• 자원ㆍ환경경제연구
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• 제33권3호
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• pp.203-239
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• 2024

지역별 차등 전기요금 제도의 도입이 논의되고 있으며, 그 방법론으로 LMP(Locational Marginal Price) 방식이 유력한 대안으로 언급되고 있다. 이런 배경하에서 본 연구는 수리모형을 통해 LMP 방식이 사회후생을 극대화하는 결과를 도출함을 제시한다. 분석 결과 사회후생 극대화 가격은 지역별 한계발전비용과 동일하며, 지역별 한계비용의 차이는 송전손실에 의해 사라지는 가치와 송전망 투자에 대한 보상을 반영한다. 그리고 송전용량이 최적 용량 미만인 경우 송전망 투자에 대한 보상액은 증분비용을 초과하여 송전망 투자의 유인이 제공된다. 반면 송전용량이 최적 용량을 초과할 경우 송전망 투자에 대한 보상액은 증분비용보다 낮아지며 용량이 상당히 큰 경우 0이 되어 투자액이 회수되지 않고 송전망 투자가 억제된다. 이는 LMP 개념하에서의 송전망 투자 보상 방식과 동일하며, 이 방식이 사회후생 극대화 및 최적 송전망 투자 시그널을 제공함을 의미한다. 이상의 분석결과는 LMP의 특성을 이해하는 데 기여하며, 추가로 본 연구에서는 LMP 개념의 도입 시 전력시장에 어떤 변화가 필요한지를 논의하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1939-1943
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• 1991

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the shortest collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal of this paper, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy[3] and a traveling salesman problem strategy(TSP)[23]. The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Neural Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is proposed to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm[21] and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm[5].

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.344-345
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• 2018

In order to alleviate the negative impacts of harmonically distorted grid condition on grid-connect inverters, an optimal control design-based gain selection scheme of an LCL-filtered grid-connected inverter and its ability to compensate selective harmonics are presented in this paper. By incorporating resonant terms into the control structure in the state-space to provide infinity gain at selected frequencies, the proposed control offers an excellent steady-state response even under distorted grid voltage. The proposed control scheme is achieved by using a state feedback controller for stabilization purpose and by augmenting the resonant terms as well as intergral term into a control structure for reference tracking and harmonic compensation. Furthermore, the optimal linear quadratic control approach is adopted for choosing an optimal feedback gain to ensure an asymptotic stability of the whole system. A discrete-time full state observer is also introduced into the proposed control scheme for the purpose of reducing a total number of sensors used in the inverter system. The simulation results are given to prove the effectiveness and validity of the proposed control scheme.

• Journal of Electrical Engineering and Technology
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• 제8권4호
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• pp.712-718
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• 2013

With the development of industry and the improvement of living standards, better quality in power electric service is required more than ever before. This paper deals with the optimal algorithms for voltage regulation in the case where Distributed Storage and Generation (DSG) systems are operated in distribution systems. It is very difficult to handle the interconnection issues for proper voltage managements, because the randomness of the load variations and the irregular operation of DSG should be considered. This paper proposes the optimal on-line real time voltage regulation methods in power distribution systems interconnected with the DSG systems. In order to deliver suitable voltage to as many customers as possible, the optimal sending voltage should be decided by the effective voltage regulation method by using artificial neural networks to consider the rapid load variation and random operation characteristics of DSG systems. The simulation results from a case study show that the proposed method can be a practical tool for the voltage regulation in distribution systems including many DSG systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 추계학술대회 논문집 전력기술부문
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• pp.320-322
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• 2001

본 논문에서는 전압 sag보상을 하기 위한 DSTATCOM 제어기를 설계하고 EMTDC/PSCAD로 확인하였다. DSTATCOM의 전류성분을 d,q분해 해석을 통하여 상태방정식을 유도하고 부하모델과 네트워크의 제약조건을 결합 모델을 제시하였다. 1선 지락 사고시 PI 제어시보다 LQR 제어의 응답 특성이 우수함을 검증하고 전압 sag가 개선됨을 보였다.

