• 한국통신학회논문지
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• 제40권5호
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• pp.886-891
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• 2015

최근 전 세계적으로 인류의 건강을 위협하는 요소로 대기오염이 대두되고 있는 가운데 세계보건기구(WHO : World Health Organization)의 발표에 의하면 대기오염으로 인해 사람의 건강을 해친다고 발표했으며, 서울시의 '2011~2014년 7월 다중이용시설 실내 공기 질 측정 결과'에 의하면 대부분의 다중이용시설에서 실내공기오염도 기준을 위반한 것으로 조사되었다. 이러한 실내에서 발생하는 대기오염은 폐 질환, 천식, 기관지염 등의 질병을 유발하며 본 논문에서는 이와 관련하여 환경센서를 이용하여 실내공기질을 측정하고, 측정된 데이터를 분석하여 환기 개선에 필요한 액츄에이터 신호를 생성하고 실시간으로 실내 공기 질 측정 모니터링 시스템을 구현하여, 우리 생활에서 대기오염을 자율적으로 관리할 수 있도록 한다.

• 항공우주시스템공학회지
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• 제13권2호
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• pp.26-33
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• 2019

인공위성 구동기로 사용되는 제어 모멘트 자이로(CMG)는 자신의 김블을 조종하여 큰 토크를 생성한다. 각각의 김블은 고속으로 회전하는 휠을 받치고 있기 때문에 휠의 질량 불균형은 외란을 발생시키게 되고 위성의 자세제어 성능을 저하시킨다. 따라서 구동기 고장을 대비하기 위해 외란을 진단하고 식별할 필요가 있다. 외란을 진단하기 위해 상태 관측기를 이용한 방법을 적용하였다. 본 논문에서는 2차 슬라이딩 모드 관측기를 이용하여 CMG의 단일 외란/고장을 탐지하였다. 또한 4개의 CMG가 설치되어 있는 위성 시뮬레이터를 이용하여 이 알고리즘을 검증하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.963-966
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• 2005

Model updating method is known to the area to correct finite element models by the results of the experimental modal analysis. Most common methods in model updating depend on a parametric model of the structure. In this case, the number of parameters is normally smaller than that of modal data obtained from an experiment. In order to overcome this limitation, many researchers are trying to get modal data as many as possible to date. 1 want to name this method multiple modified-system generation method. These Methods consist of direct system modification method and feedback controller method. The direct system modification Is to add a mass or stiffness on the original structure or perturb the boundary conditions. The feedback controller method is to make the closed food system with sensor and actuator so as to get the closed loop modal data. In this paper, we need to focus on the feedback controller method because of its simplicity. Several methods related the feedback controller methods are virtual passive controller (VPC) sensitivity enhancement controller (SEC) and mode decoupling controller (MDC). Among them, we will apply MDC to the model updating problem. MDC has various advantages compared with other controllers, such as VPC and SEC. To begin with, only the target mode can be changed without changing modal property of non-target modes. In addition, it is possible to fix any modes if the number of sensors is equal to that of the system modes. Finally, the required control power to achieve desired change of target mode is always lower than those of other methods such as VPC. However, MDC can make the closed loop system unstable when using incomplete modal data. So we need to take action to avoid undesirable instability from incomplete modal data. In this paper, we address the method to design the unique and robust MDD obtained from incomplete modal data. The associated simulation will be Incorporated to demonstrate the usefulness of this method.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.705-709
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• 2016

Micro-electro-mechanical systems (MEMS) gyroscopes are widely used in various robot applications. However, these conventional gyroscopes need to vibrate the proof mass using a built-in actuator at a fixed resonance frequency to sense the Coriolis force. When a robot is not moving, the meaningless vibration of the gyroscope wastes power. In addition, this continuous vibration makes the sensor vulnerable to external sound waves with a frequency close to the proof-mass resonance frequency. In this paper, a feasibility study of a new type of gyroscope inspired by insect halteres is presented. In dipterous insects, halteres are a biological gyroscope that measures the Coriolis force. Wing muscles and halteres are mechanically linked, and the halteres oscillate simultaneously with wing beats. The vibrating haltere experiences the Coriolis force if the insect is going through a rotational motion. Inspired by this haltere structure, a gyroscope using a thin mast integrated with a robot actuation mechanism is proposed. The mast vibrates only when the robot is moving without requiring a separate actuator. The Coriolis force of the mast can be measured with an accelerometer installed at the tip of the mast. However, the signal from the accelerometer has multiple frequency components and also can be highly corrupted with noise, such that raw data are not meaningful. This paper also presents a suitable signal processing technique using the amplitude modulation method. The feasibility of the proposed haltere-inspired gyroscope is also experimentally evaluated.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1844-1854
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• 2003

This paper discusses details of modeling and robust control of an AMB (active magnetic bearing) spindle, and part I presents a modeling and validation process of the AMB spindle. There are many components in AMB spindle : electromagnetic actuator, sensor, rotor, power amplifier and digital controller. If each component is carefully modeled and evaluated, the components have tight structured uncertainty bounds and achievable performance of the system increases. However, since some unknown dynamics may exist and the augmented plant could show some discrepancy with the real plant, the validation of the augmented plant is needed through measuring overall frequency responses of the actual plant. In addition, it is necessary to combine several components and identify them with a reduced order model. First, all components of the AMB spindle are carefully modeled and identified based on experimental data, which also render valuable information in quantifying structured uncertainties. Since sensors, power amplifiers and discretization dynamics can be considered as time delay components, such dynamics are combined and identified with a reduced order. Then, frequency responses of the open-loop plant are measured through closed-loop experiments to validate the augmented plant. The whole modeling process gives an accurate nominal model of a low order for the robust control design.

