• The Journal of Korea Robotics Society
• /
• v.13 no.4
• /
• pp.256-264
• /
• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• Journal of Power Electronics
• /
• v.19 no.4
• /
• pp.1020-1033
• /
• 2019

This paper presents a control strategy to enhance the accuracy of reactive power sharing between paralleled three-phase inverters in an islanded microgrid. In this study, the mismatch of power sharing when the line impedances have significant differences between inverters connected to a microgrid has been solved, the accuracy of the reactive power sharing in an islanded microgrid is increased, the voltage droop slope is tuned to compensate for the mismatch of voltage drops across the line impedances by using an enhanced droop controller. The proposed method ensures accurate power sharing even if the microgrid has local loads at the output of the inverters. The control model has been simulated by MATLAB/Simulink with two or three inverters connected in parallel. Simulation results demonstrate the accuracy of the implemented control method. Furthermore, in order to validate the theoretical analysis and simulation results, an experimental setup was built in the laboratory. Results obtained from the experimental setup verify the effectiveness of the proposed method.

• Proceedings of the KIPE Conference
• /
• 2019.07a
• /
• pp.475-476
• /
• 2019

본 논문에서는 다기능 ESS의 제어알고리즘 및 운영 전략에 따른 모드 천이 안정성 및 경제성 등 장시간 시뮬레이션을 수행할 수 있는 소프트웨어 테스트베드 모델설계 결과를 제시한다. 전력변환장치의 순시 응답 특성을 확인하기 위해서 인버터 전력반도체 스위치, 인덕터 및 커패시터 등의 부품에 대한 모델링이 필요하고, 이는 전력계통에서 활용되고 있는 상용 소프트웨어인 Matlab/Simulink/SimPowerSystems의 라이 브러리를 활용하여 구현할 수 있다. 하지만 평균모델을 사용하는 경우에도 각 요소 회로의 시정수로 인해 시뮬레이션의 샘플링 시간을 줄이는 데는 한계가 있다. 따라서 본 논문에서는 신재생 에너지의 하루 발전 특성에 대한 제어로직에 따른 결과 및 경제성 분석등에 활용할 수 있는 기능모델(functional model)의 설계 방법을 제시하고, 개발된 모델을 상용소프트웨어의 결과와 비교함으로써 본 연구결과의 타당성을 보인다.

• Journal of Aerospace System Engineering
• /
• v.13 no.4
• /
• pp.10-17
• /
• 2019

This study is concerned with a numerical analysis based on the finite element method to describe the effect of midplane delamination in smart laminated composite plate structures. A new finite element model for centrally located delamination and healthy section was developed and coded in Matlab. The transient analysis of delaminated composite plate with integrated Active Fiber Composite (AFC) was investigated in the present article. The formulation of the governing equation was based on the minimum total potential energy approach. The Newmark time integration technique was employed to solve the differential equations. A parametric study on the effects of boundary conditions and AFC patch location, in presence of delamination on the laminated plate were studied.

• International Journal of Computer Science & Network Security
• /
• v.21 no.3
• /
• pp.165-171
• /
• 2021

Vehicular Ad hoc Network (VANET) is an extension paradigm of moving vehicles to communicate with wireless transmission devices within a certain geographical limit without any fixed infrastructure. The vehicles have most important participation in this model is usually positioned quite dimly within the certain radio range. Fuzzy based multi-hop broadcast protocol is better than conventional message dissemination techniques in high-mobility VANETs, is proposed in this research work. Generally, in a transmission range the existing number of nodes is obstacle for rebroadcasting that can be improved by reducing number of intermediate forwarding points. The proposed protocol stresses on transmission of emergency message projection by utilization subset of surrounding nodes with consideration of three metrics: inter-vehicle distance, node density and signal strength. The proposed protocol is fuzzy MHB. The method assessment is accomplished in OMNeT++, SUMO and MATLAB environment to prove the efficiency of it.

