• 전기전자학회논문지
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• 제8권1호
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• pp.96-107
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• 2004

본 연구에서는 고도의 비선형 로봇 매니플레이터를 위한 새로운 적분 가변 구조 제어기를 설계하였다. 특수 적분 슬라이딩 면과 외란 관찰기를 이용한 사전 성능을 갖는 개선된 레귤레이션 제어이다. 어떠한 리칭 구간도 없이 주어진 초기조건부터 원점까지 슬라이딩 궤적을 정확히 사전 결정하기 위하여 특수한 초기 조건을 갖는 적분 변수를 갖는 슬라이딩 면이 채택되었다. 그리고 외란 관찰기를 사용한 연속 입력은 큰 계산 부하 없이 사전 추적오차 범위내의 사전에 결정된 슬라이딩 궤적을 추적하게 한다. 사전에 결정된 슬라이딩 궤적을 사전에 결정된 추적 오차의 성능은 슬라이딩 면의 값과 슬라이f딩 출력의 오차와 관계와 페루프 안정성과 함께 두 개의 정리를 통하여 명확히 검진되었다. 제안된 레귤레이션 제어기의 설계는 성능 설계와 강인성 설계로 각 독립 링크 상에 분리된다. 제안된 알고리즘의 유용성은 매개변수 불확실성과 페이로드 변동하의 이 축 로봇의 레귤레이션 제어에 대한 시뮬레이션 연구를 통하여 무 리칭 구간, 무 오버슈트, 사전 추적 오차를 갖는 사전 결정 출력, 용이한 출력 가변성, 설계 단계의 분리 등의 관점에서 입증되었다.

• 전자공학회논문지C
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• 제36C권12호
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• pp.78-89
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• 1999

기존의 웨이블릿 신경망들의 구조는 주로 주파수-시간 공간으로 변환된 훈련 패턴의 분포와 웨이블릿 윈도우와의 관계를 고려하여 결정한다. 또한 신경망 구조 결정 알고리즘과 네트워크 파라메터 학습 알고리즘을 분리하여, 우선 신경망 구조를 결정한 후, 출력 에러를 최소화하기 위한 학습을 수행한다. 그러나 이러한 방법은 학습을 시작하기 전에 훈련 패턴을 변환해야 하는 부가적인 전처리 과정이 필요하고, 초기에 구성된 신경망 구조는 변경되지 않는다는 단점을 가지고 있다. 본 논문에서는 별도의 처리 과정 없이 신경망의 출력과 교사 신호의 차이를 이용하여 웨이블릿 신경망 구조를 결정하는 방법을 제안한다. 제안하는 알고리즘은 네트워크 구조의 결정과 에러 최소화 학습을 동시에 수행하기 때문에 문제의 복잡도에 따라 적응적으로 은닉 노드의 수를 결정한다. 또한 학습에 의해 가장 큰 에러가 발생하는 영역에 은닉 노드를 추가하고 출력에 영향을 미치지 않는 노드를 제거하는 방법을 사용하여 네트워크의 구조를 최적화한다. 본 알고리즘은 훈련 패턴에 대한 전처리 과정을 없앰으로써 학습하기 전에 모든 훈련 패턴을 알고 있어야 한다는 제약 조건을 없애고 시간의 변화에 따라 출력이 바뀌는 시스템에도 효과적인 적용이 가능하다.

• 자원ㆍ환경경제연구
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• 제31권3호
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• pp.419-449
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• 2022