• 환경정책연구
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• 제8권4호
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• pp.75-94
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• 2009

제3자재원조달 계약의 과정이 1단계 신호발생 게임과 2단계 주인-대리인 게임 등 2단계 게임 모형을 통해 분석된다. 2단계 게임의 해는 역진귀납법을 통해 구해진다. 2단계 게임에서, 에너지절약기업의 최적 노력수준, 에너지 사용자의 최적 보상 체계, 그리고 두 경기자의 보수는 각각의 부분게임에서 도출된다. 이렇게 해서 도출된 각각의 부분게임의 최적해는 서로 비교된다. 그 결과 우리는 만약 에너지절약기업의 수입을 감소하는 비율로 증가시키는 누진적인 판매세와 같은 에너지절약기업의 수입에 대한 제약이 존재한다면, 최적 분배 비율은 선형 보상 체계에서 'I'보다 작은 수준에서 유일하게 결정된다는 것을 알게 되었다. 즉 유일한 균형이 존재한다는 것이다. 부분게임 각각의 경우에 대한 자기충족적인 유일한 균형은 분리균형인 바, 이 균형에서 에너지사용자는 높은 기술수준을 보유하고 있는 에너지절약기업(H형 ESCO)의 에너지진단 제안은 받아들이되, 낮은 기술수준을 보유한 에너지절약기업(L형 ESCO)의 진단제안은 거절한다. L형 ESCO는 제3자 재원조달 시장에서 수익을 창출할 수 없게 된다. 반면, H형 ESCO는 L형과 H형의 진단수수료의 차이만큼 수익을 얻게 된다. 따라서 H형 ESCO의 균형에서의 수익은 자신의 기술수준뿐만 아니라 L형보다 더 빠르게 진보된 기술수준을 통해서 증가하게 된다. 에너지사용자는 어떠한 추가비용을 지출하지도 않으면서 기존 자신의 에너지시스템에서 ESCO가 3자재원조달 임무를 하도록 허용함으로써 일정분의 수익을 얻게 된다.

• ETRI Journal
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• 제24권4호
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• pp.280-289
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• 2002

In this work, we present a novel approach to the bit allocation problem that aims to minimize overall distortion subject to a bit rate constraint. The optimal solution can be found by the Lagrangian method with dynamic programming. However, the optimal bit allocation for block-based interframe coding is practically unattainable because of the interframe dependency of macroblocks caused by motion compensation. To reduce the computational burden while maintaining a result close to the optimum, i.e., near optimum, we propose an alternative method. First, we present a partitioned form of the bit allocation problem: a "frame-level problem" and "one-frame macroblock-level problems." We show that the solution to this new form is also the solution to the conventional bit allocation problem. Further, we propose a bit allocation algorithm using a "two-phase optimization technique" with an interframe dependency model and a rate-distortion model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1136-1141
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• 2004

This paper presents a control method for time-delay systems and verifies the performance of the designed control system via real experiments. Specifically, the control method is applied to a flexible-link system with time delays. The method combines time- and frequency-domain controllers: linear quadratic optimal controller (or LQR) and lag compensator. The LQR is used to stabilize the system in optimal fashion, whereas the lag compensator is used to compensate time-delay effects by increasing the delay margin of the system. With this methodology, the maximum allowable time delay can be increased significantly. The proposed method is simple but quite practical for time-delay system control as it is based on the conventional loop-shaping method, which gives practical insights on delay-phase relationship. Simulation and experiment results show that the method presented in this paper is feasible and practical.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.348-353
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• 2003

This paper considers the optimal control problem in real-time control systems with random time-delays. It proposes an algorithm which uses the linear quadratic (LQ) control method and a dedicated technique to compensate for the time-delay effects. Since it is assumed that the time-delays are unknown but the probability distribution of the delays are known a priori, the algorithm considers the mean value of the time-delays as a nominal value for random delay compensation. An example is given to show the performance of the proposed algorithm, where an inverted pendulum system is controlled over a controller-area network (CAN). Simulation results show that the proposed algorithm provides good performance results. It is shown that our algorithm is comparable to existing algorithms in both computation cost and performance.