• 제목/요약/키워드: (backward) control

검색결과 347건 처리시간 0.03초

트럭-트레일러 타입의 모바일로봇을 위한 귀환 제어기 설계 (Digital Implementation of Backing up control of Truck-trailer type Mobile Robots)

  • 구자일;박창우
    • 전자공학회논문지 IE
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    • 제46권2호
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    • pp.33-45
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    • 2009
  • 본 논문은 실제적인 제약, 컴퓨팅 시간 지연, 양자화를 고려하여 퍼지 모델을 기초로 한 제어기를 트럭-트레일러 타입의 모바일 로봇의 귀환 제어기에 적용하여 설계하였다. 퍼지 귀환 제어기의 출력은 단위 샘플링 시간동안 지연되므로 이를 예측하여 설계하였다. 시간 지연을 고려한 해석 및 디자인 문제는 제안된 제어기가 샘플링 시간과 동기되어 있기 때문에 쉽게 해결된다. 또한 퍼지 제어기 구조 개발 시 양자화가 이루어지기 때문에 안정성 있는 해석이 가능하고 양자화 이외에 발생하는 사소한 문제도 역시 안정함을 보여주므로, 양자화한 시스템은 일반적으로는 극단적인 수렴을 한다. 실험결과에서 제안된 시스템의 효율성이 증명됨을 볼 수 있다.

악관절내장환자에서 교합관계와 두경부자세의 임상적 양상에 관한 연구 (Clinical Features Related to Occlusion and Head and Neck Posture in Patients with Internal Derangement of Temporomandibular Joint)

  • 정호인;한경수;이규미
    • Journal of Oral Medicine and Pain
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    • 제23권2호
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    • pp.127-141
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    • 1998
  • This study was performed to investigate the clinical features of internal derangement of temporomandibular joint. For this study, 117 patients with temporomandibular disorders and 81 dental students without any signs and symptoms of temporomandibular disorders were selected as the patients group and as the control group, respectively. Preferred chewing side, Angle's classification, lateral guidance pattern, maximal mouth opening range, and affected side were recorded clinically. Head and shouldeer posture was measured in a groundplate on which square diagram of five centimeters each had been drawn, and cephalograph was also taken for measurement of head and neck posture. Sonopak of Biopak system (Bioresearch inc., USA) was used to record joint vibration for evaluation of internal healthy status of temporomandibular joint. The data collected were analyzed by SAS statistical program. The results of this study were as follows : 1. Frequency of left side chewing subjects was higher in patients than in control group, but there was no difference in distribution of subjects by Angle's classification. Other types was prvalent in patients whereas group function was more in control group for lateral guidance pattern. 2. As to lateral guidance pattern by clinical diagnosis, patients with internal derangement and/or degenerative joint disease showed higher frequency was consistent with the result by Sonopak impression. 3. There was no difference for shoulder height between the two groups, however, tilting of head and backward extension of cervical spine was more frequent in control group. 4. Acromion was positioned more anteriorly in patients with internal derangement and/or degenerative joint disease than in control group and angle between eye and tragus was larger in patients. Patients with degenerative joint disease showed more flexed head posture than control group did in cephalometric profile. 5. Maximal mouth opening range in patients with internal derangement was the least in all subgroups in patients classified by Sonopak impression.

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ABR 서비스를 위한 예측 트래픽 제어모델 (Predictive Traffic Control Scheme of ABR Service)

