• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.4
• /
• pp.276-283
• /
• 2017

This paper presents position control of multicopter using nonlinear dynamic model inversion in singular perturbation. Multicopter dynamics are developed and separated into the fast time-scale variables, related with the inner-loop design, and the slow time-scale variables, related with the outer-loop design. The final design is evaluated in 6-DOF simulation. The results show accurate position tracking performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.11
• /
• pp.990-998
• /
• 2007

Adaptive output feedback control technique using Neural Networks(NN) is proposed for uncertain nonlinear Multi-Input Multi-Output(MIMO) systems. Modified Dynamic Inversion Model(MDIM) is introduced to decouple uncertain nonlinearities from inversion-based control input. MDIM consists of approximated dynamic inversion model and inversion model error. One NN is applied to compensate the MDIM of the system. The output of the NN augments the tracking controller which is based upon a filtered error approximation with online weight adaptation laws which are derived from Lyapunov's direct method to guarantee tracking performance and ultimate boundedness. Several numerical results are illustrated in the simulation of Van der Pol system and unmanned helicopter with model uncertainties.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.7
• /
• pp.899-903
• /
• 2013

A self-bearing is an electric machine that achieves both rotational actuation and magnetic levitation using a single magnetic structure. To be able to stably levitate the rotor in a self-bearing, one needs to have an inverse of the force-current model. However, the force-current model in a self-bearing motor is typically not square. Furthermore, the elements of the matrix vary with respect to the rotational angle, resulting in singularities of the pseudo-inverse at various angles. In this paper, we propose a new force-current model that eliminates the singularities by adding a constraint in coil currents. This constraint eliminates the flux density in the stator core so that the saturation problem in the previous study is avoided. By implementing this force-current model, we are able to implement a levitation controller for a toroidally-wound self-bearing BLDC motor. The model inversion and levitation are validated experimentally.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.4
• /
• pp.106-114
• /
• 2016

In this paper, we propose an efficient integer inverse transform structure for vp9 decoder. The proposed structure is a hardware structure which is easy to control and requires less hardware resources, and shares algorithms for realizing entire DCT(Discrete Cosine Transform), ADST(Asymmetric Discrete Sine Transform) and WHT(Walsh-Hadamard Transform) in vp9. The integer inverse transform for vp9 google model has a fast structure, named butterfly structure. The integer inverse transform for google C model, unlike universal fast structure, takes a constant rounding shift operator on each stage and includes an asymmetrical sine transform structure. Thus, the proposed structure approximates matrix coefficient values for all transform mode and is used to matrix operation method. With the proposed structure, shared operations for all inverse transform algorithm modes can be possible with reduced number of multipliers compared to the butterfly structure, which in turn manages the hardware resources more efficiently.

• Journal of Aerospace System Engineering
• /
• v.15 no.5
• /
• pp.33-42
• /
• 2021

Modern aircraft fighters improve the maneuverability and performance with the RSS (Relaxed Static Stability) concept and therefore these aircrafts are susceptible to abrupt pitch-up in the transonic and moderate Angle-of-Attack (AoA) flight region where the shock wave is formed and the mean aerodynamic center is moved forward during deceleration. Also, the modeling of the aircraft flying in this flight region is very difficult due to complex flow filed and unpredictable dynamic characteristics and the model-based control design technique does not fully cover this problem. In this paper, we analyzed the performance of the TPMC (Transonic Pitching Moment Compensation) control based on the model-based IDI (Incremental Dynamic Inversion) and the Hybrid IDI based on the model and sensor based IDI during the SDT (Slow Down Turn) in transonic region. As the result, the Hybrid IDI had quicker response and the same maximum g suppression performance and provided the predictable flying qualities compared to the TPMC control. The Hybrid IDI improved the performance of the Over-G protection controller in the transonic and moderate AoA region

• 한국어정보학회:학술대회논문집
• /
• 2016.10a
• /
• pp.300-304
• /
• 2016

본 논문에서는 한국어 의미역 결정을 순차열 분류 문제(Sequence Labeling Problem)가 아닌 순차열 변환 문제(Sequence-to-Sequence Learning)로 접근하였고, 구문 분석 단계와 자질 설계가 필요 없는 End-to-end 방식으로 연구를 진행하였다. 음절 단위의 RNN Search 모델을 사용하여 음절 단위로 입력된 문장을 의미역이 달린 어절들로 변환하였다. 또한 순차열 변환 문제의 성능을 높이기 위해 연구된 인풋-피딩(Input-feeding) 기술과 카피넷(CopyNet) 기술을 한국어 의미역 결정에 적용하였다. 실험 결과, Korean PropBank 데이터에서 79.42%의 레이블 단위 f1-score, 71.58%의 어절 단위 f1-score를 보였다.

