• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• 한국습지학회지
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• 제15권2호
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• pp.233-250
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• 2013

강수지표의 변화시점(change point) 분석을 이용하여 기후의 특성이 점진적 또는 급진적으로 변화하는지에 대하여 조사하였다. 강수지표를 크게 총량(amount), 극치(extremes)와 빈도(frequency)로 구분하였고, 각각의 지수를 RIA(Rainfall Index for Amount), RIE(Rainfall Index for Extremes)와 RIF(Rainfall Index for Frequency)로 정의하였다. 계산된 강수지표의 시간에 따른 변화를 알아보기 위하여 BCP(Bayesian Change Point)를 적용하였다. 분석 결과, 남한지역의 강수지표는 연 강우일수와 200년 빈도 확률 강수량을 제외하고는 모두 증가 하는 것으로 확인되었다. RIA는 울릉도 지점에서 변화지점의 유의성에 대해 매우 명확한 모습을 보였고 RIE는 제천, 서귀포와 구미 등에서 비교적 유의한 결과가 확인되었다. 또한, 1990년대 이후에 변동지점의 개수가 증가하고 있으며, 변동지점의 횡적인 폭 또한 비교적 넓어지고 있었다. 이러한 사실에 근거하여 볼 때 강수에 대한 정상성 가정에 대한 재고가 필요하리라 판단되었다.

• 환경영향평가
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• 제18권6호
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• pp.393-399
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• 2009

The water of rivers and lakes are affecting by point and nonpoint source pollutions. The point source pollution can be controlled by establishing the treatment plants. However, nonpoint source pollution by various human activities is not easy to be controlled because it is difficult to determine the exits of the water flow and have many exit points. Due to contribution of nonpoint source pollution, the achievement ratio of water quality in rivers and lakes is not high. TMDL is the outstanding water quality control policy because all of the pollutant loadings from the watershed area are counting on the input loads. Our aqua-ecosystem has self-purification process by biological, physical and ecological processes. The self-purification process can remove the pollutant load from background concentrations. Usually forest area is main source of background concentrations. In Korea, about 70% of the national boundary area consists of mountains. This study is conducting as part of long-term monitoring to determine the Event Mean Concentration during a storm. The monitoring was performed on a broad-leaved tree area.

• 한국축산식품학회지
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• 제29권6호
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• pp.695-701
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• 2009

본 연구는 축산물가공장 작업환경에 설정된 CCP의 유효성을 평가하기 위하여, 원료도체에서부터 포장에 이르는 전 공정에서 Escherichia coli를 검출하고 PFGE genotyping으로 genetic strain의 흐름을 분석하여 CCP의 적합성을 평가하였다. 시료채취를 위한 작업장은 도축장에서 냉장차량으로 원료도체를 공급받는 독립형 소규모 HACCP 가공장(100두 처리/일)과 축산물종합처리장내 HACCP 가공장(500두 처리/일)을 각각 1곳씩 선정하였다. 시료는 원료도체, 시설 및 장비(발골기, 박피기, 작업대, 벨트, 칼, 면장갑), 환경(벽, 바닥)과 작업공정상의 발골육, 부분육, 최종육을 무균적으로 채취하였다. 작업공정에서 E. coli의 높은 분리율(59.6%)과 작업환경 전반에서의 고른 검출로 E. coli가 축산물가공장 위생지표균으로의 활용 가능성을 확인할 수 있었다. 분리된 E. coli의 genotype 분포는 작업장내 미생물 오염의 흐름을 보여주었다. 소규모가공장의 경우 오염된 원료육 반입이 작업공정을 오염시키고 공정중의 교차오염 발생으로 최종육에 영향을 주었고, 축산물종합처리장내 작업장은 원료육 오염보다는 작업환경에 상존하는 오염미생물의 교차오염이 최종육에 영향을 주는 양상이었다. 따라서 포장육가공장과 같이 작업공정에 멸균처리 과정이 없는 경우는 선행요건에 해당되는 원료반입과 작업환경의 세척 및 소독이 CCP로 관리되거나 이에 준하는 특별관리가 필요하였다. 결과적으로, 작업공정에서의 E. coli 검출과 genotyping은 작업공정상의 미생물 오염의 흐름을 파악하는데 유용하였으며, 이러한 방법은 HACCP 작업장의 미생물 오염원 분석과 설정된 생물학적 critical control point의 적합성 평가에 효과적이었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.1157-1158
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• 2006

The key of this study is the technical development to maximize electric energy production through PV generation system. Under a conventional MPPT control method, both input voltage and input current coming out from PV array had to be feed backed. Then, the system has complex structure and may fail to track Maximum Power Point of PV array when weather conditions changed urgently. A PV output senseless MPPT control for PV generation system is possible to solve the mentioned above. The best advantage is that the current flowing into load is the only one considerable factor. In case of a huge photovoltaic generation system, it can be operated much more safely than a conventional system. In this paper, a novel PV output senseless MPPT control for the PV generation system was proposed and applied to the manufactured system and the experimental results were shown. Authors are sure that it is the most useful method to maximize power from photovoltaic system with only a feedback of load current.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.167.5-167
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• 2001

Single point attitude determination method provides an optimal attitude minimizing the Wahba loss function. However, for the insufficient number of measurement vectors, the conventional single point methods has no unique solution. Thus, we introduce the sequential method to and an optimal attitude minimizing the windowed loss function. In this paper, this function is de ned as the sum of square errors for all measurement vectors within the axed sliding window. For simple implementation, the proposed algorithm is rewritten as a recursive form. Moreover, the covariance matrix is derived and expressed as a recursive form. Finally, we apply this algorithm to the attitude determination system with three LOS measurement sensors.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• 전력전자학회논문지
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• 제20권1호
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• pp.1-10
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• 2015

This paper proposes a control algorithm for permanent magnet synchronous generators with a back-to-back three-level neutral-point clamped voltage source converter in a medium-voltage off-shore wind power system under unbalanced grid conditions. Specifically, the proposed control algorithm compensates for unbalanced grid voltage at the PCC (Point of Common Coupling) in a collector bus of an off-shore wind power system. This control algorithm has been formulated based on symmetrical components in positive and negative synchronous rotating reference frames under generalized unbalanced operating conditions. Instantaneous active and reactive power is described in terms of symmetrical components of measured grid input voltages and currents. Negative sequential component of AC input current is injected into the PCC in the proposed control strategy. The amplitude of negative sequential component is calculated to minimize the negative sequential component of grid voltage under the limitation of current capability in a voltage source converter. The proposed control algorithm enables the provision of balanced voltage at the PCC resulting in the high quality generated power from off-shore wind power systems under unbalanced network conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.250-252
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• 2005

This paper presents an newly developed MPPT method for PV-SPE system. To chase maximum power point at every moment under conventional MPPT control method, voltage and current coming out from PV-cell are needed to be feedbacked. In this newly developed Maximum Current Control method, however, current flowing into SPE cell is only one considerable factor. To verify the theory, simulated results are compared and shown in this paper. Authors are sure that it is the most useful method to the maximum power from PV to SPE with only a feedback of SPE input current.