본 연구에서는, 환경산업연관표 분석모형을 활용해, EU 탄소국경조정이 전면 도입될 경우의 국내 산업별 탄소국경조정 부담액 규모를 산정하고 국내 저탄소 정책 시행에 따른 산업별 부담액 변화를 비교 분석함으로써 기후변화 리스크에 대응한 중장기전략 수립에 시사점을 제시하고자 하였다. 분석 결과 EU 탄소국경조정 전면도입 정책충격에 따른 국내 산업 총부담액은 2030년 기준 약 8조 2,456억 원 규모로 예측되었다. 업종별 영향을 살펴보면 석유화학, 석유정제, 운송장비, 철강, 자동차, 전기/전자/정밀 산업으로 등 6대 주요 산업군에서 총탄소국경조정 총부담액의 84.3%를 차지하는 것으로 전망되었다. 그리고 저탄소 정책 시행에 따른 기술발전 및 에너지 전환을 가정한 복수의 정책 시나리오에서는 탄소국경조정 총부담액이 약 11.7%~15.0% 감소할 것으로 전망되었다. 본 연구의 주요 분석 결과는 탄소국경조정의 전면도입 확대에 따른 대응전략 수립을 특정 분야에 한정해 이행하는 것이 아니라, 종합적 접근 하에서 이뤄내 국가 경제 전반에 끼치는 부정적 영향을 최소화하고 새로운 성장동력을 발굴하는 기회의 창으로 활용할 필요가 있음을 시사하고 있다.

• 한국간담췌외과학회지
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• 제26권4호
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• pp.347-354
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• 2022

Backgrounds/Aims: Endoscopic retrograde cholangiopancreatography (ERCP) remains the primary treatment for a subset of patients with pancreatic fistulae. The objective of this study was reporting outcomes of ERCP and predictors of resolution in patients with pancreatic fistulae refractory to conservative therapy. Methods: Retrospective review of patients who underwent ERCP and pancreatic stent placement for pancreatic fistula not responding to medical therapy was performed. Clinical features, laboratory parameters, radiological features and pancreatogram findings were noted. Clinical resolution of fistula was the primary outcome measure. Results: Sixty-eight patients underwent ERCP for high-output pancreatic fistula (Mean age 34.1 years, 91.1% males, 35/68 chronic pancreatitis, 52.9% alcohol etiology). Internal fistulae (pancreatic ascites, pleural effusion, or pericardial effusion) were seen in 55 (80.9%) patients and external fistula in 13 (19.1%) patients. Technical success for ERCP was 92.6% (63/68). Leak was seen in 98.4% (62/63). The most common leak site was body (69.8%). Multiple leak sites were seen in 23.1%. Pancreatic stricture was found in 36.5%. In 44 (69.4%) patients, stent was placed beyond the site of the leak. Resolution at six weeks was achieved in 76.4% (52/68). On univariate and multivariate analyses, placement of stent beyond site of leak was significantly associated with resolution of high-output fistulae (3/41 [7.3%] vs. 5/19 [26.3%], p = 0.03; odds ratio: 6.5, 95% confidence interval: 1.211-34.94). Conclusions: In our experience, ERCP was successful in 76% of patients with pancreatic fistulae refractory to conservative therapy. Stent placement beyond the site of leak was associated with higher resolution of fistulae.

• Journal of Mechanical Science and Technology
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• 제20권1호
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• pp.51-58
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• 2006

To compensate for the motion errors in hydrostatic tables, a method to actively control the clearance of a bearing corresponding to the amount of error using actively controlled capillaries is introduced in this paper. The design method for an actively controlled capillary that considers the output rate of a piezo actuator and the amount of error that must be corrected is described. The basic characteristics of such a system were tested, such as the maximum controllable range of the error, micro-step response, and available dynamic bandwidth when the capillary was installed in a hydrostatic table. The tests demonstrated that the maximum controllable range was $2.4\;{\mu}m$, the resolution was 27 nm, and the frequency bandwidth was 5.5 Hz. Simultaneous compensation of the linear and angular motion errors using two actively controlled capillaries was also performed for a hydrostatic table driven by a ballscrew and a DC servomotor. An iterative compensation method was applied to improve the compensation characteristics. Experimental results showed that the linear and angular motion errors were improved to $0.12{\mu}m$ and 0.20 arcsec, which were about $1/15^{th}$ and $1/6^{th}$ of the initial motion errors, respectively. These results confirmed that the proposed compensation method improves the motion accuracy of hydrostatic tables very effectively.

