• 한국지진공학회논문집
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• 제20권1호
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• pp.45-54
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• 2016

This study suggests a prediction model of ground motion spectral shape considering characteristics of earthquake records in Korea. Based on the Graizer and Kalkan's prediction procedure, a spectral shape model is defined as a continuous function of period in order to improve the complex problems of the conventional models. The approximate spectral shape function is then developed with parameters such as moment magnitude, fault distance, and average shear velocity of independent variables. This paper finally determines estimator coefficients of subfunctions which explain the corelation among the independent variables using the nonlinear optimization. As a result of generating the prediction model of ground motion spectral shape, the ground motion spectral shape well estimates the response spectrum of earthquake recordings in Korea.

• 대한기계학회논문집A
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• 제29권1호
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• pp.139-144
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• 2005

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion. have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 수산해양기술연구
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• 제55권2호
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• pp.172-180
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• 2019

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to testing ships. Recently, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement and started to test autonomous ships in the defined area. Considering recent technology trends and background, in this paper, the authors also try to develop autonomous ship control technologies. In the designed control system, an observer is introduced to estimate unmeasurable system states. Based on the servosystem with state estimator, ship motion control experiment is performed to evaluate control performance using a model ship in water basin.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 학술대회 논문집 전문대학교육위원
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• pp.47-52
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• 2001

This paper presents a high-performance control system for Reluctance Synchronous Motor (RSM) drives with direct torque control (DTC). The system consist of stator flux observer, rotor position/speed estimator, torque estimator, two hysteresis band controllers, an optimal switching look-up table, IGBT voltage source inverter, and F240/C31DSP controller by using fully integrated control software. The stator flux observer is based on the combined voltage and current model with stator flux feedback adaptive control that inputs are current and voltage sensing of motor terminal with estimated rotor angle for wide speed range. The rotor position is estimated by the observed stator flux-linkage space vector. The estimated rotor speed can be determinated by differentiation of the rotor position used only in the current model part of the flux observer for a low speed operating area. To prove the suggested control algorithm, we have a simulation and testing at actual experimental system. The developed digitally high-performance position sensorless control system are shown a good motion control response characteristic results and high performance features using 1.0Kw RSM.

• 동력기계공학회지
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• 제12권6호
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• 대한전자공학회논문지SP
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• 제49권2호
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• pp.69-75
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• 2012

본 논문은 MAP (maximum a posterior) 예측기에 기반하여 움직임 보상 예측 오차를 보정해주는 방식의 순차주사화 (de-interlacing) 알고리즘을 제안한다. 먼저, 현재 필드와 인접한 필드 간의 적절한 정합 (registration)을 수행 한 후, 계산된 정합 정보에 기반한 MAP 예측기를 통해 현재 필드에 대응하는 순차 주사 (progressive) 프레임을 찾아낸다. 안정적인 결과를 얻기 위하여 잘 알려진 BTV (bilateral total variation) 기반의 평활화 (regularization) 과정이 추가된다. 한편, 잘못된 정합 정보로 인한 소위 깃털 현상 (feathering artifact)을 억제하기 위하여 블록 단위로 깃털 현상 발생 여부를 판단하여 발생되었다고 판단된 블록 영역에 대해서는 앞서 설명한 MAP기반 순차주사화 대신 에지 방향성에 기반한 공간적 순차주사화를 적용한다. 실험 결과에 따르면, 제안된 기법은 종래 기법들에 비하여 평균 약 4dB의 PSNR 성능 개선을 보이고 있으며, 우수한 주관적 화질을 보여주고 있다.