• International journal of advanced smart convergence
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• 제5권1호
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• pp.34-46
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• 2016

Networked Control System (NCS) has evolved in the past decade through the advances in communication technology. The problems involved in NCS are broadly classified into two categories namely network issues due to network and control performance due to system network. The network problems are related to bandwidth allocation, scheduling and network security, and the control problems deal with stability analysis and delay compensation. Various delays with variable length occur due to sharing a common network medium. Though most delays are very less and mostly neglected, the network induced delay is significant. It occurs when sensors, actuators, and controllers exchange data packet across the communication network. Networked induced delay arises from sensor to controller and controller to actuator. This paper presents an adaptive delay compensation process for efficient control. Though Smith predictor has been commonly used as dead time compensators, it is not adaptive to match with the stochastic behavior of network characteristics. Time delay adaptive compensation gives an effective control to solve dead time, and creates a virtual environment using the plant model and computed delay which is used to compensate the effect of delay. This approach is simulated using TrueTime simulator that is a Matlab Simulink based simulator facilitates co-simulation of controller task execution in real-time kernels, network transmissions and continuous plant dynamics for NCS. The simulation result is analyzed, and it is confirmed that this control provides good performance.

• Journal of Advanced Marine Engineering and Technology
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• 제33권5호
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• pp.746-755
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• 2009

Recently, NMEA2000 became the de facto standard of the communication protocol for the instrument level network in vessels, and it is anticipated that most of the vessels will be equipped with the sensors and actuators based on this protocol. The conventional serial communication specifications such as RS-232, RS-485, or even NMEA0183 are single-talker/multiple-listener and interconnection among multiple sensors and/or actuators usually results in a bundle of wires. On the other hand, NMEA2000 is a true bus type(multiple-talker/multiple-listener) protocol and theoretically up to 256 instruments can be hot-plugged. With the advent of the protocol, it is necessary to consider a new type of monitoring system for the instruments in vessels: In most traditional serial communication environments, a dedicated monitor or user interface was necessary for each sensor or actuator as it was simply not easy to collect data in a single place. With NMEA2000, the collection of various types of information is simple. An embedded system can be employed to combine, to arrange and to display informations from various types of devices. Assuming that the actuators and sensors on a vessel are interconnected by NMEA2000 standard, we devise a tentative interactive vessel monitoring system in which the following 4 kinds of informations are collected and delivered: the navigation, engine, weather and tanks informations.

• 한국표면공학회지
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• 제50권2호
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• pp.119-124
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• 2017

Due to the high saturation magnetization (~2.4 T), $Fe_{16}N_2$ is interesting for the thin film application such as an actuator, data record storage and sensor etc. In this study, Fe-N thin films were deposited on Si(001) substrate with various power and deposition time by DC magnetron sputtering, in order to get high portion of $Fe_{16}N_2$ phase. Surface morphology, phase formation and magnetic properties were measured. As a result, Saturation magnetization and Remanence magnetization reach to ~2.45 T and 1.41T. But, Coercivity was not enough in this experiments. Its value lower than 100 Oe. Which is very close to theoretical value.

• 한국산학기술학회논문지
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• 제10권1호
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• pp.140-145
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• 2009

최근 컴퓨터 네트워킹 기술을 텔레미터/텔레컨트럴 시스템에 적용하여 고성능의 스마트 제어기능을 제공하려는 연구가 활발하게 진행되고 있다. 본 논문은 온실 모델에 다양한 적용을 위하여 특별히 설계된 리모트 및 로칼 제어 소프트웨어를 갖는 클라이언트/서버 구조를 제안한다. 서버 장치는 센서나 액튜에이터에 관련되는 각종 데이터를 수집, 집적하고 고품질의 원격 I/O 제어동작을 유지하기 위하여 데이터베이스에 저장한다 이에 대해 클라이언트 장치는 인터넷 웹브라우저 상에서 제어 판넬과 같이 간단히 동작한다. 구현된 장치는 멀티미디어 정보가 포함된 온실의 감시 및 제어상태 모두를 대 화형으로 원활하게 통신하였다. 본 연구에서는 패킷 크기에 의해 영향 받는 종합적인 스루풋과 전송시간에 관계되는 성능 증대의 한계도 분석하였다.

• 소음진동
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• 제10권6호
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• pp.1048-1058
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• 2000

본 논문에서는 압전 세라믹 재료를 작동기 및 감지기로 이용한 사각 경계면이 고정된 얇은 사각평판의 능동 진동제어 방법을 제시한다. 실험 데이터에 기초한 다중 입출력계의 주파수영역 모델링방법을 이용하여 분포된 센서 및 구동기 특성이 포함된 구조물의 동적 특성이 규명된다. 제어기 구조로는 혼합형을 채택하고 되먹임 제어기는 LQG 제어기법에 의해 설계된다. 앞먹임 제어기는 다중 filtered-$x$ 최소자승오차법에 의해 적응되도록 한다. 진동제어에 대한 시뮬레이션 및 실험결과는 제안된 제어기법이 지속적 외란 및 과도적 외란에 효율적으로 적용될 수 있음을 보인다.