• 로봇학회논문지
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• 제10권3호
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 전기학회논문지
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• 제63권8호
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• pp.1055-1063
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• 2014

Power losses of a 1-stage DC-DC converter and 2-stage DC-DC converter are compared in this paper. A phase-shift full-bridge DC-DC converter is considered as 1-stage topology. This topology has disadvantages in the stress of rectifier diodes because of the resonance between the leakage inductor of the transformer and the junction capacitor of the rectifier diode. 2-stage topology is composed of an LLC resonant full-bridge DC-DC converter and buck converter. The LLC resonant full-bridge DC-DC converter does not need an RC snubber circuit of the rectifier diode. However, there is the drawback that the switching loss of the buck converter is large due to the hard switching operation. To reduce the switching loss of the buck converter, SiC MOSFET is used. This paper analyzes and compares power losses of two topologies considering temperature condition. The validity of the power loss analysis and calculation is verified by a PSIM simulation model.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.196-199
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• 2006

Various communication mechanisms have been developed to acquire a meaningful data from sensors. The key requirement during the sensor data acquisition is determinism and reduction of time dependency. It is a fundermental level of satellite data management for controlling satellite operation software data acquisition from sensors or subsystem. Satellite operation software has various software modules to be operated in addition to data acquisition. Therefore, unnecessary time delay shall be minimized to perform the data acquisition. As the result, interrupt method might be prefered than polling method because the former can decrease the restriction of design during implementation of data acquisition logic. The possible problems while using interrupt method like as interrupt latency caused by delaying of interrupt processing time are analyzed. In this paper, communication mechanism which can be used to interface with satellite computer and subsidary subsystem by using interrupt is presented. As well, time dependency between software scheduling and data acquisition is analyzed.

• 한국컴퓨터정보학회논문지
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• 제9권2호
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• pp.33-40
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• 2004

컴퓨터 성능과 정보통신 기술의 발달로 클라이언트/서버 환경이 보편화됨에 따라 서버는 제한된 대역폭의 절감과 빠른 응답시간, 그리고 확장성을 위해 클라이언트는 지역 캐쉬를 이용한다. 이때 서버와 클라이언트간에는 캐쉬된 데이타의 일관성 유지가 필요하며 이에 따라 많은 기법이 제안되고 있다. 이 논문은 기존의 갱신 빈도 캐쉬 일관성 기법을 개선한 것이다. 기존의 일관성 기법은 선언을 동기적으로 하여 응답시간이 늦거나 정확성 검사를 지연시켜 철회 단계가 증가하는 단점이 있다. 본 논문에서 제안된 기법은 이러한 문제점을 해결하기 위해 페이지 요청 또는 완료 시 갱신 연산이 일어난 객체에 대해 갱신 시간을 참조하여 수행하도록 하였다. 따라서, 갱신 연산이 이루어지는 경우 비동기적으로 선택 모드에 따라 갱신의도 선언 또는 갱신을 선택적으로 수행할 수 있어 응답이 빠르고 철회 단계가 감소하며 더 명확한 선택이 가능하다는 장점을 갖는다.

• 한국전자파학회논문지
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• 제21권10호
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• pp.1103-1108
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• 2010

본 논문에서는 PIFA의 급전점과 단락점을 둘러싸는 급전 루프 내부에 커패시터 구조를 삽입하는 새로운 타입의 4중 대역(GSM900/DCS/PCS/W-CDMA) PIFA 설계를 제안한다. 커패시터의 삽입을 통해서 병렬 공진점인 2.01 GHz에서의 반사 계수 -2.73 dB를 -6.26 dB로 낮추는 효과를 얻을 수 있었다. 병렬 공진에서의 좋지 못한 방사 특성을 개선시킴으로써 고차 대역(DCS/PCS/W-CDMA)에서의 광대역 특성을 나타내었다.

• 전기전자학회논문지
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• 제24권2호
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• pp.610-618
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• 2020

본 논문에서는 규칙기반 알고리즘을 이용한 수소연료전지/배터리 하이브리드 철도차량 모델링을 제시한다. 모터의 운전영역에 따른 토크 곡선을 계산하여 견인 시스템의 구동 전력을 결정하고 철도차량의 각 운전 모드에 적용하여 전기 시스템을 모델링 한다. 전기 시스템의 전력은 규칙기반 알고리즘을 이용한 에너지 관리시스템(Energy Management System, EMS)으로 결정한다. 배터리의 충전상태(State Of Charge, SOC)에 따라 운전 영역을 세분화하여 수소 소비량을 효율적으로 관리한다. 제안하는 철도차량 모델링의 타당성은 MATLAB/Simulink 시뮬레이션을 통해 검증한다.

• Nuclear Engineering and Technology
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• 제32권4호
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• pp.316-327
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• 2000

The Emergency Core Cooling System in current nuclear power plants typically has a considerable number of complex functions and largely cumbersome operator interfaces. Functions for initiation, switch-over between various phases of operation, interlocks, monitoring, and alarming are usually performed by relays and analog comparator logic which are difficult to maintain and test. To improve problems of an analog based ECC (Emergency Core Cooling) System, the trip computer for ECCS based on Dynamic Safety System (DSS) is implemented. The DSS is a computer based reactor protection system that has fail-safe nature and performs a dynamic self-testing. The most important feature of the DSS is the introduction of test signal that send the system into a tripped state. The test signals are interleaved with the plant signals to produce an output which switches between a tripped and health state. The dynamic operation is a key feature of the failsafe design of the system. In this work, a possible implementation of the DSS using PLC is presented for a CANDU Reactor. ECC System of the CANDU Reactor is selected as the reference system.

• Journal of Power Electronics
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• 제7권1호
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• pp.44-54
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• 2007

Ac-dc power conversion can either be done with two separate converter stages or with a single converter stage. Two-stage ac-dc converters, however, can be costly and complex, while the performance of single-stage converters is compromised due to a reduced number of components. Several researchers have therefore proposed adding some sort of auxiliary circuit consisting of a second switch and some passive elements to single-stage converters to improve their performance. Although these modified single-stage converters may have two converters, they are not two-stage converters as they do not have two separate and independently controlled converters that are always operating to convert power from one form to another. In this paper, the operation of ac-dc single-stage converters is first reviewed and their strengths and weaknesses are noted. The operation of several modified single-stage converters, including one proposed by the authors, is then discussed, and the paper concludes by presenting experimental results that confirm the feasibility of the proposed converter.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.300-306
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• 2000

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R.F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

• Journal of Electrical Engineering and Technology
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• 제7권3호
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• pp.443-450
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• 2012

As power grids are integrated into one big umbrella (i.e., Smart Grid), communication network plays a key role in reliable and stable operation of power grids. For successful operation of smart grid, interoperability and security issues must be resolved. Security means providing network system integrity, authentication, and confidentiality service. For a cyber-attack to a power grid system, which may jeopardize the national security, vulnerability of communication infrastructure has a serious impact on the power grid network. While security aspects of power grid network have been studied much, security mechanisms are rarely adopted in power gird communication network. For security issues, strict timing requirements are defined in IEC 61850 for mission critical messages (i.e., GOOSE). In this paper, we apply security algorithms (i.e., MD-5, SHA-1, and RSA) and measure their processing time and transmission delay of secured mission critical messages. The results show the algorithms satisfying the timing requirements defined in IEC 61850 and we observer the algorithm that is optimal for secure communication of mission critical messages. Numerical analysis shows that SHA-1 is preferable for secure GOOSE message sending.