system using back-to-back converter control and torque control, we propose the adaptive MPPT algorithm which performs fast control by using initial K, estimates mechanical power using Kalman filter method, uses the estimated mechanical power as input for MPPT algorithm again, and consequently performs optimal MPPT control.

• Journal of Environmental Impact Assessment
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• v.25 no.4
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• pp.248-260
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• 2016

This study was aimed to assess the effect of diverse pollutants control measures suggested in the Chuso basin and its upstream of So-oak stream watershed where are the most concerned areas on the control of algal bloom occurring in Daecheong Reservoir. The control measures were classified as watershed measures and in-reservoir measures, and their effects were simulated using a two-dimensional hydrodynamic and water quality model. The watershed measures were made up of 1) point sources control, non-point sources control, and their combinations. The in-reservoir measures were supposed to treat sediment at Chuso basin and to install a phosphorus elimination plant (PEP) at the end of So-oak stream. The results showed that the effect of each measure was influenced by the hydrological condition of the year. In wet year, as the contribution of non-point sources increased, the non-point source control measures (NPS1~NPS4) showed more effective compared to other measures, while, the PEP system to eliminate phosphorus from So-oak stream showed better performance in dry year. In particular, the scenario of NPS1, in which all livestock manures were collected and treated but only chemical fertilizers (NPS1) were used for agriculture fields, showed the best performance for the control of algal bloom in Chuso basin among the watershed measures.