• 전기학회논문지
• /
• 제65권8호
• /
• pp.1362-1368
• /
• 2016

This paper proposes the improved transition scheme for a sensorless drive of an interior permanent magnet synchronous motor (IPMSM). In order to operate the IPMSM, the current controller can be used until 300 rpm for the initial operation. After that, the control method of IPMSM is changed to the speed controller for the sensorless control method. At that point, the rotor speed overshoot is generated due to the rapid change of the current reference for the speed controller. The proposed algorithm is able to reduce the overshoot of a rotor speed by compensating the estimated feedforward value to the speed controller. The feedforward value of the current reference is estimated by using a coordinate transformation and is approximated to the current reference after the transition of the control mode. The effectiveness of the proposed scheme is verified by experiments using an IPMSM drive system.

• 대한기계학회논문집
• /
• 제17권10호
• /
• pp.2483-2490
• /
• 1993

This paper presents a systematic formulation for the kinematic and dynamic analysis of flexible multibody systems. The system equations of motion are derived in terms of relative and elastic coordinates using velocity transformation technique. The position transformation equations that relate the relative and elastic coordinates to the Cartesian coordinates for the two contiguous flexible bodies are derived. The velocity transformation matrix is derived systematically corresponding to the type of kinematic joints connecting the bodies and system path matrix. This matrix is employed to represent the equations of motion in relative coordinate space. Two examples are taken to test the method developed here.

• 대한기계학회논문집A
• /
• 제24권6호
• /
• pp.1470-1478
• /
• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• 한국통신학회논문지
• /
• 제15권12호
• /
• pp.1002-1016
• /
• 1990

본 논문은 스테레오비젼 시스템을 설계 제작하고, 제작된 시스템을 가지고 3차원 이동물체의 변위평가 방법을 제안하였다. 이동물체의 추출은 차영상 알고리즘에 의해 추출하고, 3차원 이동물체의 기하학적인 위치좌표는 2개의 2차원 물체의 면적중심을 합성시켜 구하였다. 3차원 이동물체의 범위평가는 합성된 3차원 좌표값에 의해서 물체의 이동속도 및 거리, 이동궤적, 카메라와 물체 사이의 공간거리를 산출하여 입증하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
• /
• pp.20-25
• /
• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Journal of Astronomy and Space Sciences
• /
• 제32권3호
• /
• pp.229-235
• /
• 2015

We estimated the orbit of the Communication, Ocean and Meteorological Satellite (COMS), a Geostationary Earth Orbit (GEO) satellite, through data from actual optical observations using telescopes at the Sobaeksan Optical Astronomy Observatory (SOAO) of the Korea Astronomy and Space Science Institute (KASI), Optical Wide field Patrol (OWL) at KASI, and the Chungbuk National University Observatory (CNUO) from August 1, 2014, to January 13, 2015. The astrometric data of the satellite were extracted from the World Coordinate System (WCS) in the obtained images, and geometrically distorted errors were corrected. To handle the optically observed data, corrections were made for the observation time, light-travel time delay, shutter speed delay, and aberration. For final product, the sequential filter within the Orbit Determination Tool Kit (ODTK) was used for orbit estimation based on the results of optical observation. In addition, a comparative analysis was conducted between the precise orbit from the ephemeris of the COMS maintained by the satellite operator and the results of orbit estimation using optical observation. The orbits estimated in simulation agree with those estimated with actual optical observation data. The error in the results using optical observation data decreased with increasing number of observatories. Our results are useful for optimizing observation data for orbit estimation.

• 한국지반환경공학회 논문집
• /
• 제16권3호
• /
• pp.41-48
• /
• 2015

비탈면 계측시스템이 예전에 비해 많이 개선되긴 했지만, 주로 하드웨어적인 측면의 개선에 치우쳤다. 실제 비탈면의 거동은 3차원 거동이며, 3차원 거동해석은 많은 변수를 함유하고 있어 비탈면 안정해석을 위한 비탈면 거동분석프로그램은 상대적으로 개발이 부족하였다. 일차원 해석은 방향의 고려 없이 길이의 증감만을 나타내나, 실제 비탈면 현장의 경우 3차원 공간상 변화를 나타낸다. 3차원상의 공간좌표를 확정하기 위하여 결정되어야 하는 값들은 길이, 수평각 및 수직각이다. 그러므로 두 방향 및 길이 변화를 고려한 좌표 시스템을 이용하여 새로운 좌표들을 구할 경우, 3차원의 공간을 분할하여 수평변화 및 수직변화를 구분하여 비탈면의 거동을 해석할 수 있다. 본 해석 모델을 충청북도 DY비탈면의 계측 data에 적용하였다. 현장 계측자료를 3-D 해석한 결과 비탈면은 전반적으로 오른쪽으로 이동하고 있으며, 변위가 도로방향으로 일어남과 동시에 수직변위가 발생하고 있음을 알 수 있다. 현재 비탈면은 계측지점 간 누적변위가 4.3cm 이내인 미소거동을 하며, 계측지점 모두 거동양상이 유사한 변위 방향 및 크기를 보이고 있음을 알 수 있다.

