• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.185-194
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• 2016

It is essential for generating the synthetic image to test and evaluate a guided missile system in the hardware-in-the-loop simulation. In order to make the evaluation results to be more reliable, the extent of fidelity and rendering performance of the synthetic image cannot be left ignored. There are numerous challenges to simulate the LWIR sensor signature of sea surface depending on the incident angle, especially in the maritime environment. In this paper, we investigate the key factors in determining the apparent temperature of sea surface and propose the approximate formula consisting of optical characteristics of sea surface and sky radiance. We find that the greater the incident angle increases, the larger the reflectivity of sea surface, and the greater the water vapor concentration in atmosphere increases, the larger the amount of sky radiance. On the basis of this information, we generate the virtual maritime environment in LWIR region using the SE-WORKBENCH, physically based rendering software. The margin of error is under seven percentage points.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.2
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• pp.75-81
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• 2021

This study analyzes the resonance characteristics caused by the mutual interference between LCL filters and the grid impedance under the parallel operation of the grid-connected inverter using the LCL filter. These characteristics are verified through simulation and experiment. Two inverters are used to connect to the grid in parallel, and the system parameters, including the LCL filter, are set to the same conditions. In the case of inverters running in parallel at the point of common coupling, the presence of grid impedance causes mutual interference between the LCL filters of each inverter, and the deviation of the filter resonance frequency is analyzed to understand the parallel inverter. The correlation between the number of devices and the size of grid impedance is simulated by PSIM and verified by MATLAB. By connecting the real-time digital simulator Typhoon HILS to the DSP 28377 control board, the mutual interference characteristics are tested under the condition of two inverters running in parallel. The experimental and analysis results are the same, indicating the validity of the analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2228-2234
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• 2000

Steering of the vehicles on a slippery highway is a difficult task for most passenger car drivers. The steering vehicles on slippery roads tend to slide outward with less lateral forces than on nor mal roads. When the drivers notice that their vehicles on a slippery highway start to depart from the cornering lane, most of them make a sudden steering and/or braking, which in turn may induce spin-out and instability on their vehicles. In this paper, an active steering control method is proposed such that the vehicles in slippery roads are steered as if they are driven on the normal roads. In the proposed method, the estimated lateral forces acting on the steering tires are compared with the reference values and the difference is compensated by the active steering method. A fuzzy logic controller is designed for this purpose and evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering performance results on the slippery curved and sinus roads demonstrate the effectiveness of the proposed controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1183-1194
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• 2021

Traditionally, electric power systems have been known as the centralized structures, which is organized into placing customers at the end of the supply chain. However, recent decades have witnessed the emergence of distributed energy resources(:DERs) such as rooftop solar, farming PV system, small wind turbines, battery energy storage systems and smart home appliances. With the emergence of distributed energy resources, the role of distributed system operators(:DSOs) will expand. The increasing penetration of DERs could lead to a less predictable and reverse flow of power in the system, which can affect the traditional planning and operation of distribution and transmission networks. This raises the need for a change in the role of the DSOs that have conventionally planned, maintained and managed networks and supply outages. The objective of this research is to designed the future distribution operation system with multi-DERs and the proposed distribution system model is implemented by hardware-in-the-loop simulation(HILS). The test results show the normal operation domain and reduction of distribution line loss.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.11
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• pp.1615-1621
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• 2014

A wireless tram which runs without catenary and instead uses batteries installed in the tram has been recently researched actively. This paper presents a new method maximizing absorption of regenerative energy of a wireless tram and extending life cycle of the energy storage device in the wireless tram by applying line-optimized charging and discharging scenario. Energy efficiency and life cycle of energy storage system (ESS) are highly dependent on the characteristic of operating conditions. For example, frequent charge and discharge with high power cause the problems that decrease the battery life cycles. Hybrid energy storage system (HESS) is combination of two ESSs which have complementary characteristics to each other. HESS can provide even better functionality and performance than the battery only ESS due to the synergy effect of two ESSs. This paper also provides a power distribution strategy and driving scenarios which increase the life cycle and energy efficiency of the HESS consisting of a battery and an ultra-capacitor. The developed strategy was tested and verified by a hardware-in-the-loop-simulation (HILS) system which emulates the a wireless tram.

• The Journal of the Acoustical Society of Korea
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• v.37 no.6
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• pp.451-456
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• 2018

UAComm (Underwater Acoustic Communication) is an active research area, and many experiment has been performed to develop UAComm system. In this paper, we investigate the possibility of modifying and applying VirTEX (Virtual Time series EXperiment) to medium long range MIMO (Multiple-Input Multiple-Output) UAComm of about 20 km range for the analysis and performance prediction of UAComm system. Since VirTEX is a time-domain simulator, the generated time series can be used in HILS (Hardware In the Loop Simulation) to develop UAComm system. The developed package is verified through comparing with the sea-going FAF05 (Focused Acoustic Field 2005) experimental data. The developed simulator can be used to predict the performance of UAComm system, and even replace the expensive sea-going experiment.

• The Journal of the Acoustical Society of Korea
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• v.13 no.2
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• pp.30-37
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• 1994

Since the morden targets are of high speed and getting quiet in both active and passive mode, the necessities of developing advanced SONAR system capable of performing target motion analysis (TMA) and target classification are evident. In order to develop such a system, the scattering mechanism of complex bodies needs to be, some extent, fully understood and modeled. In this paper, MOving Spread Target(MOST) signal simulation model is presented and discussed. The model is based on the highlight distribution method, and simulates pulse elongation of spread target, doppler effect due to kinematics of the target as well as SONAR platform, and distribution target strength of each highlight point (HL) with directivity. The model can be used in developing and evaluating advanced SONAR system through system simulation, and can also be used in the development of target state estimation algorithm.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.4
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• pp.225-233
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• 2021

Conventional submarine propulsion batteries have mainly used lead acid batteries, which have proved relatively safe, but in recent years, research on mounting lithium-ion batteries to improve the underwater operation capability of submarines is underway in advanced countries such as Japan. Korea has world-class technology in the development of electric vehicles and lithium-ion batteries for energy storage, but fire safety accidents continue to occur in electric vehicles and energy storage lithium-ion batteries. In order to mount the lithium-ion battery in a submarine, it is necessary to check the safety as well as whether the performance is improved compared to the lead acid battery. Through the charge/discharge experiment of this lithium-ion battery module unit, it was possible to measure how much performance was improved compared to the lead acid battery. Safety tests were conducted on the lithium-ion battery module assuming that it was mounted on a submarine, and it was confirmed that safety was secured when applied to a submarine. Since many modules are mounted on actual submarines, it has been confirmed that it can be applied to submarine systems by simulating charge/discharge characteristics through Hardware-in-the Loop(HILS). Through the results of this study, the application of lithium-ion batteries to submarines is expected to significantly improve the sustainability of underwater operations.

• Journal of Korean Society of Transportation
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• v.33 no.1
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• pp.70-80
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• 2015

In recent years, tram has been the focus of a new mode of public transportation that can solve traffic jams and decrease public transit usage and environmental problem. This research is in the works to develop a tram signal controller and signal control strategies, and aim to resolve the problem of what could happen if a tram system was installed in general road. We developed the hierarchical signal control strategies to obtain a minimum tram bandwidth and to minimize vehicle delay, in order to perform a priority control to include passive and active signal priority control strategies. The strategies was produced for S/W and H/W, it is based in standard traffic signal controller. We conducted a micro simulation test to evaluate the hierarchical signal control strategies, which showed that the developed optimization model is effective to prevent a tram's stop in intersection, to reduce a tram's travel time and vehicle's delay.