• 대한전기학회논문지
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• 제38권12호
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• pp.983-994
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• 1989

This paper presents a new variable structure model following control algorithm for control of manipulators. The reference model is a simple double integrators and the acceleration input for the robot manipulator consists of a proportional and derivative controller for the purpose of trajectory tracking. The control algorithm is derived by using Lyapunov stability theory instead of S.S < O, as is usual in the current VSS controller design. This proposed control algorithm does not require good knowledge of the parameter in the inertia matrix and is easily extendable to robot manipulators with a higher number of links. Also, the new algorithm is computationally fast because of not requiring the matrix inversion. The computer simulation was carried out to evaluate the performance of the proposed VSMFC.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.458-463
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• 2000

This paper presents a design of the controller for vehicle lateral dynamics using active yaw moment. Vehicle lateral motion is incorporated with directional controllability and stability. These are conflicting each other from the view of vehicle handling performance. To compromise the trade-off between these two aspects, we suggest a new control algorithm based on the sliding mode with time-varying switching surface according to the body side slip angle. The controller can deal with the nonlinear region in vehicle driving and be robust to the parameter uncertainties in the plant model. Control performance was evaluated from the simulation.

• 전기학회논문지
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• 제61권11호
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• pp.1565-1570
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• 2012

Nuclear power generation is increasing domestic power supply ratio by lower CO2 emission and fuel prices. Currently, nuclear power generator has been operated with maximum power output. Therefore, nuclear power generator could be no effect to managing the reactive power reserve on power system. The reactive power reserve is calculated to the difference between maximum facility and operation generation capacity of the power system. This paper was proposed that load following of nuclear power is control by using 15-bus power system model. In the simulation result, power system is shown to safety state by operating load following of nuclear power generator. This method has be improved the supplied reliability through economic and efficient operation.

• Toxicological Research
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• 제22권4호
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• pp.357-364
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• 2006

This study was undertaken to develop a reliable mice model demonstrating similar immunologic phenomena as human atopic dermatitis characterized with predominance of type-2 immune response. BALB/C mice and NC/Nga mice were sensitized twice with $100{\mu}l$ of 1% 2,4-dinitrochlorobenzene (DNCB) or vehicle (acetone : olive oil=4:1 mixture) in a week and challenged twice with $100{\mu}l$ of 0.2% DNCB or the vehicle at the following week. Mice were sacrificed at 19 days following the second DNCB or vehicle challenge for NC/Nga mice and at 28 days following the second DNCB or vehicle challenge for BALB/c mice. Upregulation of plasma 1gE, a hallmark of atopic dermatitis occurrence, was evident in the plasma obtained 4 day after the second DNCB challenge from BALB/c mice (approximately 4-fold) and NC/Nga mice (approximately 6-fold) treated with DNCB in comparison with that of the vehicle treated-control mice, and remain higher $3{\sim}4$ week after the second challenge. Ratio of plasma IgG1 versus IgG2a concentration was significantly higher in the mice treated with DNCB than the control mice, which also implies the skewed type-2 reactivity in vivo. Ratio of interleukin-4 versus interferon gamma produced in the splenic T cell culture supernatants was approximately 3-fold higher in the both strains of mice treated with DNCB than their control mice, respectively. The DNCB-treated mice demonstrated atopic dermatitis-like skin legions characterized with erythma, scaling, and hemorrhage, which was not observed with the control mice. Scratching on face or dorsal area was significantly more frequent (approximately 25-fold) in the DNCB-treated mice than the control at next day of the second DNCB challenge, and scratching frequency remains higher (approximately 4-fold) in the mice treated with DNCB than the control at 14 day following the second DNCB challenge. Overall, the mice model developed through sensitization and challenge with DNCB may be useful for research on atopic dermatitis and development of treatment materials for atopic dermatitis.

• International Journal of Automotive Technology
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• 제7권1호
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• pp.83-90
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• 2006

The purpose of this paper is to describe the design and implementation of an unmanned ground vehicle, called the TailGator at CIMAR (Center for Intelligent Machines and Robotics) of the University of Florida. The TailGator is a gas powered, four-wheeled vehicle that was designed for the AUVSI Intelligent Ground Vehicle Competition and has been tested in the contest for 2 years. The vehicle control model and design of the sensory systems are described. The competition is comprised of two events called the Autonomous Challenge and the Navigation Challenge: For the autonomous challenge, line following, obstacle avoidance, and detection are required. Line following is accomplished with a camera system. Obstacle avoidance and detection are accomplished with a laser scanner. For the navigation challenge, waypoint following and obstacle detection are required. The waypoint navigation is implemented with a global positioning system. The TailGator has provided an educational test bed for not only the contest requirements but also other studies in developing artificial intelligence algorithms such as adaptive control, creative control, automatic calibration, and internet-base control. The significance of this effort is in helping engineering and technology students understand the transition from theory to practice.

