• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1120-1124
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• 2005

We reviewed controllers with a time delay estimation in this paper. Time delay control (TDC) and sliding mode control (SMC) are well known robust control schemes. Basically, the TDC has a main characteristic called a time delay estimation from which we can estimate the total uncertainty of a system. . The TDC causes the stick-slip in the case of systems with a friction. The so-called TDCSA which are short for TDC with switching action was developed to reduce the stick-slip. The TDC has the additional switching action term in the TDC structure. In the other hand, the SMC dose not have a time delay estimation but instead it can estimate the system uncertainty through the switching action. The SMC has a difficulty to estimate the total uncertainty of a system because it does not have a time delay estimation. In order to solve the difficulty, some control schemes were developed. Among them, we need to focus our attention on two control schemes: SMCPE and SMCTE, which are short for sliding mode control with a perturbation estimation and sliding mode control with a time delay estimation, respectively. In this paper, we analyzed and compared the characteristic of above three controllers. Even though the motives for the development of three control schemes are different, three control schemes have much in common in terms of their controller structures.

• 전기학회논문지P
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• 제57권3호
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• pp.244-249
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• 2008

This paper deals with speed control of DC servo motor using a Fuzzy tuning observer. Speed sensor detect a speed of rotor continuously. But it have a limit as a driving speed to detect speed precisely. So it is problem to improve the performance of the driving system. To solve the problem, it is studied to detect a speed of DC motor without sensor. In particular, study on the method to estimate the speed using the observer is performed a lot. In this parer, the gain of the observer is properly set up using the fuzzy observer. The fuzzy observer has a superior transient characteristic and is easy to implement compared the existing method is designed. It estimate the derivative of the armature current directly using the armature current measured in the DC motor. It estimate the speed of the rotor using the differentiation. It is proposed speed sensorless control method using the estimated speed. Optimal gain of Luenberger observer is set up using the fuzzy observer and adapted speed control of DC servo motor low speed operation. It is proved excellence and feasibility of the presented observer from the comparison tested a case with a speed sensor and a case without a speed sensor which used a highly efficient drive and 200W DC servo motor starting system.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2003년도 봄 학술발표회 논문집
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• pp.325-332
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• 2003

In general, soil characteristics are estimated through the sample gathered by field boring without considering sample disturbance. However, soil characteristics must be changed by the degree of sample disturbance. Therefore it be need to estimate the soil characteristic considering sample disturbance which can be occurred by the change of stress condition, sampling technique and handling method. On this study, we analyzed the sample disturbance by using the methods of volume change, residual effective stress, elastic modulus and the curve of consolidation tests. In order to estimate the relationship between sample disturbance and soil characteristics, we used the piston sample and the block sample. As the results, it should be considered in design that the disturbance of the block sample, which affects the strength and compression properties of clay, is smaller than the disturbance of piston sample.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1276-1282
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• 2013

This paper proposes a stochastic modeling of plug-in electric vehicles (PEVs) distribution in power systems, and analyzes the corresponding clustering characteristic. It is essential for power utilities to estimate the PEV charging demand as the penetration level of PEV is expected to increase rapidly in the near future. Although the distribution of PEVs in power systems is the primary factor for estimating the PEV charging demand, the data currently available are statistics related to fuel-driven vehicles and to existing electric demands in power systems. In this paper, we calculate the number of households using electricity at individual ending buses of a power system based on the electric demands. Then, we estimate the number of PEVs per household using the probability density function of PEVs derived from the given statistics about fuel-driven vehicles. Finally, we present the clustering characteristic of the PEV distribution via case studies employing the test systems.

• Journal of Power Electronics
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• 제10권2호
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• pp.181-186
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• 2010

This paper presents a new method for the estimation of State of Charge (SOC) for NiMH batteries. Among the conventional methods to estimate SOC, Coulomb Counting is widely used, but this method is not precise due to error integration. Another method that has been proposed to estimate SOC is by using a measurement of the Open Circuit Voltage (OCV). This method is found to be a precise one for SOC estimation. In NiMH batteries, the hysteresis characteristic of OCV is very strong compared to other type of batteries. Another characteristic of NiMH battery to be considered is that the OCV of a NiMH battery under discharging mode is lower than it is under charging mode. In this paper, the OCV is modeled by a simple method based on a hyperbolic function which well known as Takacs’s model. The OCV model is then used for SOC estimation. Although the model is simple, the error is within 10%.

• Communications for Statistical Applications and Methods
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• 제26권2호
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• pp.205-216
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• 2019

Diagnostic tests in medical fields detect or diagnose a disease with results measured by continuous or discrete ordinal data. The performance of a diagnostic test is summarized using the receiver operating characteristic (ROC) curve and the area under the curve (AUC). The diagnostic test is considered clinically useful if the outcomes in actually-positive cases are higher than actually-negative cases and the ROC curve is concave. In this study, we apply the stochastic ordering method in a Bayesian hierarchical model to estimate the proper ROC curve and AUC when the diagnostic test results are measured in discrete ordinal data. We compare the conventional binormal model and binormal model under stochastic ordering. The simulation results and real data analysis for breast cancer indicate that the binormal model under stochastic ordering can be used to estimate the proper ROC curve with a small bias even though the sample sizes were small or the sample size of actually-negative cases varied from actually-positive cases. Therefore, it is appropriate to consider the binormal model under stochastic ordering in the presence of large differences for a sample size between actually-negative and actually-positive groups.

• 전자공학회논문지SC
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• 제42권3호
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• pp.41-46
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• 2005

본 논문에서 맥파전달시간과 신체 특징 파라미터들을 이용하여 비침습적이고 연속적으로 혈압을 측정할 수 있는 방법을 제시하고 임상실험을 통하여 검증하였다. 맥파전달시간은 심전도와 광전용적맥파로부터 구한다. 맥파전달시간만 이용하여 개개인의 혈압을 측정하는 방법이 연구되었지만 이 방법은 모든 사람에게 적용 가능한 범용 회귀식을 도출하기 부족한 면이 있다. 이 연구에서 혈압과 관련되는 신체 특징 파라미터들과 맥파전달시간을 이용하여 모든 사람에게 적용 가능한 범용 회귀식을 도출하여 여러 사람들의 혈압을 측정하였다. 맥파전달시간만 이용하여 만든 회귀방법과 맥파전달시간과 신체 특징 파라미터들을 같이 이용하여 만든 회귀방법을 서로 비교 하였다. 실험 결과, 맥파전달시간과 신체 특징 파라미터를 이용하는 회귀방법이 여러 사람들의 혈압을 더 정확히 측정할 수 있다는 것을 알 수 있었고, American National Standards Institute of the Association of the Advancement of Medical Instrument(ANSI/AAMI)에 더 근접함을 알 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 A
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• pp.15-17
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• 1999

This paper proposes that optimal design using GA of BLDC motor. To estimate this optimal design method, the performance characteristics of BLDC motor is computed by the equivalent magnetic circuit network method and FEM. To estimate especially the dynamic characteristics of BLDC, we compute the parameter of electrical circuit using FEM.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1996년도 춘계학술대회논문집; 부산수산대학교, 10 May 1996
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• pp.95-99
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• 1996

In this paper, we proposed a method to measure the gap between the magnetic pole and the levitated object applying the inductance characteristic which vary according to gap. We made a driving circuit which supply the control input PWM(Pulse Width Modulation) signal and the carrier PWM signal to estimate the gap. Because the inductance is a function of gap, and the current of the carrier signal is a function of the inductance. We investigated the validity of the proposed method through the experimental results.