• 정보처리학회논문지B
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• 제15B권2호
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• pp.159-170
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• 2008

최근 들어 로봇 작업 계획기에 요구되는 중요한 기능 중의 하나가 이미 존재하는 컴포넌트 서비스들을 결합하여 새로운 서비스로 조합해낼 수 있는 계획 기능이다. 본 논문에서는 이러한 컴포넌트 서비스 조합을 위한 커널모듈로 개발된 휴리스틱 탐색 계획기인 JPLAN의 설계와 구현에 대해 설명한다. JPLAN은 효율적인 상태 공간 탐색을 위해 지역 탐색 알고리즘과 계획 그래프 휴리스틱을 이용한다. 본 논문에서 제안하는 지역 탐색 알고리즘인 EHC+는 FF 등의 상태 공간 계획기에 적용되어 높은 효율성을 보인 Enforced Hill-Climbing (EHC)을 확장한 것이다. EHC+는 EHC에 비해 소량의 추가적인 지역 탐색을 필요로 하지만 목표 상태까지 전체 탐색 양을 줄일 수 있고 더 짧은 계획을 얻을 수있다. 또한 본 본문에서는 대규모 상태 공간 탐색에 필수적인 효과적인 휴리스틱 추출 방법을 제안한다. 본 논문에서 제안하는 휴리스틱 추출방법은 Graphplan에서 계획 생성을 위해 처음 제안된 계획 그래프를 이용한다. 본 논문에서는 이러한 계획 그래프 기반의 다양한 휴리스틱들을 소개하고, 이들이 계획 생성에 미치는 효과를 실험을 통해 분석해본다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.1048-1055
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• 2006

Two ways can be used for dynamic condensation of viscously damped structural models. One is reducing the model in physical space at first and then transferring it to state space. The other is ,condensing the model in state space directly. Two iterative schemes for each way are given respectively. Hence four iterative schemes for dynamic condensation of nonclassically damped models are discussed in this paper. A high building with a tuned mass damper is applied to show the efficiency of these schemes.

• International Journal of Aeronautical and Space Sciences
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• 제15권1호
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• pp.1-19
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• 2014

Attaching a piezoelectric transducer to a vibrating structure, and shunting it with an electric circuit, gives rise to different passive, semi-passive, and semi-active control techniques. This paper attempts to review the research related to structural vibration control, via passive, semi-passive, and semi-active control methods. First, the existing electromechanical modeling is reviewed, along with the modeling methods. These range from lumped parameters, to distributed parameters modeling of piezostructural systems shunted by electrical networks. Vibration control laws are then discussed, covering passive, semi-passive, and semi-active control techniques, which are classified according to whether external power is supplied to the piezoelectric transducers, or not. Emphasis is placed on recent articles covering semi-passive and semi-active control techniques, based upon switched shunt circuits. This review provides the necessary background material for researchers interested in the growing field of vibration damping and control, via shunted piezostructural systems.

• International Journal of Aeronautical and Space Sciences
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• 제17권2호
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• pp.184-194
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• 2016

In existing identification methods for on-orbit spacecraft, such as eigensystem realization algorithm (ERA) and subspace method identification (SMI), singular value decomposition (SVD) is used frequently to estimate the modal parameters. However, these identification methods are often used to process the linear time-invariant system, and there is a lower computation efficiency using the SVD when the system order of spacecraft is high. In this study, to improve the computational efficiency in identifying time-varying modal parameters of large spacecraft, a faster recursive algorithm called fast approximated power iteration (FAPI) is employed. This approach avoids the SVD and can be provided as an alternative spacecraft identification method, and the latest modal parameters obtained can be applied for updating the controller parameters timely (e.g. the self-adaptive control problem). In numerical simulations, two large flexible spacecraft models, the Engineering Test Satellite-VIII (ETS-VIII) and Soil Moisture Active/Passive (SMAP) satellite, are established. The identification results show that this recursive algorithm can obtain the time-varying modal parameters, and the computation time is reduced significantly.

• Advances in aircraft and spacecraft science
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• 제7권6호
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• pp.495-516
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• 2020

Nonlinear state estimation is a desirable and required technique for many situations in engineering (e.g., aircraft/spacecraft tracking, space situational awareness, collision warning, radar tracking, etc.). Due to high standards on performance in these applications, in the last few decades, there was an increasing demand for methods that are able to provide more accurate results. However, because of the mathematical complexity introduced by the nonlinearities of the models, the nonlinear state estimation uses techniques that, in practice, are not so well-established which, leads to sub-optimal results. It is important to take into account that each method will have advantages and limitations when facing specific environments. The main objective of this paper is to provide a comprehensive overview and interpretation of the most well-known methods for nonlinear state estimation with Gaussian priors. In particular, the Kalman filtering methods: EKF (Extended Kalman Filter), UKF (Unscented Kalman Filter), CKF (Cubature Kalman Filter) and EnKF (Ensemble Kalman Filter) with an aerospace perspective.