• Journal of information and communication convergence engineering
• /
• v.20 no.1
• /
• pp.1-7
• /
• 2022

Herein, a new space-time block coding technique is proposed for a MIMO 2 × 2 multiple-input multiple output (MIMO) system to minimize the bit error rate (BER) in Rayleigh fading channels with reduced decoding complexity using ZF and MMSE linear detection techniques. The main objective is to improve the service quality of wireless communication systems and optimize the number of antennas used in base stations and terminals. The idea is to exploit the correlation product technique between both information symbols to transmit per space-time block code and their own orthogonal Walsh-Hadamard sequences to ensure orthogonality between both symbol vectors and create a full-rate orthogonal STBC code. Using 16 quadrature amplitude modulation and the quasi-static Rayleigh channel model in the MATLAB environment, the simulation results show that the proposed space-time block code performs better than the Alamouti code in terms of BER performance in the 2 × 2 MIMO system for both cases of linear decoding ZF and MMSE.

• International Journal of Computer Science & Network Security
• /
• v.22 no.1
• /
• pp.255-261
• /
• 2022

Routing Protocol for Low-Power and Lossy Networks (RPLs) in Internet of Things (IoT) is currently one of the most popular wireless technologies for sensor communication. RPLs are typically designed for specialized applications, such as monitoring or tracking, in either indoor or outdoor conditions, where battery capacity is a major concern. Several routing techniques have been proposed in recent years to address this issue. Nevertheless, the expansion of the network lifetime in consideration of the sensors' capacities remains an outstanding question. In this research, aANN-CUCKOO based optimization technique is applied to obtain a more efficient and dependable energy efficient solution in IOT-RPL. The proposed method uses time constraints to minimise the distance between source and sink with the objective of a low-cost path. By considering the mobility of the nodes, the technique outperformed with an efficiency of 98% compared with other methods. MATLAB software is used to simulate the proposed model.

• Journal of applied mathematics & informatics
• /
• v.40 no.5_6
• /
• pp.933-947
• /
• 2022

In this research, we presented the type 2 fuzzy transportation problem with additional constraints and solved by our proposed genetic algorithm model, and the results are verified using the softwares, genetic algorithm tool in Matlab and Lingo. The goal of our approach is to minimize the cost in solving a transportation problem with an additional constraint (TPAC) using the genetic algorithm (GA) based type 2 fuzzy parameter. We reduced the type 2 fuzzy set (T₂FS) into a type 1 fuzzy set (T₁FS) using a critical value-based reduction method (CVRM). Also, we use the centroid method (CM) to obtain the corresponding crisp value for this reduced fuzzy set. To achieve the best solution, GA is applied to TPAC in type 2 fuzzy parameters. A real-life situation is considered to illustrate the method.

• Journal of the Semiconductor & Display Technology
• /
• v.21 no.3
• /
• pp.130-134
• /
• 2022

An anti-reflective coating is used to improve the performance of the solar cell. The anti-reflective coating changes the value of the short-circuit current about the thickness. However, the current-voltage characteristics about the anti-reflective coating are difficult to calculate without simulation tool. In this paper, a modeling technique to determine the short-circuit current value and the current-voltage characteristics in accordance with the thickness is proposed. In addition, artificial neural network is used to predict the short-circuit current with the dependence of temperature and thickness. Simulation results incorporating the artificial neural network model are obtained using MATLAB/Simulink and show the current-voltage characteristic according to the thickness of the anti-reflective coating.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.6_2
• /
• pp.993-1002
• /
• 2022

This paper relates to a method of modeling the thrust dynamic load caused by the thrust variation occurring on the blade due to the tower shadow below the rated wind speed. A method that uses thrust coefficient is presented by introducing "tower shadow coefficient of thrust variation". For a 2MW wind turbine, the values of "tower shadow coefficient of thrust variation" are calculated and analyzed at wind speeds below the rated. The dynamic load model of thrust under tower shadow is evaluated in Matlab/Simulink using the obtained "tower shadow coefficient of thrust variation" and thrust coefficient. It shows that the thrust variations acting on the three blades by the tower shadow can be expressed using both the thrust coefficient and the introduced "tower shadow coefficient of thrust variation".