• 한국컴퓨터정보학회논문지
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• 제10권2호
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• pp.21-30
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• 2005

강건 예측 기법은 오류 자료(outliers)를 제거하고 정상 자료(non-outliers)만으로 모델의 파라미터를 구하는 통계적인 방법으로 잘 알려져 있다 기존의 문헌에 소개된 많은 강건 예측 알고리즘들이 있으나 컴퓨터 비전 및 영상 처리 분야에서 가장 많이 사용되는 알고리즘은 M-estimators와 LMS(least-median of squares) 방법이다. 이 중 M-estimators는 어파인 모델(affine model)의 파라미터 측정에 있어 최적의 방법으로 잘 알려져 있다. 그러나 M-estimators는 통계적인 효율성이 높지만 초기화가 적절히 수행되지 않으면 오류 자료를 제거하는 데 문제점을 가진다 따라서 본 논문에서는 이런 문제점을 해결하기 위해 연속적인 시그모이드(sigmoid) 가중치 함수를 사용하여 오류 자료와 정상 자료를 효과적으로 분리하면서 어파인 모델의 파라미터를 효과적으로 측정하는 적응적인 M-estimators 강건 예측 알고리즘을 제안한다. 실험에서는 기존의 강건 예측 방법과 제안된 적응적 강건 예측 방법의 성능을 비교 및 분석하여 제안된 방법의 우수함을 보인다.

• 대한전자공학회논문지SP
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• 제38권3호
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• pp.258-268
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• 2001

정보량이 많은 고화질의 동영상을 실시간으로 전송하기 위하여 압축 알고리즘을 필수적으로 사용하고 있으며, 시간적 중복성을 제거하는 동영상의 압축방법은 움직임 추정 알고리즘을 사용한다. 본 연구에서 설계하고자 하는 움직임 추정기는 블록정합 알고리즘이며, MPEG 부호기에서 사용되는 DCT 연산 결과인 DC 값을 이용하여 화면의 밝기를 판단한다. 움직임 추정기는 휘도 신호 8비트 모두를 사용하지 않고, 화면 밝기에 따른 비트 플레인(bit plane)에서 3비트만 선택하는 비교선택기를 이용한다. 본 연구에서 제안한 비교 선택기는 I-Picture만을 계산한다. I-Picture에 의해 계산된 선택 비트는 I, P와 B Picture의 움직임 추정 연산에 사용함으로서 움직임 추정기의 크기를 줄일 수 있는 구조를 제안하였다. 제안된 움직임 추정기의 고찰을 위하여 실험에 사용된 표준 동영상의 해상도는 352×288이며, DCT 연산의 처리 블록은 8×8이며, 탐색 영역은 23×23이다. 제안된 알고리즘은 C언어로 모델링하였으며, 기존 완전탐색방법과 PSNR을 비교한 결과 사람의 시각으로 거의 구별할 수 없는 작은 차이(0～0.83dB)가 나타남을 알 수 있었다. 본 연구에서 제안한 움직임 추정기의 하드웨어 크기는 기존 구조Ⅰ보다 38.3％, 기존 구조Ⅱ보다 30.7％ 줄일 수 있었고, 메모리 크기는 기존 구조Ⅰ,Ⅱ보다 31.3％ 줄일 수 있었다.

• 한국자동차공학회논문집
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• 제24권4호
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• pp.408-415
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• 2016

The vehicle attitude and sideslip is critical information to control the vehicle to prevent from unintended motion. Many of estimation strategy use bicycle model or IMU integration, but both of them have limits on application. The main purpose of this paper is development of vehicle orientation estimator which is robust to various vehicle state and road shape. The suggested estimator use 3-axis magnetometer, yaw rate sensor and lateral acceleration sensor to estimate three Euler angles of vehicle. The estimator is composed of two individual observers: First, comparing the known magnetic field and gravity with measured value, the TRIAD algorithm calculates optimal rotational matrix when vehicle is in static or quasi-static condition. Next, merging 3-axis magnetometer with inertial sensors, the extended Kalman filter is used to estimate vehicle orientation under dynamic condition. A validation through simulation tools, Carsim and Simulink, is performed and the results show the feasibility of the suggested estimation method.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1053-1060
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• 2000

In this paper, a discrete-time variable structure control method using recursively defined switching function and a decoupled variable structure disturbance compensator is used to achieve high performance circular motion control of a CNC machining center. The discrete-time variable structure control with the decoupled disturbance compensator method developed in this paper uses a recursive switching function defined as the sum of the current tracking error vector and the previous value of the switching function multiplied by a positive constant less than one. This recursive switching function provides much improved performance compared to the method that uses a switching function defined only as a linear combination of the current tracking error. Enhancements in tracking performance are demonstrated in the circular motion control using a CNC milling machine.