• Structural Engineering and Mechanics
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• 제51권4호
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• pp.685-705
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• 2014

This paper presents a new formulation for forward scalar wave simulations in semi-infinite media. Perfectly-Matched-Layers (PMLs) are used as a wave absorbing boundary layer to surround a finite computational domain truncated from the semi-infinite domain. In this work, a hybrid formulation was developed for the simulation of scalar wave motion in two-dimensional PML-truncated domains. In this formulation, displacements and stresses are considered as unknowns in the PML domain, while only displacements are considered to be unknowns in the interior domain. This formulation reduces computational cost compared to fully-mixed formulations. To obtain governing wave equations in the PML region, complex coordinate stretching transformation was introduced to equilibrium, constitutive, and compatibility equations in the frequency domain. Then, equations were converted back to the time-domain using the inverse Fourier transform. The resulting equations are mixed (contain both displacements and stresses), and are coupled with the displacement-only equation in the regular domain. The Newmark method was used for the time integration of the semi-discrete equations.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2019년도 추계학술대회
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• pp.204-205
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• 2019

리튬 이온 전지를 사용하기 위해선 내부 상태를 추정하는 알고리즘이 필요하다. 알고리즘 적용을 위해 리튬 이온 전지에서 나오는 전압과 전류신호를 이용해 전기적 등가 회로 모델을 설계한다. 이 모델은 전압원, 저항, 캐패시터로 구성되어 있으며, 충전과 방전 시 발생하는 전기적 신호를 모사한 것이다. 전기적 등가 회로 모델 분석에 사용되는 상태방정식은 알고리즘과 상황에 따라 변경된다. 본 논문에서는 연속시간 상태방정식과 이산시간 상태방정식에 대해 다루었다. 그리고 실제 알고리즘에 적용해 성능을 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권11호
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• pp.5449-5464
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• 2018

Recent works have validated the possibility of reducing the energy consumption in wireless heterogeneous networks, achieved by switching on/off some base stations (BSs) dynamically. In this paper, to realize energy conservation, the discrete time Markov Decision Process (DTMDP) is developed to match up the BS switching operations with the traffic load variations. Then, an asynchronous decision-making algorithm, which is based on the Bellman equation and the on/off priorities of the BSs, is firstly put forward and proved to be optimal in this paper. Through reducing the state and action space during one decision, the proposed asynchronous algorithm can avoid the "curse of dimensionality" occurred in DTMDP frequently. Finally, numerical simulations are conducted to validate the effectiveness and advantages of the proposed asynchronous on/off strategies.

• 한국해양공학회지
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• 제22권4호
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• pp.106-113
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• 2008

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.995-1000
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• 2004

A digital adaptive flight control system is presented for a Japanese automatic landing flight experiment vehicle (ALFLEX). In previous adaptive control systems based on a linear-parameter-varying (LPV) form, the output behavior was excellent, while the behavior of the adjusted parameters was unsatisfactory. In the present study, to obtain a more appropriate parameter adjustment law, the relationship between the coefficient matrices in a continuous-time state equation and the coefficients of a pulse transfer function in a discrete system for conventional aircraft is investigated. As a result, it is revealed that the coefficients of the numerator can be treated as a linear function of dynamic pressure (linear-parameter-varying: LPV), while the coefficients of the denominator can be treated as constant (linear-time-invariant: LTI). From the above analysis, an improved parameter adjustment law is derived by reducing the number of the adjustment parameters. Simulation results also revealed both good output tracking and good parameter adjustment compared with the previous results.