• Annual Conference on Human and Language Technology
• /
• 2016.10a
• /
• pp.300-304
• /
• 2016

본 논문에서는 한국어 의미역 결정을 순차열 분류 문제(Sequence Labeling Problem)가 아닌 순차열 변환 문제(Sequence-to-Sequence Learning)로 접근하였고, 구문 분석 단계와 자질 설계가 필요 없는 End-to-end 방식으로 연구를 진행하였다. 음절 단위의 RNN Search 모델을 사용하여 음절 단위로 입력된 문장을 의미역이 달린 어절들로 변환하였다. 또한 순차열 변환 문제의 성능을 높이기 위해 연구된 인풋-피딩(Input-feeding) 기술과 카피넷(CopyNet) 기술을 한국어 의미역 결정에 적용하였다. 실험 결과, Korean PropBank 데이터에서 79.42%의 레이블 단위 f1-score, 71.58%의 어절 단위 f1-score를 보였다.

• Korean Journal of Remote Sensing
• /
• v.13 no.2
• /
• pp.85-98
• /
• 1997

A geometric model of pushbroom-type linear CCD camera images is proposed in this paper. At present, this type of cameras are used for obtaining almost all kinds of high-resolution optical images from satellites. The proposed geometric model includes not only a forward transformation which is much more efficient. An inverse transformation function cannot be derived analytically in a closed form because the focal point of an image varies with time. In this paper, therefore, an iterative algorithm in which a focal point os converged to a given pixel position is proposed. Although the proposed model can be applied to any pushbroom-type linear CCD camera images, the geometric model of the high-resolution multi-spectral camera on-board KITSAT-3 is used in this paper as an example. The flight model of KITSAT-3 is in development currently and it is due to be launched late 1998.

• Proceedings of the Optical Society of Korea Conference
• /
• 2000.08a
• /
• pp.24-25
• /
• 2000

파장변환 소자는 최근에 급격히 발전하는 광네트웍을 구축하기 위하여 필수적인 소자로서 여러 가지 형태에 대한 연구개발이 진행되고 있다. 그중에서도, 최근에는 반도체 광증폭기로 형성된 방향성 결합기구조(semiconductor optical amplifier directional coupler)에서의 상호 이득 포화(XPM : cross-phase modulation)에 의한 파장변환에 대한 개념이 제안되고 가능성이 실험적으로 입증된 바 있다. 이런 구조의 파장변환 소자는 입력 광신호의 파워가 작을때는 위상 정합이 되어 반도체 광증폭기의 광모드가 완전히 결합되어 cross state로 변환된 파장의 광파워가 많이 출력되고, 신호 입력 파워가 증가함에 따라 결합이 감소하게 되어 Cross state에서의 출력 파워는 감소하게 된다. 이와 같은 소자는 입력 신호광과 변환된 신호광이 역방향으로 진행하는 경우 광필터가 필요없이 파장변환이 가능하고, 변환 후의 소광비가 향상되기 때문에 향후 다양한 형태로 응용될 가능성이 있으며, 적정 설계 및 성능 예측을 위해서는 시영역에서 모델링할 수 있는 방법론을 구축하는 것이 필요하다. 본 논문에서는 연산자 분리 방법$^{(1)}$ 을 적용하여 상술한 파장변환기를 해석하기에 적당하도록 시영역 동적 모델을 구현하고, 파장변환 특성을 여러 가지 면에서 분석하여 보았다. (중략)

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.17 no.6
• /
• pp.211-216
• /
• 2017

XML is becoming a de facto standard for the representation and exchange of data, and XML itself is well structured to store and manage data, but it is difficult to understand the document structure at a glance due to its diverse and complex expressions. Thus, it is not appropriate to use it as a tool of conceptual model. In this paper, we propose a method to transform XML schema document structure into conceptual model. To do this, we describe CMXML as a conceptual modeling tool and present transformation rules and data structures for transforming an XML schema structure into CMXML diagram. In the transformation procedure, the XML schema document is input and the CMXML diagram is generated by applying the transformation rules.