  • 오창윤;임동주;배상현
    • 한국정보통신학회논문지
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    • 제4권2호
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    • pp.307-312
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    • 2000
  • ATM은 비동기 시분할 다중화와 통계적 다중화 특성을 기존의 데이터 통신분야에 도입함으로써 데이터와 음성, 영상과 같은 멀티미디어 등의 다양한 통신들을 유연하게 서비스할 수 있다. ATM 서비스는 트래픽 특성과 요구되는 서비스 품질에 따라 CBR, VBR, UBR, ABR로 구분하는데 그 중 ABR 서비스는 최소의 대역폭을 보장하고 가용 대역폭을 최대 셀 전송률까지 높여 트래픽을 전송할 수 있으며, 셀 손실을 줄이기 위해 피드백 정보를 활용하여 트래픽을 제어한다. 본 논문에서는 피드백 정보를 위한 예측제어 알고리즘을 제시한다. ATM 스위치에서 발생한 피드백 정보가 역 방향 노드에 도착하기 위해 긴 지연시간을 갖는 경우에, ATM 스위치에서 큐 길이의 증가로 인한 혼잡상황이 발생할 수 있으며 또한 큐 길이의 시간 대비 변화량이 크게 된다. 이 논문에서 제시한 예측제어 알고리즘들은 예시적인 피드백 제어방식으로 시간 대비 큐 길이함수의 기울기와 이전의 큐 변화량을 이용하여 미래의 큐 길이를 예측하려 하였으며, 시뮬레이션 결과 본 논문에서 제시한 제어 알고리즘은 효과적임이 증명되었다.

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분포온도 계측을 위한 광파이버 온도센서 시스템에 관한 연구 (The study on the fiber optic sensor for the distributed temperature measurement)

  • 이광진;최성구;노도환
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1746-1749
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    • 1997
  • A distributed optical fiber temperature sensor can continually monitor the measurand at every point along of its fiber length. It is based on OTDR technics which used extreamlly weak backward scattered light called Raman scattering. When the Pulsed high intensity laser light injected into the optical fiber there are several kind of backscattered light such as Rayleigh, Stokes, and anti-Stokes, etc. caused by impurities molecular vibrations. The temperature distribution is derived form the intensity ratio Raman scatted light-Stokes versus anti-Stokes-and the time function between light injection and signal detection. It is shown that the priniciple of distributed sensing, the system desing, and the result of experiments.

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IEEE 802.11a Wireless LAN용 채널부호화기 및 비터비 디코더의 구현 (Implementation of Chanel Encoder and Viterbi Decoder for the IEEE 802.1la Wireless LAN)

  • 변남현;정차근
    • 대한전자공학회:학술대회논문집
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    • 대한전자공학회 2004년도 하계종합학술대회 논문집(2)
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    • pp.431-434
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    • 2004
  • In this paper we present about implementation of channel coder and Viterbi decoder for Mobile communication & IEEE 802.11a Wireless LAN. In the IEEE 802.11a Wireless LAN decoding provided that Viterbi algorithm and convolutional encoder by constraint k=7, ($133_8,\;171_8$) for channel error correction. This Paper presents a novel survivor memory management and decoding techniques with sequential backward state transition control in the trace-back Viterbi decoder, In order to verification we provide to the examples of circuit design and decoding results.

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멸치가공을 위한 태양열 온수기 개발 (A development of solar hot water system for anchovy proceeding)

  • 공태우;지명국;이용훈;정한식;정효민
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2001년도 춘계학술대회논문집D
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    • pp.671-676
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    • 2001
  • This study are development results of solar hot water system for anchovy proceeding. The heat amounts of boiling vessel are calculated 292.66W at forward and backward direction, and surface direction are calculated 373.14W. The polyenoic rate of anchovy are measured lower as high temperature, but monoenoic and polyacid are higher. Then the others. The maximum radiation of anchovy fishing grounds are shown $350kcal/m^2h$ at pm. 13:00, Chungdo in CHINA. Distributions of Velocity and temperature in boiling vessel are calculation. Solar collector and boiling vessel for anchovy proceeding ship are developed to automatic control system.

