• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.901-905
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• 2005

Monte Carlo localization is known to be one of the most reliable methods for pose estimation of a mobile robot. Much research has been done to improve performance of MCL so far. Although MCL is capable of estimating the robot pose even for a completely unknown initial pose in the known environment, it takes considerable time to give an initial estimate because the number of random samples is usually very large especially for a large-scale environment. For practical implementation of the MCL, therefore, a reduction in sample size is desirable. This paper presents a novel approach to reducing the number of samples used in the particle filter for efficient implementation of MCL. To this end, the topological information generated off- line using a thinning method, which is commonly used in image processing, is employed. The topological map is first created from the given grid map for the environment. The robot scans the local environment using a laser rangefinder and generates a local topological map. The robot then navigates only on this local topological edge, which is likely to be the same as the one obtained off- line from the given grid map. Random samples are drawn near the off-line topological edge instead of being taken with uniform distribution, since the robot traverses along the edge. In this way, the sample size required for MCL can be drastically reduced, thus leading to reduced initial operation time. Experimental results using the proposed method show that the number of samples can be reduced considerably, and the time required for robot pose estimation can also be substantially decreased.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.1
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• pp.36-44
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• 2014

The conventional central photo voltaic inverters have several problems. First, shadow problem in each solar panel, and high DC voltage problem from each panel because of concentration to one central inverter. Therefore, module integrated inverter is proposed to solve these problems. The inverter should be small and cost effective. The cost and size in the inverter depend on the inductor. So the switching frequency should be increased to reduce the inductor and total size, but there is a problem in efficiency because of the losses in turn-on and turn-off. In the paper, the critical conduction mode(CRM) switching method is adopted to reduce the switching loss and interleaving method is proposed to increase the efficiency in Flyback converter. Finally, the validity of the proposed scheme is investigated with simulated and experimental results for a prototype system rated at 200W.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.710-715
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• 2016

Due to its simplicity and high reliability, the box-counting(BC) method is one of the most frequently used techniques to estimate the fractal dimensions of a binary image with a self-similarity property. The fractal calculation requires data sampling that determines the size of boxes to be sampled from the given image and directly affects the accuracy of the fractal dimension estimation. There are three non-overlapping regular grid methods: geometric-step method, arithmetic-step method and divisor-step method. These methods have some drawbacks when the image size M becomes large. This paper presents a BC algorithm for enhancing the accuracy of the fractal dimension estimation based on a new sampling method. Instead of using the geometric-step method, the new sampling method, called the coverage ratio-step method, selects the number of steps according to the coverage ratio. A set of experiments using well-known fractal images showed that the proposed method outperforms the existing BC method and the triangular BC method.

• Journal of the Institute of Convergence Signal Processing
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• v.8 no.3
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• pp.199-204
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• 2007

This paper presents design of interleave configured dc-dc converter for high power distributed power system applications. The multi channel interleaving buck converter with small inductance has proved to be suitable for micro-grid, requiring medium output voltages, high output currents and fast transient response. Integrated magnetic components are used to reduce the size of the converter and improve efficiency. Unlike conventional methods, the distributed approach requires no centralized control, automatically accommodates varying numbers of converter cells, and is highly tolerant of subsystem failures. A general methodology for achieving distributed interleaving is proposed, along with a specific implementation approach. The design and simulation verification of switching frequency 10 kHz system is presented with interleaved clocking of the converter cells. The simulation (simulated by PSIM 6.1) results corroborate the analytical predictions and demonstrate the tremendous benefits of the distributed interleaving approach.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1318-1328
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• 2015

The photovoltaic (PV) power conditioning system for small-scale applications has gained significant interest in the past few decades. However, the standalone mode of operation has been rarely approached. This paper presents a two-stage multi-level micro-inverter topology that considers the different operation modes. A multi-output flyback converter provides both the DC-Link voltage balancing for the multi-level inverter side and maximum power point tracking control in grid connection mode in the PV stage. A modified H-bridge multi-level inverter topology is included for the AC output stage. The multi-level inverter lowers the total harmonic distortion and overall ratings of the power semiconductor switches. The proposed micro-inverter topology can help to decrease the size and cost of the PV system. Transient analysis and controller design of this micro-inverter have been proposed for stand-alone and grid-connected modes. Finally, the system performance was verified using a 120 W hardware prototype.

