• 대한임베디드공학회논문지
• /
• 제18권4호
• /
• pp.151-157
• /
• 2023

RPL (IPv6 Routing Protocol for Low-power Lossy Network) is a standardized routing protocol for LLNs (Low power and Lossy Networks) by the IETF (Internet Engineering Task Force). RPL creates routes and builds a DODAG (Destination Oriented Directed Acyclic Graph) through OF (Objective Function) defining routing metrics and optimization objectives. RPL supports a leaf mode which does not allow any child nodes. In this paper, we propose INFRA-RPL which provides a dynamic leaf mode functionality to a leaf node with the mobility. The proposed protocol is implemented in the open-source IoT operating system, Contiki-NG and Cooja simulator, and its performance is evaluated. The evaluation results show that INFRA-RPL outperforms the existing protocols in the terms of PDR, latency, and control message overhead.

• Journal of Electrical Engineering and Technology
• /
• 제8권4호
• /
• pp.930-937
• /
• 2013

In this paper, a motor control algorithm for performing a mode change without an integrated starter generator (ISG) is suggested for the automatic transmission-based hybrid electric vehicle (HEV). Dynamic models of the HEV powertrains such as engine, motor, and mode clutch are derived for the transient state during the mode change, and the HEV performance simulator is developed. Using the HEV performance bench tester, the characteristics of the mode clutch torque are measured and the motor torque required for the mode clutch synchronization is determined. Based on the dynamic models and the mode clutch torque, a motor torque control algorithm is presented for mode changes, and motor control without the ISG is investigated and compared with the existing ISG control.

• 대한토목학회논문집
• /
• 제28권4A호
• /
• pp.507-515
• /
• 2008

본 연구에서는 모드분해기법을 이용한 변형률신호로부터 변위응답추정 방법을 개발하였다. 일반적으로 교량의 안정성평가는 완공 후에 초점이 맞추어져 있다. 하지만 가설 중에도 풍하중과 지진하중과 같은 동적하중에 노출되어 있으며, 이런 동적하중에 대한 안정성을 검토하기 위해 교량의 안정성 평가에 있어 중요한 인자인 변위를 추정하는 것이 중요하다. 그러나 건설현장에서의 적절한 변위측정 방법의 부재로 인하여 대형구조물의 전체적인 변위를 측정할 수 없는 것이 현실이다. 본 연구에서는 간접적으로 변위를 추정하는 방법인 변형률로 변위를 추정하는 방법을 제시하였으며, 광섬유 브래그 격자 센서(fiber optic Bragg-grating sensor)를 사용하여 변형률을 계측하였다. 기존에도 FBG센서를 이용한 변위추정 방법이 있었으며 기존의 방법으로는 정적하중에 대한 변위추정은 가능하였으나 고차 모드의 변형률신호와 노이즈의 영향 때문에 동적하중에 대한 변위추정은 많은 오차가 발생하여 정확한 변위추정이 어려웠다. 이런 오차를 줄이는 방법으로 모드분해기법을 사용하였다. 모드분해기법은 변형률신호로부터 proper orthogonal decomposition(POD)을 이용하여 추정한 모드형상과 empirical mode decomposition(EMD)을 이용하여 모드 분해한 변형률신호로 모드별 변위응답을 추정하고, 구조물의 주요 모드에 대한 변위응답을 합하여 전체변위응답을 추정하는 방법이다. 제안한 모드분해기법을 검증하기 위해 실내모형실험을 수행하였다.

• 대한기계학회논문집A
• /
• 제20권12호
• /
• pp.3828-3837
• /
• 1996

The dynamic problems of interface crack propagated with constant velocity along the interface of bimateraial composed of isotropic and orthotropicmaterial under antiplane loading condition are studied in this paper. The general dynamic stress fields and displacement fields of mode III are derived when interface crack between isotropic and orthotropic material is propagating with constant velocity. The general dynamic stress fields and displacement fields in isotropic material. Finally, the characteristics of interface crack propagation are studied with various properties of isotropic and orthotropic material and crack propagarion velocities.