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LCTV를 이용한 실시간 광 연상 메모리의 구현 (Implementation of Real Time Optical Associative Memory using LCTV)

  • 정승우
    • 한국광학회:학술대회논문집
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    • 한국광학회 1990년도 제5회 파동 및 레이저 학술발표회 5th Conference on Waves and lasers 논문집 - 한국광학회
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    • pp.102-111
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    • 1990
  • In this thesis, an optical bidirectional inner-product associative memory model using liquid crystal television is proposed and analyzed theoretically and realized experimentally. The LCTV is used as a SLM(spatial light modulator), which is more practical than conventional SLMs, to produce image vector in terms of computer and CCD camera. Memory and input vectors are recorded into each LCTV through the video input connectors of it by using the image board. Two multi-focus hololenses are constructed in order to perform optical inner-product process. In forward process, the analog values of inner-products are measured by photodetectors and are converted to digital values which are enable to control the weighting values of the stored vectors by changing the gray levels of the pixels of the LCTV. In backward process, changed stored vectors are used to produce output image vector which is used again for input vector after thresholding. After some iterations, one of the stored vectors is retrieved which is most similar to input vector in other words, has the nearest hamming distance. The experimental results show that the proposed inner-product associative memory model can be realized optically and coincide well with the computer simulation.

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금속 수소화물을 이용한 수소공급시스템 (Hydrogen Supplying System using Metal Hydride)

  • 배상철;승전정문
    • 한국신재생에너지학회:학술대회논문집
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    • 한국신재생에너지학회 2007년도 춘계학술대회
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    • pp.13-19
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    • 2007
  • To find out the optimum design of hydrogen storage and supply tank using Metal Hydride (briefly MH) and to make clear the performance characteristics under various conditions are our research purpose. In order to use the low-temperature exhaust heat, $LaNi_{4.7}Al_{0.3}$ which operates under the low pressure of 1 MPa is chosen, and we measure the basic properties, namely density, specific heat, PCT(Pressure-Concentration-Temperature) characteristics, and effective thermal conductivity. Then, a numerical calculation model of hydrogen storage using MH alloy is suggested and this thermal diffusion equation of model is solved by the backward difference method. This calculation results are compared with the experimental results of the systems which installed 1kg MH alloy and, it is found out that our calculation model can well predict the experimental results. By the experimental using MH alloy, it is recognized that the hydrogen flow rate can control by the step adjustment of brine temperature.

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3축 자이로스코프 센서를 이용한 자동차 주행 시뮬레이션 (Car Driving Simulation Game using 3-axis Gyroscope Sensor)

  • 한광배;고광만
    • 한국멀티미디어학회논문지
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    • 제19권6호
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    • pp.1089-1094
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    • 2016
  • A simulation game represented the real world and situation as a video games, In the first time, this simulation game primarily applied to military practice areas and then it's applied areas were extended to strategy, flighting, racing, life areas. In this paper, we developed the driving simulator that operate the 3-axis sensor attached driver's handle which could forward/backward moving, control of direction, and transmit of gear in the virtual space. For more the realities of the situation and accuracy of the location and speed, we adopted the 3-axis sensing informations, Unreal engine4' and Blueprint.

WDM/TDM 네트워크에서 분산 광경로 설정 알고리즘 (A Distributed Lightpath Establishment Algorithm in WDM/TDM Networks)

  • 임재복;김진영;이현태
    • 한국콘텐츠학회:학술대회논문집
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    • 한국콘텐츠학회 2003년도 춘계종합학술대회논문집
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    • pp.466-469
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    • 2003
  • 본 논문은 TDM 방식을 적용한 WDM/TDM 네트워크에서 광경로를 설정하기 위한 분산제어 방식을 제안하였다. 제안된 분산 제어 방식에서는 블록킹 확률을 줄일 수 있도록 후방 예약 방식을 사용하였다 예 약 실패를 최소화하기 위해 여러 채널을 예약하는 진취 적 예 약 방법과 단지 하나의 채널을 예 약하는 보수적 예약 방법을 적용하여 두 개의 방법을 시뮬레 이 션을 통해 비교하였다.

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