• 한국전자통신학회논문지
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• 제8권9호
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• pp.1325-1332
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• 2013

비디오 코딩에서 GOP의 첫 번째 프레임인 I 프레임은 많은 비트를 발생시키는 인트라 모드로 압축되고 다음 프레임의 인터 모드 압축에 사용되기 때문에 I 프레임을 위한 초기 QP 값은 I 프레임뿐만 아니라 이후 프레임에도 영향을 주게 된다. 이전 연구에서 정확한 초기 QP 계산을 위해 I 프레임의 압축 후 비트량을 분석하였고, GOP의 PSNR을 최대로 하는 I 프레임의 비트량이 GOP에 상관없이 일정한 값을 가짐을 보였다. 본 논문에서는 기존 방법을 이용하여 최적의 I 프레임 비트량을 계산한 후 이 값을 이용하여 초기 QP를 계산할 수 있는 R-Q 모델을 제안한다. 제안하는 모델은 간단하면서도 적응적으로 모델 파라미터를 수정하기 때문에 실시간 응용에 적합하다. 실험 결과는 제안하는 모델이 초기 QP 계산에 필요한 트래픽 특성을 잘 반영하고 있으며 또한 실시간으로 모델 파라미터를 구하는 방법도 효과적으로 작동함을 보여준다.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.385-393
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• 2004

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(voice coil motor) for coarse motion, for an SFF ODD(small form factor optical disk drive), in order to achieve fast access speed and precise track-following control. Over the past few decades there have been a lot of researches related to the VCM and dual-stage actuator. In this paper, we focus our attention on the design and control of the PZT actuator. Due to the dual cantilever structure. the PZT actuator can generate precise translational tracking motion at its tip to which an optical pickup is attached. and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing it with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 대한인간공학회지
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• 제36권3호
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• pp.221-230
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• 2017

Objective: The purpose of this study is to draw the accident prevention model using the signal detection theory, and to implement accident prevention program, based on a health promotion and support activities in a shipbuilding company. Background: Workers' health management is perceived important from the human resource management perspective, as well as from the personal perspective. Method: This study developed an accident prevention model by analyzing the correlation between 704 workers' health examination variables, and reviewed the verification of the model through a follow-up survey on the control variables and status of hazards targeting 650 workers for four years from 2007 to 2010. Also, a health promotion program was implemented targeting a production division to improve alcohol habits, smoking, musculoskeletal pain complaints and hearing control indices, which are the control variables of the model. Results: As a result of four years' implementation, the following effects were obtained: the days away from work fell 87.5%, and accident rate dropped 71.5% in 2010, respectively, compared to 2006, before the activity was implemented. Conclusion: This study shows that the accident prevention activities based on workers' health promotion activities are effective to prevent industrial accidents and injuries. Application: The research findings will serve as a practical guideline for establishing preventive measures in the shipbuilding company.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 F
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• pp.2018-2020
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• 1998

In design of a digital current controller for a 3$\phi$ voltage-source (VS) PWM converter, its conventional model, i.e., stationary or synchronous reference frame model, is used in obtaining its discretized version. It introduces, however, inherent errors since the following practical problems are not taken into consideration: the characteristics of the space vector-based pulsewidth modulation (SVPWM) and the time delays in the process of sampling and computation. In this paper, the new hybrid reference frame model of the 3$\phi$ VS PWM converter is proposed considering these problems. In addition, the direct digital current controller based on this model is designed without any prediction or extrapolation algorithm to compensate the time delay. So the control algorithm is made very simple. The validity of the proposed algorithm is proved by the computer simulation results.

• 한국정보통신학회논문지
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• 제26권9호
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• pp.1412-1422
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• 2022

무기체계 간 상호운용성의 중요성이 점점 커지고 있다. 체계 간 상호운용성은 주로 자료 연동을 통해 구현된다. 그런데 체계 간 정보 이질성 해소 비용으로 인해 전군 차원의 자료 연동 효율과 품질이 저하되고 있다. 다른 선진국들은 정보교환모델을 공통 적용함으로써 자료 연동 구현의 효율과 품질을 높이고 있지만 한국군은 아직 그에 대한 중요성과 필요성을 충분히 인식하지 못하고 있다. 이 연구는 한국 지휘통제 정보교환모델(KC2IEM)의 개발과 적용의 필요성을 설명하고, 그에 필요한 개발 방법론을 제시하고 프로토타입 모델 개발을 통해 검증하고 개선한다. 정보교환모델의 완성은 학술연구 수준에서는 제한되며, 이 연구는 후속 연구 및 개발을 위한 계기와 발판으로서 기여한다.