• 한국기계기술학회지
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• 제13권4호
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• pp.31-36
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• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• 로봇학회논문지
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• 제13권3호
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• Journal of applied mathematics & informatics
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• 제40권1_2호
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• pp.47-59
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• 2022

This paper concerns the problem of simultaneous fault detection and disturbance reject control(SFDDRC) for a class of linear time-invariant system. In the framework of fault detection, residual generators are required to be robust to disturbances existing in the system. Different from most of the existing simultaneous fault and control(SFDC) methods, SFDDRC rejects the influences of disturbances on residual generators by disturbance observer-based control(DOBC). This not only effectively improves the accuracy of fault detection, but also solves the problem that most of the existing SFDC methods require that the disturbance must be bounded. Finally, a numerical example is given to verify the validity of the method.

• 전자공학회논문지B
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• 제31B권9호
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• pp.36-46
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• 1994

A analog disturbance observer, which is suitable for servo motor drive, was employed to suppressi control of the impact drop disturbance. The main advantage of the observer is that a fast response disturbance estimation is obtained using the detected motor cuttent and speed. And the new M/T method for motor speed detection is proposed. The method should be able to reduce the detection dead time compared with the Ohmae's M/T method. Also, the low speed control of a servo motor using instantaneous speed detection method is described. To estimate the instantaneous speed from the average speed, the speed estimator of the first order is proposed. Actually we confirmed that these methods improve the speed control performance of the servo system with experiments.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.245-248
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• 2000

In this paper a novel method for voltage disturbance detection is presented. This is a instantaneous detection method using normalized error get in synchronous reference frame and also it is implemented in digital. Feedback noise the problem of digital implementation is removed by a digital filter of which the time delay is compensated through numerical analysis.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권9호
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• pp.413-422
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• 2002

In a power plant, disturbance detection and diagnosis are massive and complex problems. Once a disturbance occurs, it can be either persistent, self cleared, cleared by the automatic controllers or propagated into another disturbance until it subsides in a new equilibrium or a stable state. In addition to the Physical complexity of the power plant structure itself, these dynamic behaviors of the disturbances further complicate the fault monitoring and diagnosis tasks. A data structure called a disturbance interrelation analysis graph(DIAG) is proposed in this paper, trying to capture, organize and better utilize the vast and interrelated knowledge required for power plant disturbance detection and diagnosis. The DIAG is a multi-layer directed AND/OR graph composed of 4 layers. Each layer includes vertices that represent components, disturbances, conditions and sensors respectively With the implementation of the DIAG, disturbances and their relationships can be conveniently represented and traced with modularized operations. All the cascaded disturbances following an initial triggering disturbance can be diagnosed in the context of that initial disturbance instead of diagnosing each of them as an individual disturbance. DIAG is applied to a typical cooling water system of a thermal power plant and its effectiveness is also demonstrated.

• 한국항공우주학회지
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• 제47권8호
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• pp.549-557
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• 2019

본 연구에서는 위성항법 신호를 활용하여 전리층 교란 관측을 통한 실시간 지진 발생 검출에 대한 연구를 수행한다. 위성항법 신호를 활용하여 추정한 전리층 지연을 이용하여 전리층 교란 모니터를 선정하고, 실시간 검출을 위한 교란 판단 기준값(threshold)을 계산하는 방법을 소개한다. 또한, cycle slip 등 다른 오차 요인에 의하여 발생하는 전리층 변화와 지진에 의해 발생하는 전리층 변화를 구분하기 위하여, 지진에 의한 파동 특성을 이용하여 지진에 의한 전리층 교란 검출 판단 기준을 제시한다. 한국 및 일본에 설치되어 있는 47개의 기준국으로부터 수집한 측정치를 활용하여 제안된 알고리즘의 성능 검증을 수행한다.

• Journal of Electrical Engineering and Technology
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• 제9권4호
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• pp.1171-1181
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• 2014

Different power quality (PQ) disturbance sources can have major impacts on the power supply grid. This study proposes, for the first time, an early warning approach to identifying PQ problems and providing early warning prompts based on the monitored data of PQ disturbance sources. To establish a steady-state power quality early warning index system, the characteristics of PQ disturbance sources are analyzed and summed up. The higher order statistics anomaly detection (HOSAD) algorithm, based on skewness and kurtosis, and hierarchical power quality early warning flow, were then used to mine limit-exceeding and abnormal data and analyze their severity. Cases studies show that the proposed approach is effective and feasible, and that it is possible to provide timely power quality early warnings for limit-exceeding and abnormal data.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.199-202
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• 2003

An effective method is proposed for detecting, acquisition and tracking of a moving object using a disturbance map method in complex image sequences. A significant moving object is detected and tracked within the field of view by computing a modified disturbance map method between an Input image and a temporal average image. This method is very efficient in the serveillance application of digital CCTV and an automatic tracking camera. Experimental results using a real image sequence confirmed that the proposed method can effectively detect and track a significant moving object in complex image sequences.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.142-148
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• 2008

In this paper, we deal with the problem of reducing the order of the detection filter for the linear time-invariant system. Even if the detection filter is generally designed in the form of full order linear observer, we show that it is possible to reduce its order when the response of fault signals is limited to a subspace of the estimation state space. We propose a method to extract the subspace using the observer canonical form considering the dynamics related to the remaining subspace acts as a disturbance. We designed a reduced order detection filter to reject the disturbance as well as to guarantee fault detection and isolation. A simulation result for a 5th order system is presented as an illustrative example of the proposed design method.