• Journal of Mechanical Science and Technology
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• 제16권11호
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• pp.1379-1394
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• 2002

In case of a single input single output (SISO) system with a nonlinear term, a signal compression method is useful to identify a system because the equivalent impulse response of linear part from the system can be extracted by the method. However even though the signal compression method is useful to estimate uncertain parameters of the system, the method cannot be directly applied to a unique system with hysteresis characteristics because it cannot estimate all of the two different dynamic properties according to its motion direction. This paper proposes a signal compression method with a pre-processor to identify a unique system with two different dynamics according to its motion direction. The pre-processor plays a role of separating expansion and retraction properties from the system with hysteresis characteristics. For evaluating performance of the proposed approach, a simulation to estimate the assumed unknown parameters for an arbitrary known model is carried out. A motion platform with several single-rod cylinders is a representative unique system with two different dynamics, because each single-rod cylinder has expansion and retraction dynamic properties according to its motion direction. The nominal constant parameters of the motion platform are experimentally identified by using the proposed method. As its application, the identified parameters are applied to a design of a sliding mode controller for the simulator.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• Journal of Power Electronics
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• 제15권3호
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• pp.741-752
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• 2015

This study proposes a new solution for the parallel operation of microgrid inverters in terms of circuit topology and control structure. A combined three-phase four-wire inverter composed of three single-phase full-bridge circuits is adopted. Moreover, the control structure is based on adaptive three-order sliding-mode control and wireless load-sharing control. The significant contributions are as follows. 1) Adaptive sliding-mode control performance in inner voltage loop can effectively reject both voltage and load disturbances. 2) Virtual resistive-output-impedance loop is applied in intermediate loop to achieve excellent power-sharing accuracy, and load power can be shared proportionally to the power rating of the inverter when loads are unbalanced or nonlinear. 3) Transient droop terms are added to the conventional power outer loop to improve dynamic response and disturbance rejection performance. Finally, theoretical analysis and test results are presented to validate the effectiveness of the proposed control scheme.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.195-204
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• 2015

In this paper, the development of a cost-effective active power filter/uninterruptible power supply (APF/UPS) system with seamless mode transfer is described. The proposed scheme employs a pulse-width-modulation (PWM) voltage-source inverter and has two operational modes. First, when the source voltage is normal, the system operates as an APF, which compensates for the harmonics and power factor while boosting the DC-link voltage to be ready for the disturbance, without an additional DC charging circuit. A simple algorithm to detect the load current harmonics is also proposed. Second, when the source voltage is out of the normal range (owing to sag, swell, or outage), it operates a UPS, which controls the output voltage constantly by discharging the DC-link capacitor. Furthermore, a seamless transfer method for the single-phase inverter between the APF mode and the UPS mode is also proposed, in which an IGBT switch with diodes is used as a static bypass switch. Dissimilar to a conventional SCR switch, the IGBT switch can implement a seamless mode transfer. During the UPS operation, when the source voltage returns to the normal range, the system operates as an APF. The proposed system has good transient and steady-state response characteristics. The APF, charging circuit, and UPS systems are implemented in one inverter system. Finally, the validity of the proposed scheme is investigated with simulated and experimental results for a prototype APF/UPS system rated at 3 kVA.

• Journal of electromagnetic engineering and science
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• 제12권4호
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• pp.227-233
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• 2012

This paper describes a novel and compact biosensing platform using an RF active system. The proposed sensing system is based on the oscillation frequency deviation due to the biomolecular binding mechanism on a resonator. The impedance variation of the resonator, which is caused by a specific biomolecular interaction results in a corresponding change in the oscillation frequency of the oscillator so that this change is used for the discrimination of the biomolecular binding, along with concentration variation. Also, a Surface Acoustic Wave (SAW) filter is utilized in order to enhance the biosensing performance of our system. Because the oscillator operates at the skirt frequency range of the SAW filter, a small amount of oscillation frequency deviation is transformed into a large variation in the output amplitude. Next, a power detector is used to detect the amplitude variation and convert it to DC voltage. It was also found that the frequency response of the biosensing system changes linearly with three streptavidin concentrations. Therefore, we expect that the proposed RF biosensing system can be applied to bio/medical applications capable of detecting a nano-sized biomolecular interaction.