• 전자공학회논문지SC
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• 제44권5호
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• pp.18-29
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• 2007

본 논문에서는 다중 패킷을 전송하는 네트워크 제어시스템을 대상으로, 전체 시스템의 안정성 변화를 분석할 수 있는 새로운 방법을 제안하였다. 먼저, 메시지의 최대 시간 지연을 보장할 수 있는 스케쥴링 방식과 데이터 손실을 나타낼 수 있는 이산 스위치 상태방정식을 새롭게 제시하였으며, 이를 이용하여 네트워크 제어시스템과 등가인 비동기 시스템(asynchronous dynamical system)을 유도하였다. 이후, 제어기의 샘플링 주기, 시간 지연, 데이터 전송 성공률, 전송 패킷의 개수에 따라 변화하는 네트워크 제어시스템의 안정성을 판별할 수 있도록 새로운 정리들을 제안하였다. 마지막으로, Batch Reactor 시스템을 대상으로 제안한 정리들을 적용하여 시뮬레이션하고 그 결과를 분석함으로써 본 논문에서 제안한 안정성 분석 방법의 타당성을 입증하였다.

• 상하수도학회지
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• 제26권5호
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• pp.609-617
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• 2012

A dynamic water quality model is presented in order to simulate water quality under slowly varying flow conditions over time. To improve numerical accuracy, the proposed model uses a lumped system approach instead of extended period simulation, unlike the other available models. This approach can achieve computational efficiency by assuming liquid and pipe walls to be rigid, unlike the method of characteristics, which has been successfully implemented in rapidly varying flows. The discrete volume method is applied to resolve the advection and reaction terms of the transport equation for water quality constituents in pipes. Numerical applications are implemented to the pipe network examples under steady and unsteady conditions as well as hydraulic and water quality simulations. The numerical results are compared with EPANET2, which is a widely used simulation model for a water distribution system. The model results are in good agreement with EPANET2 for steady-state simulation. However, the hydraulic simulation results under unsteady flows differ from those of EPANET2, which causes a deviation in water quality prediction. The proposed model is expected to be a component of an integrated operation model for a water distribution system if it is combined with a computational model for rapidly varying flows to estimate leakage, pipe roughness, and intensive water quality.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• 한국가스학회지
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• 제7권4호
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• pp.44-52
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• 2003

본 논문은 원자력발전소 방화벽에 설치된 케이블관통부 충전시스템(CPFS: Cable penetration fire stop) 안에서 일어나는 동적 열전달 현상을 수식화하고, 새로운 혼합알고리즘을 이용해서 수치적으로 계산하여, 3차원 그래픽으로 나타내는 작업에 관한 연구이다. CPFS 내에서의 열전도 현상을 주어진 초기조건과 경계조건하에서 포물선 편미분방정식(Parabolic PDE)으로 수식화하였다. 계산을 단순화하기 위하여 전체 열 흐름을 z-축직선상에서의 일어나는 열전도 성분과 x-y-좌표 평면상에서 일어나는 열전도 성분으로 나누었다. z-축과 평행한 직선상에서 일어나는 열전도를 나타내는 PDE는 연속과완화법(SOR: Sequential over-relaxation)을 이용하여 유한불연속 점들에 대한 연립상미분방정식(ODE)으로 만들어서 풀었고, x-y-좌표 평면상에서 일어나는 열전도에 관한 PDE는 Galerkin 유한요소법(FEM: Finite element method)을 적용하여 ODE로 전환해서 풀었다. 여기서 시간과 공간의 함수인 온도는 각 직선상의 점들과 각 평면상의 요소절점들에 대해서 일정한 시간간격으로 초기온도와 경계온도를 업데이트하여 번갈아 가며 계산한다. 이러한 일련의 계산결과를 바탕으로 CPFS시스템 내에서의 온도분포의 동적인 변화를 계산해 낼 수 있었다. 결론적으로 관통하는 케이블이 CPFS시스템의 온도분포에 매우 중요한 역할을 한다는 것을 알 수 있었다. 시뮬레이션 결과는 CPFS내의 온도분포를 쉽게 이해할 수 있도록 3차원 그래픽으로 나타냈으며, 관통하는 케이블이 방화시스템의 온도분포에 매우 중요한 영향을 끼친다는 것을 알 수 있었다. 마지막으로 계산결과를 실험결과와 직접 비교함으로써, 개발된 모델과 계산 알고리즘의 정당성을 보였다.