• KEPCO Journal on Electric Power and Energy
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• 제1권1호
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• pp.21-27
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• 2015

The goal of this study is the size and distribution of the electromagnetic force generated by the current flowing through the second underground line of 154kV power transmission cables by using electromagnetic finite element analysis. So we interpret how mutually electromagnetic force has an effect on the comparable judgement of Trefoil, Duct and Flat, which shows in a numerical arrangement. 154kV OF 1200SQ Cable 1.281km not only is applicable to modeling for underground transmission cable but also examine the effect of line to line, phase to phase and size and direction of the electromagnetic force preparing for the occurrence of normal state and single-phase earth fault, which are arranged in trefoil, duct and flat formation between sections. As showing how the trajectory, and size distribution of the electromagnetic force translate as the arrangement of the cables when a steady-state current and a fault current flows on the underground cables, I hope that when Underground transmission is designed, this data will be useful information.

• 로봇학회논문지
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• 제17권3호
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• pp.339-346
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• 2022

To operate in real environment, humanoid robots should be able to react to unknown disturbances. To deal with disturbances, various robust control algorithms have been developed for decades. But for collaborative works such as teleoperation system, a compliance control can be the better solution for disturbance reactions. In this paper, a center of mass (CoM) compliance control algorithm for humanoid robots is proposed. The proposed algorithm is based on the state observer and positive feedback of disturbance. With the state observer based on humanoid CoM control performance model, disturbance in each direction can be observed. The positive feedback of disturbances to the reference CoM trajectory enables compliant motion. The main contributions of this algorithm are achieving compliance independently in each axis and maintaining balance against external force. Through dynamic simulations, the performance of the proposed method was demonstrated. Under two types of disturbance conditions, humanoid robot DYROS-JET reacted with compliant motion via the proposed algorithm.

• Advances in aircraft and spacecraft science
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• 제2권2호
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• pp.125-168
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• 2015

Dynamic aeroelastic behavior of structurally nonlinear Joined Wings is presented. Three configurations, two characterized by a different location of the joint and one presenting a direct connection between the two wings (SensorCraft-like layout) are investigated. The snap-divergence is studied from a dynamic perspective in order to assess the real response of the configuration. The investigations also focus on the flutter occurrence (critical state) and postcritical phenomena. Limit Cycle Oscillations (LCOs) are observed, possibly followed by a loss of periodicity of the solution as speed is further increased. In some cases, it is also possible to ascertain the presence of period doubling (flip-) bifurcations. Differences between flutter (Hopf's bifurcation) speed evaluated with linear and nonlinear analyses are discussed in depth in order to understand if a linear (and thus computationally less intense) representation provides an acceptable estimate of the instability properties. Both frequency- and time-domain approaches are compared. Moreover, aerodynamic solvers based on the potential flow are critically examined. In particular, it is assessed in what measure more sophisticated aerodynamic and interface models impact the aeroelastic predictions. When the use of the tools gives different results, a physical interpretation of the leading mechanism generating the mismatch is provided. In particular, for PrandtlPlane-like configurations the aeroelastic response is very sensitive to the wake's shape. As a consequence, it is suggested that a more sophisticate modeling of the wake positively impacts the reliability of aerodynamic and aeroelastic analysis. For SensorCraft-like configurations some LCOs are characterized by a non-synchronous motion of the inner and outer portion of the lower wing: the wing's tip exhibits a small oscillation during the descending or ascending phase, whereas the mid-span station describes a sinusoidal-like trajectory in the time-domain.