• 전기학회논문지
• /
• 제59권11호
• /
• pp.2066-2072
• /
• 2010

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• 핵의학기술
• /
• 제21권1호
• /
• pp.15-22
• /
• 2017

본원에서 시행하는 Brain SPECT 검사는 $^{99m}Tc-ECD$ 또는 $^{99m}Tc-HMPAO$를 주사 한 후 뇌 영상을 얻어 뇌 관류상태를 평가하는 검사이다. 하지만 검사 중 일부 환자 상태가 불안정할 경우 움직임이 발생하여 재촬영이나 검사실패로 이어지는 경우가 발생 된다. 이에 현재의 Step and Shoot Mode(SSM)이 아닌 움직임이 발생되더라도 재구성을 통해 영상 구현이 가능한 Dynamic Continuous Mode(DCM)를 적용하여 환자의 재촬영과 피폭선량을 감소시키고 검사실에 운영 효율성을 높이고자함에 있다. Deluxe PET/SPECT Phantom과 Hoffman 3D Brain Phantom으로 Filtered Back Projection(FBJ)과 Iterated Reconstruction(IR)으로 재구성하여 영상을 구현하였다. 이미지를 가지고 핵의학과 5년이상의 임상경력이 있는 의사 5명과 방사선사 5명을 대상으로 리커트 5점 척도(Likert 5 Scale)와 블라인드 판독 테스트를 실시 하였다. 판독의 블라인드 테스트 결과 최소 DCM 3Repeat (30%)에서 7Repeat (50%)까지 판독에 영향을 주지 않는다고 답해 주었다. DCM으로 검사 시 환자 움직임이 발생되면 불필요한 부분을 제거하여 재촬영, 재주사의 감소를 가져올 수 있고, 장비 오류 시 영상을 재구성 후 구현 할 수 있어 검사실 운영 효율도 높을 수 있을 것으로 기대된다. 또한 SPECT검사뿐 만 아니라 SPECT/CT검사 에서도 활발한 연구가 적용 될 거라 기대 되며 마지막으로 실제 환자 적용은 환자 데이터의 충분한 수집 후 병원 판독 실정에 맞게 도입이 필요 하리라 사료된다.

• 로봇학회논문지
• /
• 제12권3호
• /
• pp.339-349
• /
• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• 한국항공운항학회지
• /
• 제23권1호
• /
• pp.49-55
• /
• 2015

This paper deals with dynamic modeling and controller design of a future Korean lunar module planned to be launched 2020's in Korea. For dynamic modeling of the lunar module, we first assume the lunar module as a rigid body. And we derive equations of motion for the lunar module by considering allocation of main thrusters and reaction thrusters. With the equation of motion, we design the controller based on the quaternion. A Pulse Width Pulse Frequency modulator(PWPFM) is selected for generating on/off signal. Finally, we construct a 2-phase descent mode including initial guidance mode, terminal guidance mode. The MATLAB simulation is performed for evaluating the descent ability and final landing velocity. The dynamic modeling and descent simulation of the lunar module in this paper could be applied for developing the future work of the Korean lunar exploration program.

• Structural Engineering and Mechanics
• /
• 제8권1호
• /
• pp.39-51
• /
• 1999

The dynamic response of buried pipelines has gained considerable importance because these pipelines perform vital role in conducting energy, water, communication and transportation. After realizing the magnitude of damage, and hence, the human uncomfort and the economical losses, researchers have paid sincere attention to this problem. A number of papers have appeared in the past which discuss the different aspects of the problem. This paper presents a theoretical analysis of non-axisymmetric dynamic response of buried orthotropic cylindrical shell subjected to a moving load along the axis of the shell. The orthotropic shell has been buried in a homogeneous, isotropic and elastic medium of infinite extent. A thick shell theory including the effects of rotary inertia and shear deformation has been used. A perfect bond between the shell and the surrounding medium has been assumed. Results have been obtained for very hard (rocky), medium hard and soft soil surrounding the shell. The effects of shell orthotropy have been brought out by varying the non-dimensional orthotropic parameters over a long range. Under these conditions the shell response is studied in axisymmetric mode as well as in the flexural mode. It is observed that the shell response is significantly affected by change in orthotropic parameters and also due to change of response mode. It is observed that axial deformation is large in axisymmetric mode as compared to that in flexural mode.

• 소음진동
• /
• 제4권3호
• /
• pp.327-335
• /
• 1994

In this paper, to identify the dynamic characteristics of antenna system, the antenna is divided into 4 components and those were analyzed with a conventional FEM package MSC/NASTRAN. Using a Component Mode Synthesis Method, dynamic characteristics of total system is also identified. The Coherence of each component to total system is evaluated by using strain and kinetic component to total system is evaluated by using strain and kinetic energy. The improving strategy of dynamic characteristics is suggested by changing mass and stiffness of large coherence components.