• 전기의세계
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• 제31권1호
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• pp.59-67
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• 1982

This paper suggests easy stabilization methods for linear time-varying systems with delay in the state. While existing methods employ the function space concept, the methods introduced in this paper transform the delay systems into the non-delay systems so that the well known methods for finite dimensional systems can be utilized. Particularly the intervalwise predictor is introduced and shown to satisfy an ordinary system. Control laws stabilizing the non-delay systems satisfied by this predictor will be shown to at least pointwise stabilize the delay systems with the additional strong possibility of true stabilization. In order to combine two steps of the predictor method, first transformation and then stabilization, an intervalwise regulator problem is suggested whose optimal control laws incorporate the intervalwise predictor as an integral part and also at least pointwise stabilize the delay systems. Since the above mentioned methods render the periodic feedback gains for time invariant systems the pointwise predictor and regulator are introduced in order to obtain the constant feedback gains, with additional stability properties. The control laws given in this paper are perhaps simplest and easiest to implement.

• International Journal of Aeronautical and Space Sciences
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• 제11권4호
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• pp.326-337
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• 2010

This work addresses problems regarding trajectory planning for unmanned aerial vehicle sensors. Such sensors are used for taking measurements of large nonlinear systems. The sensor investigations presented here entails methods for improving estimations and predictions of large nonlinear systems. Thoroughly understanding the global system state typically requires probabilistic state estimation. Thus, in order to meet this requirement, the goal is to find trajectories such that the measurements along each trajectory minimize the expected error of the predicted state of the system. The considerable nonlinearity of the dynamics governing these systems necessitates the use of computationally costly Monte-Carlo estimation techniques, which are needed to update the state distribution over time. This computational burden renders planning to be infeasible since the search process must calculate the covariance of the posterior state estimate for each candidate path. To resolve this challenge, this work proposes to replace the computationally intensive numerical prediction process with an approximate covariance dynamics model learned using a nonlinear time-series regression. The use of autoregressive time-series featuring a regularized least squares algorithm facilitates the learning of accurate and efficient parametric models. The learned covariance dynamics are demonstrated to outperform other approximation strategies, such as linearization and partial ensemble propagation, when used for trajectory optimization, in terms of accuracy and speed, with examples of simplified weather forecasting.

• 천문학회보
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• 제43권2호
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• pp.33.2-33.2
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• 2018

Fossil galaxy cluster has a dominant central elliptical galaxy (${\Delta}M12$ >2 in 0.5Rvir) embedded in highly relaxed X-ray halo, which indicates dynamically stable and passively evolved system. These features are expected as a final stage of the cluster evolution in the hierarchical structure formation paradigm. It is known that Abell 2261(A2261 hereafter) is classified as a fossil cluster, but has unusual features such as a high central X-ray entropy (i.e., non-cool core system), which is not expected in normal fossil clusters. We perform a kinematic study with a spectroscopic data of 589 galaxies in the A2261 field. We define cluster member galaxies using the caustic method and discover a new second bright galaxy at ~1.5 Rvir (nearly the splash-back region). It implies the current fossil state of the cluster can break in the near future. In addition, with three independent substructure finding methods, we find that A2261 has many substructures within 3 Mpc from the center of the cluster. These findings support that A2261 is not in a dynamically stable state. We argue that A2261 is in a transitional phase of dynamical evolution of the galaxy cluster and maybe previously defined fossil cluster does not mean the final stage of the evolution of galaxy clusters.

• 한국정보처리학회논문지
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• 제2권1호
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• pp.119-129
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• 1995

본 논문에서는 분산 실시간 프로그램의 스케줄가능성 분석 방법을 제안한다. 스케 줄가능성 분석을 위한 여러 가지 방법이 개발되었지만, 이 방법들은 가능한 모든 상 태공간을 추적하거나 고정 우선순위 스케줄 방법을 사용했기 때문에 지수적인 시간 과 공간의 복잡성을 야기한다. 따라서 상태 공간을 줄여서 더 이른 시간단위에서 스케 줄가능성을 조사하는 방법이 필요하다. 본 논문에서 제시한 스케줄가능성 분석 방법은 번역시간에 결정될 수 있는 프로세스들의 최대 수행시간, 주기, 마감시간, 동기화 시 간을 고려하여 동기화 동작 이후에 남는 계산시간과 마감시간의 차이를 계산하여 실시 간 프로세스가 마감시간을 지키는가를 판단하는 새로운 알고리즘을 제안하고, 실험을 통하여 그 성능을 평가한다. 실험에 의하여 Fredette의 방법과 비교하면 약 50퍼센트 정도 더 이른 단위시간에 스케줄이 불가능함을 판단할 수 있다.

• 한국정보통신학회논문지
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• 제3권1호
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• pp.209-221
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• 1999

실시간 스케줄가능성 분석을 위한 여러 가지 방법들이 제안되었지만, 이들은 프로세스의 모든 상태공간을 추적하거나 고정 우선 순위 스케줄링 방법을 사용하기 때문에 시간 및 공간에 대한 복잡성의 증가를 야기한다. 따라서 상태공간의 수를 줄임으로써 보다 빠른 시간에 스케줄가능성을 판단하는 방법이 필요하다. 본 논문에서는 프로세스 대수의 전이규칙을 이용하여 번역시간에 결정될 수 있는 프로세스의 최소 수행시간, 주기, 마감시간, 동기화 시간을 고려하여 실시간 프로세스가 마감시간을 지키는가를 판단하는 개선된 알고리즘을 제안 및 구현한다. 구현 결과를 통하여 모든 상태 공간을 검색하지 않고도 스케줄가능성을 판단하는 효과적인 성능을 보였다.