• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.357-363
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• 2005

The non-minimum phase characteristic of a flexible manipulator makes tracking control of its tip difficult. The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system. This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing : tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system with a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.287-292
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• 1998

This paper presents some results of performance evaluation test via actual machines of a new hybrid vector control utilizing a new indirect orientation scheme and stable filter embedded direct orientation scheme for induction motors without speed or position sensor. It is shown through the test by 0.3(kW) and 3.7(kW) motors that the proposed sensorless vector control has the following high potentialities: 1) speed range is 0 to 600(rad/s) or more, 2) zero-speed command is accepted and settles the machines at a stable standstill with no vibration 3) it can make machines to track variable command of acceleration and deceleration $\pm$6,000(rad/s2), 4) it can make machines to drive directly load of at least 26 times larger inertia than that of the machine, 5) it can make machines to produce much larger torque than the rating in torque control mode even at standstill. The performance confirmed by the test is far away for previous schemes or sensorless drive apparatuses.

• 한국정밀공학회지
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• 제9권4호
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• pp.36-43
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• 1992

This paper presents a hierarchical real-time operation control and monitoring scheme of the FMS/CIM center which has been implemented at the Automation and Systems Research Institute of Seoul National University. The hierarchical structure of the whole scheme consists of three lavers. The upper layer is in charge of on-line scheduling, computer network control, shop-floor monitoring and command generation for AGV dispatching, machining, assembly, inspection, set-up, etc. The middle layer has six modules, which are installed in the FMS host computer with the upper layer and run on the multi-tasking basis. Each module is connected to one of six cell controllers distributed in the FMS model plant and transfers operation command down to each cell controller through the Ethernet/TCP-IP local area network. The lower layer is comprised of six cell control software modules for machining cell, assembly cell, inspection cell, set-up stations. AS/RS and AGV. Each cell controller reports the status of the manufacturing facilites to the middle layer as well as ecxecuting the appropriate sequence control of the manufacturing processes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2096-2098
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• 2002

In this paper, the optimal evasive maneuver strategies for typical subsonic ASM(anti-ship missile) to reach its target ship with high survivability against CIWS(close in weapon system) are studied. The optimal evasive maneuver input is defined by the homing command optimizing the cost function which takes aiming errors of CIWS into account. The optimization problem for the effective evasive maneuver is formulated based on a simple missile dynamics model and a CIWS model. By means of solving the problem, a multiple hypotheses testing method is proposed. Since this method requires generation of too many hypotheses, the hypothesis-pruning technique is adopted. The solution shows that the optimal evasive maneuver is a bang-bane shaped command whose frequency is varied by the aimpoint determination strategy in CIWS.

• 대한임베디드공학회논문지
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• 제15권2호
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• pp.95-101
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• 2020

In situations where mobile robots are operated either by autonomous systems or human operators, such as smart factories, priority-based teleoperation is crucial for the multiple operators with different priority to take over the right of the robot control without conflict. This paper proposes a priority-based teleoperation system for multiple operators to control the robots. This paper also introduces an efficient joystick-based robot control command generation algorithm for differential-drive mobile robots. The proposed system is implemented with ROS (Robot Operating System) and embedded control boards, and is applied to Pioneer 3AT mobile robot platform. The experimental results demonstrate the effectiveness of the proposed joystick control command algorithm and the priority-based control input selection.

• 대한안전경영과학회지
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• 제8권4호
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• pp.25-37
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• 2006

Critical incident can be happened at any time, any places without any pre-notification. For minimizing the loss of the life safety, financial and so on caused by the risk, most of company needs a system what can activate the critical incident management plan to prevent, plan for and respond to events that become critical incident. But a lot of company still don't have such a detailed system in our country and almost company has no effective training way for to boot. This paper shows the way to activate the risk management system to work efficiently the plan. The training way, proposed by this paper, is a incident command simulator based on virtual reality and scenario generation software.

