• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1571-1574
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• 2003

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

• 한국에너지공학회:학술대회논문집
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• 한국에너지공학회 2000년도 춘계 학술발표회 논문집
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• pp.43-50
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• 2000

The flow field of a 1 Ton/Day entrained-flow gasifier constructed in KIER was numerical simulate in this paper. The standard $k-{\varepsilon}$ turbulence model and simple procedure was used with the Primitive-Variable methods during computation. In order to find the influence factors of the flow field which may have great effects on coal gasification process inside gasifier, difference geometry parameters at various operating conditions were studied by simulation methods. The calculation results show that the basic shape of the flow field is still parabolic even the oxygen gas is injected from the off-axis position. There exist an obvious external recirculation zone with a length less than 1.0m and a small internal recirculation region nears the inlet part. The flow field inside the new gasifier is nearly similar as that of the old 0.5T/D gasifier at same position if the design of burner remains unchanged.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.155.2-155
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• 2001

A heavy duty power manipulator consisting of high reduction ratio joints is usually used in heavy duty tasks. When the heavy duty power manipulator is used as the slave manipulator in the teleoperated bilateral control system, the position control performance of the slave manipulator and the system stability tend to deteriorate due to the windup phenomenon caused by actuator saturation. KAERI has developed a teleoperated bilateral control system for the study of the remote handling of a spent fuel mockup bundle, which has an enhanced bilateral control algorithm improving the position tracking performance of the slave manipulator while compensating for the windup phenomenon. In this paper, the developed bilateral control system ...

• Bulletin of the Korean Chemical Society
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• 제28권12호
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• pp.2343-2353
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• 2007

We report the application of time-dependent density functional theory (TDDFT) to the calculation of potential energy profile relevant to the excited state intramolecular proton transfer (ESIPT) processes in title molecules. The TDDFT single point energy calculations along the reaction path have been performed using the CIS optimized structure in the excited state. In addition to the Stokes shifts, the transition energies including absorption, fluorescence, and 0-0 transition are estimated from the TDDFT potential energy profiles along the proton transfer coordinate. The excited state TDDFT potential energy profile of SA and 3ASA resulted in very flat function of the OH distance in the range ROH = 1.0-1.6 A, in contrast to the relatively deep single minimum function in the ground state. Furthermore, we obtained very shallow double minima in the excited state potential energy profile of SA and 3ASA in contrast to the single minimum observed in the previous work. The change of potential energy profile along the reaction path induced by the substitution of electron donating groups (-NH2 and -OCH3) at different sites has been investigated. Substitution at para position with respect to the phenolic OH group showed strong suppression of excited state proton dislocation compared with unsubstitued SA, while substitution at ortho position hardly affected the shape of the ESIPT curve. The TDDFT results are discussed in comparison with those of CASPT2 method.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권2호
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• pp.189-195
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• 2005

This paper presents a new velocity estimation strategy for a non-salient permanent magnet synchronous motor drive without high frequency signal injection or special PWM pattern. This approach is based on the d-axis current regulator output voltage of the drive system, which contains the rotor position error information. The rotor velocity can be estimated through a rotor position tracking PI controller that controls the position error at zero. For zero and low speed operation, the PI gain of the rotor position tracking controller has a variable structure according to the estimated rotor velocity. Then, at zero speed, the rotor position and velocity have sluggish dynamics because the varying gains are very low in this region. In order to boost the bandwidth of the PI controller during zero speed, the loop recovery technique is applied to the control system. The PI tuning formulas are also derived by analyzing this control system by frequency domain specifications such as phase margin and bandwidth assignment.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2000년도 특별강연 및 추계학술발표대회 개요집
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• pp.182-185
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• 2000

• 한국정보통신학회논문지
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• 제13권5호
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• pp.887-898
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• 2009

무선 센서네트워크를 위해 제안된 기존의 라우팅 알고리즘들은 무선 센서네트워크의 특성을 완벽히 수용하지 못하고 있다. 특히, 위치정보를 이용하면 에너지 소비와 전역 id 문제의 해결 등에서 많은 이득을 얻을 수 있음에도 불구하고, 이를 적극적으로 이용하는 알고리즘은 드물다. 위치정보를 이용하는 대표적인 알고리즘인 GEAR 같은 경우, 그 용도가 질의메시지 전파에 한정되어 있을 뿐만 아니라 고정된 네트워크 환경을 가정하고 있으므로 무선 센서네트워크의 특성을 제대로 반영하지 못한다. 본 논문에서 제안하는 라우팅 알고리즘은 각 노드의 위치정보와 싱크 노드의 위치정보를 기반으로 하여 전송되는 데이터의 방향성을 정의한다. 그리고 각 노드는 이 방향성을 기준으로 경로를 설정하고 신호를 보낸다. 위치정보를 이용하여 데이터 중심석 라우팅을 하므로 각 노드를 식별하기 위한 전역 식별자가 필요 없고, 방향성을 정의하여 그에 따라 신호를 전송하므로 무분별한 에너지 소비를 막을 수 있다.

• International Journal of Ocean System Engineering
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• 제1권3호
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• pp.165-170
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• 2011

In this paper, for the accurate estimation of the position and orientation of the UUV (unmanned underwater vehicle), an AHRS (Attitude Heading Reference System) was developed using the IMU (inertial measurement unit) sensor which provides information on acceleration and orientation in the object coordinate and the initial alignment algorithm and the E-KF (extended Kalman Filter). The initial position and orientation of the UUV are estimated using the initial alignment algorithm with 3-axis acceleration and geomagnetic information of the IMU sensor. The position and orientation of the UUV are estimated using the AHRS composed of 3-axis acceleration, velocity, and geomagnetic information and the E-KF. For the performance test of the orientation estimation of the AHRS, a testbed using IMU sensor(ADIS16405) and DSP28335 coded with an E-KF algorithm was developed and its performance was verified through tests.

• 한국산업융합학회 논문집
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• 제4권3호
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• pp.339-347
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• 2001

Automatic automobile has been studied as the alternative energy system and the production flow automation device recently. But this is dependent on the import production, and its position cannot be controlled free from the fixed path. It is difficult to control the automobile position because of the eccentricity of inertia monent, slip and roughness between wheel and road surface. This problems is solved for the controller to be feedbacked the data of the multi-sensor system consisting of the rotary encoder and electronic compass. The proportional Integrated controller in the modified Ziegler-Nichols method is made up with Hitachi 7034 microprocessor. To the real time control the mechanical, electrical and electronic hardware and software device is produced by myself. The RF data of automobile speed and position is supplied to the remote PC to be displayed the automobile condition. By the experinent of the forward, spin, point path planning, it is known for autombile.

• 전력전자학회논문지
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• 제8권3호
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• pp.260-265
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• 2003

태양의 고도와 방위각에 따라 태양광 발전 시스템의 에너지량이 차이가 많이 난다. 본 연구는 소규모 독립형 시스템인 가로등에 맞는 경제적인 추적장치 개발에 관한 것이다. 위치추적시스템은 프로그램을 사용한 방식으로서 시스템을 기존 유사 시스템에 비해 저가화를 실현하였다. 개발된 태양 위치 추적 시스템을 가로등에 적용하여 고정식과 추적식의 에너지량을 일정 기간 동안 실측 비교한 결과 평균 86%의 효율개선 효과를 보았다.