• 한국실내디자인학회논문집
• /
• 제21권2호
• /
• pp.74-83
• /
• 2012

This study is an historical consideration about the modern discourse of Japanese spacial tradition driven from cultural background. The purpose of this study is to establish a cartographic map of historical progress, and to shed light on the forming of identity in Japanese traditional space design on the schizo-analytical aspect. It adopts F. Guattari's psychoanalytic theory to the structural analysis of Japanese traditional space design. The process of this study is illustrated as follows: At first, it mentions Guattari's theory of Mechanical Unconscious, Schizo-analysis, Cartography, and Abstract machine as theoretical background. And, it considers the identity of Japanese traditional space constructed by various cultural sign over a long period of time as the statement of apriority. Secondly, it clarifies semiologic generation of Japanese traditional space design based on the analysis of spacial morphemes about each design stemmed from modernization process of Japan. Thirdly, it ascertains semiologic topography the representamens draw, i.e. schizo-analytic cartography from synchronic and diachronic point of view. Fourthly, it analyses traditional discourse structure in terms of generative schizo-analysis and transformational schizo-analysis with four categories- object, style, concept, strategy. Through this process, it studies the reproduction of Japanese tradition in terms of the 'social organization', and explores the way vitalized on the space-time coordinate system by the schizo-analysis of the mechanical unconscious. In conclusion, it clarifies Generative-schizo is accomplished in the level of formulating representamen, and Transformational-Schizo involves experimental mind that induce implantation of the heteromorphic elements and avant-garde experiments of abstract mechanical operation in the schizo-analysis of Japanese traditional space design. The significance of this study is to arrange an opportunity of introspection on Korean-ness seriously from inspecting logic of Japan-ness closely in traditional space design.

• 한국수학교육학회지시리즈A:수학교육
• /
• 제45권1호
• /
• pp.105-121
• /
• 2006

The purpose of this study is to investigate preservice secondary mathematics teachers' knowledge about graphical representation and provide implications for better mathematics teaching and learning in our schools. For this purpose, sixty-three preservice teachers were selected and given diverse graphical representation problems of y=1, y=x, x=0, $x^2+y^2=1$. All preservice teachers completed two types of questionnaires. First type is about constructing the graphs of the above each equation, and the second one is to make them find the appropriate graphs from given examples of the each equation. The results indicated that all the participant pre service teachers were unable to construct graphs in terms of various dimensions and various direction of coordinate axis. All of the participants represented the graph of each equation on only two-dimensional coordinate system. In addition, some preservice teachers believed that the axis of coordinates have to be x-axis on horizontal line and y-axis on vertical line. From this study, it is implicated that pre service teacher education program needs to provide the experience of representing the graphs of equation in terms of various dimensions and various direction of coordinate axis so as to develop their future students the flexibility and creativity in mathematical thinking especially in the area of space perception.

• 천문학회보
• /
• 제40권1호
• /
• pp.66.1-66.1
• /
• 2015

We present the first observational detection of radial and azimuthal oscillations in full halo coronal mass ejections (HCMEs). We analyze nine HCMEs well-observed by LASCO from Feb 2011 to Jun 2011. Using the LASCO C3 running difference images, we estimated the instantaneous apparent speeds of the HCMEs in different radial directions from the solar disk center. We find that the development of all these HCMEs is accompanied with quasi-periodic variations of the instantaneous radial velocity with the periods ranging from 24 to 48 mins. The amplitudes of the instant speed variations reach about a half of the projected speeds. The amplitudes are found to anti-correlate with the periods and correlate with the HCME speed, indicating the nonlinear nature of the process. The oscillations have a clear azimuthal structure in the heliocentric polar coordinate system. The oscillations in seven events are found to be associated with distinct azimuthal wave modes with the azimuthal wave number m=1 for six events and m=2 for one event. The polarization of the oscillations in these seven HCMEs is broadly consistent with those of their position angles with the mean difference of $42.5^{\circ}$. The oscillations may be connected with natural oscillations of the plasmoids around a dynamical equilibrium, or self-oscillatory processes, e.g. the periodic shedding of Alfvenic vortices. Our results indicate the need for advanced theory of oscillatory processes in CMEs.