• 정보보호학회논문지
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• 제28권5호
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• pp.1141-1151
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• 2018

APT(Advanced Persistent Threat) 공격에서 감염 호스트와 C&C(Command and Control) 서버 간 통신은 공격 대상의 내부로 침입하기 위한 핵심단계이다. 공격자는 C&C 서버를 통해 다수의 감염 호스트를 제어하고, 침입 및 공격 행위를 지시하는데, 이 단계에서 C&C 서버가 노출되면 공격은 실패할 수 있다. 따라서 최근의 경우 DGA(Domain Generation Algorithm)를 통해 C&C 서버의 DNS를 짧은 시간 간격으로 교체하여 탐지를 어렵게 하고 있다. 특히 하루에도 500만개 이상 새로 등록되는 DNS 전부를 검증하고 탐지하는 것은 매우 어렵다. 이러한 문제점을 해결하기 위해 본 논문에서는 정상 DNS와 DGA를 통해 생성된 DNS(DGA-DNS)의 형태적 유사도(similarity) 분석을 이용한 DGA-DNS 탐지와 이를 통해 APT 공격 징후로 판단하는 모델을 제시하고 유효성을 검증한다.

• 문화기술의 융합
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• 제5권1호
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• pp.395-399
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• 2019

다양한 병렬 컴퓨팅 시스템을 지원하기 위해서는 LLVM IR을 벡터/행렬을 보다 효과적으로 지원할 수 있도록 확장하는 것과 LLVM IR을 machine code로 바꾸어 주는 부분을 새로운 알고리즘으로 설계하여 구현하면 된다. IR 예제에서 보았듯이 기본적으로 RISC 명령어로 구성되어 있기 때문에 RISC 명령어 생성은 자연스럽게 생성되며, 벡터 또한 현재 지원가능한데 행렬 명령어는 지원되지 못하고 있다. 벡터/행렬을 보다 강력하게 지원하기 위한 새로운 IR 구조, 명령어 생성 알고리즘 및 관련 부분의 확장이 필요하다. 이를 위해 LLVM IR의 각 명령어를 (벡터/행렬을 위한) target architecture의 적당한 명령어로 mapping을 해주는 부분 (instruction selection 알고리즘)이 중요하다. LLVM IR 명령어의 의미를 파악하고, target architecture의 각 명령어 의미와 syntax를 비교하여, 패턴이 일치하는 명령어를 선택하여 mapping을 효율적으로 해줘야 한다.

• 한국환경과학회지
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• 제13권4호
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• pp.339-347
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• 2004

This paper asks the question: what choice of environmental policy instruments is efficient to reduce sulfur dioxide from stationary sources\ulcorner: In Korea, command and control has been a common way of controlling $SO_2-emissions.$ When compared to the non-incentive environmental policy instrument such as command and control, economic incentive environmental policy instrument has been the advantage of making polluter himself flexibly deals with in marginal abatement cost to develop environmental technology in the long view. Therefore, the application possibility of the incentive environmental policy instrument was studied in this research to realize the countermeasure for controlling of $SO_2-emissions.$ As a result, enforcement of the countermeasure such as flue gas desulfurizer by command and control would be suitable because power generation is performed by the public or for the public in source of air pollution and thus, economic principle is not applied to the polluter. In the source of industrial pollution, enforcement of fuel tax is found to be suitable for the countermeasure for the use of low sulfur oil in terms of the flexibility of demand for the price in the long tenn. For the permissible air pollution standards applicable to all air pollutant emitting facilities, enforcement of incentive environmental policy such as bubble, off-set, banking policy or tradeable emission penn its would be ideal in long terms according to the regional characteristics and the number and scale of air pollutant emitting facilities.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.485-488
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• 2005

The 2nd KOrea Multi-Purpose Satellite (KOMPSAT -2) has been developed by Korea Aerospace Research Institute (KARI) since 2000. Multi Spectral Camera (MSC) is the payload for KOMPSAT -2, which will provide the observation imagery around Korean peninsula with high resolution. KOMPSAT-2 has adopted X-band Tracking System (XTS) for transmitting earth observation data to ground station. For this, data which describes and controls the pre-defined motion of each on-board X-Band antenna in XTS, must be transmitted to the spacecraft as S-Band command and it is called as Tracking Parameter Files (TPF). In this paper, the result of the development of TPF Generation S/W for KOMPSAT-2 X-Band Antenna Motion Control.