• 한국공간정보시스템학회 논문지
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• 제10권1호
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• pp.41-49
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• 2008

본 논문은 제주 택시 텔레매틱스 사업에서 수집된 차량의 히스토리 데이터를 온라인 혹은 오프라인으로 효율적으로 분석하기 위한 스테이트 다이어그램을 정의하고 이에 기반하여 택시의 운행과 배차에 대한 분석 결과를 산출하는 것을 목표로 한다. 차량에서 수집된 정보는 기본적인 GPS정보 이외에 차량의 상태를 나타내는 필드를 포함하고 있으며 지도 정보의 결합으로 맵 매칭 및 도로상에서의 위치비율 등을 계산할 수 있다. 구축된 레코드들에 의해 택시의 승객 탑승 빈도, 탑승시 이동 거리, 탑승시간 등을 분석할 수 있으며 콜 택시의 중요한 성능 척도가 되는 배차 후 차량의 이동 거리 및 이동 시간을 분석하여 배차 방식의 효율성을 검증할 수 있다. 이 정보는 심도 있는 분석을 수반하여 향후 교통정보 예측, 혼잡상황 회피 등의 다양한 응용의 진화를 가능하게 한다.

• 한국항공우주학회지
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• 제30권1호
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• pp.75-81
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• 2002

재진입 제어계에서는 항력가속도의 시간미분을 해석적으로 추정하므로 오차가 발생되기 쉽다. 더구나, 극초음속 영역에서의 정확한 항력계수 추정의 어려움과 스케일 고도의 비현실성도 정상상태오차의 원인이 된다. 우주왕복선의 경우, 제어계에 항력가속도 오차의 적분항을 첨가함으로서 정상상태 오차를 줄이는 방법을 취하였지만 페루프 시스템에 다극점을 갖게 하여 현대적인 제어기 합성에 어려움을 가져다 준다. 그러므로, 본 논문에서는 해석적 계산에 의해서 항력가속도 시간미분에 포함된 오차를 추정하고, 그 추정오차를 이용해 항력가속도 시간미분을 보정함으로써 정상상태 오차를 줄이는 방법인 외란 관측기의 설계를 제안하고자 한다. 결과로는 32개의 기준궤적을 대상으로 대기권 재진입 시스템의 성능을 검증해 본다.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.177-182
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• 2013

This paper proposes an input-constrained reference tracking control of a converter model. To this end, first it is shown that the bilinear converter model can be equivalently represented by a linear uncertain model belonging to a polytopic set. Then, an input-constrained tracking control scheme for the linear uncertain model is designed based on recently proposed tracking control scheme. The control scheme yields not only a stabilizing control gain but also a feasible and invariant set for the converter model. Finally, simulation results show that the state trajectory always stays in the feasible and invariant set and that the output tracks the given reference while satisfying the input constraint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권6호
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• pp.2669-2688
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• 2016

An efficient and effective unsupervised single moving object detection framework is presented in this paper. Given the sparsely labelled trajectory points, we adopt a coarse-to-fine strategy to detect and segment the foreground from the background. The superpixel level coarse segmentation reduces the complexity of subsequent processing, and the pixel level refinement improves the segmentation accuracy. A distance measurement is devised in the coarse segmentation stage to measure the similarities between generated superpixels, which can then be used for clustering. Moreover, a Quadmap is introduced to facilitate the refinement in the fine segmentation stage. According to the experiments, our algorithm is effective and efficient, and favorable results can be achieved compared with state-of-the-art methods.

• 물과 미래
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• 제17권1호
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• pp.37-43
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• 1984

선형 추적 문제는 2차 목적함수에서는 해석적으로 풀 수 있다. 그러나 이 이론은 제어 및 상태 변수를 무제약으로 가정하기 때문에 저수지운영에 대한 적응에 취약점을 갖고 있다. 이 추적은 이산형 시스템에 대하여 수행하였으며 제약조건에 위배될 경우에 추적을 중단하였다. 이러한 다단계추적은 벨만의 최적성의 원리에 근거를 두고 시도되었다. 적용 실례로서 한강유역의 6개 기존 저수지에 36개월간의 자료로서 최적운영값을 계산하였다.

• 한국정밀공학회지
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• 제15권12호
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• pp.162-168
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• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.