• Transactions of the Korean hydrogen and new energy society
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• v.17 no.3
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• pp.338-346
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• 2006

In this paper, the test results of medium-size(120 kW class) PV system which was installed in the Taeahn thermal power station of Korea Western Power Co., Ltd., were summarized for developing the practical technology to applicate high voltage grid connection PV system. The 120 kW photovoltaic system which was consisted of 1,300 modules, PCS, and 150 kVA transformer station has been operated since Aug. 05, 2005. For verifying the modeling results of PV system, the operation data was compared with modeling results which was executed commercial PSCAD/EMTD and Psim tools. An equivalent circuit model of a solar cell has been also used for solar array modeling. A series of parameters required for array modeling have been estimated from general specification data of a solar module. A PWM voltage source inverter(VIS) and its current control scheme have been analyzed by using P&O (perturbation and Observation) MPPT algorithms technique.

• Journal of The Korean Society of Agricultural Engineers
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• v.52 no.6
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• pp.9-17
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• 2010

In this paper, an automatic cruise system of unmanned boat was developed for surveying water depth in reservoir using GIS (geographic information system)-GPS (global positioning system) Technologies. the automatic cruise system consisted of an automatic path generation program (APGP) and an automatic boat control program (ABCP). A grid processing method with $3{\times}3$ roving window in GIS function was used to develop the APGP. For development of the ABCP, GPS and its coordinate calculation technique were introduced. The developed system was tested to verify the applicability for a sample reservoir, Misan reservoir located on Ansan city of Kyunggi province. From the test results, this study found the APGP generated cruise path automatically according to input condition on grid size of 5 m, 10 m, and 20 m, as well as, the ABCP also tracked well the cruise paths with high position accuracy. Another verification result on surveying time for 20 ha of water area also showed that the new system could survey water depth of reservoir quickly, including very high quality of spatial resolution.

• Journal of Korean Society on Water Environment
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• v.29 no.2
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• pp.247-258
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• 2013

A grid-based configuration of Land Surface Models (LSMs) coupled with a climate model can be advantageous in impact assessment of climate change for a large scale area. We assessed the applicability of Common Land Model (CoLM) to runoff and land surface temperature (LST) simulations at the domain that encompasses the Nakdong river basin. To establish a high resolution model configuration of a $1km{\times}1km$ grid size, both surface boundary condition and atmospheric inputs from the observed weather data in 2009 were adjusted to the same resolution. The Leaf Area Index (LAI) was collected from MODerate esolution Imaging Spectroradiometer (MODIS) and the downward short wave flux was produced by a nonstationary multi-site weather state model. Compared with the observed runoffs at the stations on Nakdong river, simulated runoffs properly responded to rainfall. The spatial features and the seasonal variations of the domain fairly well were captured in the simulated LSTs as well. The monthly and seasonal trend of LST were described well compared to the observations, however, the monthly averaged simulated LST exceeded the observed up to $2^{\circ}C$ at the 24 stations. From the results of our study, it is shown that high resolution LSMs can be used to evaluate not only quantity but also quality of water resources as it can capture the geographical features of the area of interest and its rainfall-runoff response.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.6
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• pp.1100-1104
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• 2009

As national power consumption every year increases, the power plant which is in the process of planning tries to establish high-capacity generator. The power system tends to become a large size. With the progress of electronic components, the control systems of the generator have been digitalized and rapid-response control system is possible. However, the minute frequency vibration of grid occurred with the effect of rapid-response control system. To solve these problem, PPS(Power System Stability) has been introduced since 2004, and it has being installed and applied to the thermal and nuclear power plant which are high-capacity, over 800MVA. However the minute frequency vibration is gradually changed to the bigger frequency vibration by fast-action control system, and this regional frequency fluctuation might be diffused wide area. Therefore, it is applied to the hydro generator which is small with fast-action governor system, and it is necessary to control the minute frequency vibration to prevent to diffuse. In this paper, the effect will be proved by establishing PSS on the Hydro-Generator which has both digital excitation and governor system for the first time in Korea.

• Journal of the Korean Society of Clothing and Textiles
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• v.32 no.12
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• pp.1825-1836
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• 2008

Many applications in computer graphics require complex and highly detailed models. However it is often desirable to use approximations in place of excessively detailed models in order to control the processing time. Thus, we aim to develop a notion of optimal matrix to simplify surface which can rapidly obtain the high quality 2D patterns flattening 3D surface as follows. Firstly, two 3D bodies are modeled based on existing Size Korea data. Secondly, each model is divided by shell and block for its pattern draft. Thirdly, each block is flattened by grid and bridge method. Finally, we selected the optimal matrix and demonstrated the efficiency and quality of the proposed method. This proposed approach accommodates surfaces with darts, which are commonly used in the clothing industry to reduce the deformation of surface forming and flattening. The resulting optimal matrix could be an initiation of standardization for pattern flattening. It is expected that this method could facilitate much better approximation in both efficiency and precision.