• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.6
• /
• pp.492-497
• /
• 2002

Map building is the process of modeling the robot's environment. The map is usually built based on a grid-based or topological approach, which has its own merits and demerits. These two methods, therefore, can be integrated to provide a better way of map building, which compensates for each other's drawbacks. In this paper, a method of building the topological map based on the occupancy grid map through a Voronoi diagram is presented and verified by various simulations. This Voronoi diagram is made by using a labeled Voronoi diagram scheme which is suitable for the occupancy grid maps. It is shown that the Proposed method is efficient and simple fur building a topological map. The simple path-planning problem is simulated and experimented verify validity of the proposed approach.

• Journal of Power Electronics
• /
• v.11 no.3
• /
• pp.360-368
• /
• 2011

This paper proposes an active frequency with a positive feedback in the d-q frame anti-islanding method suitable for a robust phase-locked loop (PLL) algorithm using the FFT concept. In general, PLL algorithms for grid-connected PV PCS use d-q transformation and controllers to make zero an imaginary part of the transformed voltage vector. In a real grid system, the grid voltage is not ideal. It may be unbalanced, noisy and have many harmonics. For these reasons, the d-q transformed components do not have a pure DC component. The controller tuning of a PLL algorithm is difficult. The proposed PLL algorithm using the FFT concept can use the strong noise cancelation characteristics of a FFT algorithm without a PI controller. Therefore, the proposed PLL algorithm has no gain-tuning of a PI controller, and it is hardly influenced by voltage drops, phase step changes and harmonics. Islanding prediction is a necessary feature of inverter-based photovoltaic (PV) systems in order to meet the stringent standard requirements for interconnection with an electrical grid. Both passive and active anti-islanding methods exist. Typically, active methods modify a given parameter, which also affects the shape and quality of the grid injected current. In this paper, the active anti-islanding algorithm for a grid-connected PV PCS uses positive feedback control in the d-q frame. The proposed PLL and anti-islanding algorithm are implemented for a 250kW PV PCS. This system has four DC/DC converters each with a 25kW power rating. This is only one-third of the total system power. The experimental results show that the proposed PLL, anti-islanding method and topology demonstrate good performance in a 250kW PV PCS.

• Proceedings of the KIPE Conference
• /
• 2019.07a
• /
• pp.77-79
• /
• 2019

Islanding detection is one of the most important issues for the distributed generation (DG) systems connected to the power grid. The conventional passive islanding detection methods inherently have a non-detection zone (NDZ), and active islanding detection methods may deteriorate the power quality of a power system. This paper proposes a novel hybrid islanding detection method based on Digital Lock-In Amplifier with no NDZ by monitoring the harmonics present in the grid. Proposed method detects islanding by passively monitoring the grid voltage harmonics and verify it by injecting small perturbation for only three-line cycles. Unlike FFT for the harmonic extraction, DLA HC have lower computational burden, moreover, DLA can monitor harmonic in real time, whereas, FFT has certain propagation delay. The simulation results are presented to highlight the effectiveness of the proposed technique. In order to prove the performance of the proposed method it is compared with several passive islanding detection methods. The experimental results confirm that the proposed method exhibits outstanding performance as compared to the conventional methods.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.24 no.1
• /
• pp.1-22
• /
• 2020

An accurate and efficient gradient estimation method on unstructured grid is presented by proposing a switching process between two Least-Square methods. Diverse test cases show that the gradient estimation by Least-Square methods exhibit better characteristics compared to Green-Gauss approach. Based on the investigation, switching between the two Least-Square methods, whose merit complements each other, is pursued. The condition number of the Least-Square matrix is adopted as the switching criterion, because it shows clear correlation with the gradient error, and it can be easily calculated from the geometric information of the grid. To illustrate switching process on general grid, condition number is analyzed using stencil vectors and trigonometric relations. Then, the threshold of switching criterion is established. Finally, the capability of Switching Weighted Least-Square method is demonstrated through various two- and three-dimensional applications.

• Journal of Radiation Protection and Research
• /
• v.41 no.2
• /
• pp.111-115
• /
• 2016

Background: The scattered photons cause reduction of the contrast of radiographic image and it results in the degradation of the quality of the image. In order to acquire better quality image, an anti-scattering x-ray gird should be equipped in radiography system. Materials and Methods: The X-ray anti-scattering grid of the inclined type based on the hybrid concept for that of parallel and focused type was tested by MCNP code. The MCNPX 2.7.0 was used for the simulation based test. The geometry for the test was based on the IEC 60627 which was an international standard for diagnostic X-ray imaging equipment-Characteristics of general purpose and mammographic anti-scatter grids. Results and Discussion: The performance of grids with four inclined shielding material types was compared with that of the parallel type. The grid with completely tapered type the best performance where there were little performance difference according to the degree of inclination. Conclusion: It was shown that the grid of inclined type had better performance than that of parallel one.

• Journal of Power Electronics
• /
• v.16 no.3
• /
• pp.1067-1075
• /
• 2016

This paper presents an adaptive observer-based approach to estimate voltage parameters, including frequency, amplitude, and phase angle, for single-phase power systems. In contrast to most existing estimation methods of grid voltage parameters, in this study, grid voltage is treated as a dynamic system related to an unknown grid frequency. Based on adaptive observer theory, a full-order adaptive observer is proposed to estimate voltage parameters. A Lyapunov function-based argument is employed to ensure that the proposed estimation method of voltage parameters has zero steady-state error, even when frequency varies or phase angle jumps significantly. Meanwhile, a reduced-order adaptive observer is designed as the simplified version of the proposed full-order observer. Compared with the frequency-adaptive virtual flux estimation, the proposed adaptive observers exhibit better dynamic response to track the actual grid voltage frequency, amplitude, and phase angle. Simulations and experiments have been conducted to validate the effectiveness of the proposed observers.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.48 no.3
• /
• pp.30-41
• /
• 2011

In order to obtain more clear x-ray images, an antiscatter grid, which can absorb the scattered rays, is employed. In the high-resolution direct digital radiography, however, the artifacts due to the grid are visible. In this paper, within the methods of obtaining x-ray digital images by employing the rotated grids for the facility of grid artifact reduction, the previous work, where the frequencies of the artifact components on the boundary, is further analyzed and extended, and a min-max optimization for a given grid density is proposed. For practical grid densities, appropriate grid angles are provided and a grid artifact reduction algorithm is proposed for the appropriate grid angles. The proposed algorithm is tested for real x-ray digital images with a comparison, and can remove the grid artifacts while maintaining the resolution of the original image.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.3
• /
• pp.1071-1090
• /
• 2016

Most of scheduling methods in the Grid only consider one special attribute of the resource or one aspect of QoS (Quality of Service) of the job. In this paper, we focus on the problem that how to consider two aspects simultaneously. Based on the requirements of the jobs and the attributes of the resources, jobs are categorized into three kinds: CPU-overload, memory-overload, and bandwidth-overload jobs. One job may belong to different kinds according to different attributes. We schedule the jobs in different categories in different orders, and then propose a scheduling method-MTS (multiple attributes scheduling method) to schedule Grid resources. Based on the comparisons between our method, Min-min, ASJS (Adaptive Scoring Job Scheduling), and MRS (Multi-dimensional Scheduling) show: (1) MTS reduces the execution time more than 15% to other methods, (2) MTS improves the number of the finished jobs before the deadlines of the jobs, and (3) MTS enhances the file size of transmitted files (input files and output files) and improves the number of the instructions of the finished jobs.

• Nuclear Engineering and Technology
• /
• v.38 no.4
• /
• pp.375-382
• /
• 2006

Characterization tests (load vs. displacement curve) are conducted for the springs of Zirconium alloy spacer grids for an advanced LWR fuel assembly. Twofold testing is employed: strap-based and assembly-based tests. The assembly-based test satisfies the in situ boundary conditions of the spring within the grid assembly. The aim of the characterization test via the aforementioned two methods is to establish an appropriate assembly-based test method that fulfills the actual boundary conditions. A characterization test under the spacer grid assembly boundary condition is also conducted to investigate the actual behavior of the spring in the core. The stiffness of the characteristic curve is smaller than that of the strap-wised boundary condition. This phenomenon may cause the strap slit condition. A spacer grid consists of horizontal and vertical straps. The strap slit positions are differentiated from each other. They affords examination of the variation of the external load distribution in the grid spring. Localized legions of high stress and their values are analyzed, as they may be affected by the spring shape. Through a comparison of the results of the test and FE analysis, it is concluded that the present assembly-based analysis model and procedure are reasonably well conducted and can be used for spring characterization in the core. Guidelines for improving the mechanical integrity of the spring are also discussed.

• Journal of Power Electronics
• /
• v.16 no.5
• /
• pp.1939-1949
• /
• 2016

This paper presents an alternative frequency adaptive grid synchronization technique named HDN-FLL, which can accurately extract the fundamental positive- and negative-sequence components and interested harmonics in adverse three-phase grid voltage. The HDN-FLL is based on the harmonic decoupling network (HDN) consisting of multiple first order complex vector filters (FOCVF) with a frequency-locked loop (FLL), which makes the system frequency adaptive. The stability of the proposed FLL is strictly verified to be global asymptotically stable. In addition, the linearization and parameters tuning of the FLL is also discussed. The structure of the HDN has been widely used as a prefilter in grid synchronization techniques. However, the stability of the general HDN is seldom discussed. In this paper, the transfer function expression of the general HDN is deduced and its stability is verified by the root locus method. To show the advantages of the HDN-FLL, a simulation comparison with other gird synchronization methods is carried out. Experimental results verify the excellent performance of the proposed synchronization method.