• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.616-621
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• 2003

Until now, many networked robots have been connected to the Internet for the various applications. With these networked robots, very long distance teleoperation can be possible through the Internet. However, the promising area of the Internet-based teleoperation may be distance learning, because of several reasons such as the unpredictable characteristics of the Internet. In robotics class, students learn many theories about robots, but it is hard to perform the actual experiments for all students due to the rack of the real robots and safety problems. Some classes may introduce the virtual robot simulator for students to program the virtual robot and upload their program to operate the real robot through the off-line programming method. However, the students may also visit the laboratory when they want to use the real robot for testing their program. In this paper, we developed an Internet-based robot education system. The developed system was composed of two parts, the robotics class materials and the web-based Java3d robot simulator. That is, this system can provide two services for distance learning to the students through the Internet. The robotics class materials can be provided to the student as the multimedia contents on the web page. As well, the web-based robot simulator as the real experiment tool can help the students get good understanding about certain subject. So, the students can learn the required robotics theories and perform the real experiments from their web browser when they want to study themselves at any time.

• Journal of Power Electronics
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• 제11권2호
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• pp.202-210
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• 2011

Polymer electrolyte membrane (PEM) fuel cell is one of the popular renewable energy sources and widely used in commercial medium power areas from portable electronic devices to electric vehicles. In addition, the increased integration of the PEM fuel cell with power electronics, dynamic loads, and control systems requires accurate electrical models and simulation methods to emulate their electrical behaviors. Advancement in parallel computation techniques, various real-time simulation tools, and smart power hardware have allowed the prototyping of novel apparatus to be investigated in a virtual system under a wide range of realistic conditions repeatedly, safely, and economically. This paper builds up advancements of optimized model constructions for a fuel cell stack system on a real-time simulator in the view points of improving dynamic model accuracy and boosting computation speed. In addition, several considerations for a power hardware-in-the-loop (PHIL) simulation are provided to electrically emulate the PEM fuel cell stack system with power facilities. The effectiveness of the proposed PHIL simulation method developed on Opal RT's RT-Lab Matlab/Simulink based real-time engineering simulator and a programmable power supply is verified using experimental results of the proposed PHIL simulation system with a Ballard Nexa fuel cell stack.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1846-1847
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• 2006

In this study, we developed the real-time controller for control loading system (CLS) of aircraft simulator. The CLS is given the forces as inputs: the exerted force by a pilot, which is determined according to the position of the control stick, and the calculated force by the host computer. And then CLS makes the pilot feel the back loading force by supplying the motor drive with the actuator signal. The developed real-time controller for CLS is organized into the five parts which are the position sensing part including a encoder, the A/D converter part for the analog load cell signal, the communication interface part to communicate with the host, the D/A converter for the actuator signal, and the CPU DSP2812 to carry out a control algorithm. We constructed the test control loading system and carried out the experiment with the developed real-time controller. The experimental results showed that the real-time controller generates the back loading forces similar to the desired back loading force graph.

• 한국산업융합학회 논문집
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• 제23권4_1호
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• pp.549-558
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• 2020

We describe a new approach to real-time implementation of track record and trajectory control of robotic manipulator with eight joints based on monitoring simulator. Trajectory generator uses the kinematic equations of the arm to convert the task description into a series of set points for each of the joint control loops, while the joint controllers, with simple algorithms for just one joint can move at a fast sampling rate, guaranteeing a smooth motion. The proposed control scheme is robust, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate parameter information, nor values of manipulator parameters and payload. Reliability of the proposed technology is veriefied by monitoring simulation and experimental of robot manipulator for the smart factory with eight degrees of freedom.

• 전자공학회논문지SC
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• 제42권4호
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• pp.25-34
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• 2005

나로우주센터 발사관제시스템 실시간 모의장치의 데이터를 퍼지-칼만 필터의 오차 공분산으로 후처리 분석하여 센서 사이에 존재하는 연관성을 시나리오를 전혀 모르는 상태에서 유추하는 연구를 수행하였다. 유추된 연관성은 시나리오 상의 관계와 정확히 일치하였다. 퍼지-칼만 필터의 최적화 성질을 역이용하여 센서의 신호를 분석하였다. 이 연구의 결과로 다중의 센서 시스템이 존재하는 한국형 우주발사체와 탑재 유상하중 그리고 지상지원 시스템에 대한 신호분석의 가능성을 확인하였다

• Journal of Electrical Engineering and Technology
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• 제6권2호
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• pp.167-173
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• 2011

This paper presents a method for the development of the impedance locus to test the dynamic characteristics of protective relays. Specifically, using the proposed method, the impedance locus can comprise three impedance points, and the speed of impedance trajectory can be adjusted by frequency deviation. This paper is divided into two main sections. The first section deals with the configuration of impedance locus with voltage magnitude, total impedance magnitude, and impedance angle. The second section discusses the control of the locus speed with the means of the deviation between two frequencies. The proposed method is applied to two machine equivalent systems with offline simulation (i.e., PSCAD) and real-time simulation (i.e., real-time simulation environment) to demonstrate its effectiveness.

• 한국자동차공학회논문집
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• 제10권2호
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• pp.132-140
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• 2002

A momentum backpropagation neural network is prepared to carry out real-time dynamics simulations of a passenger car. A full-car model of fifteen degrees of freedom was constructed for vehicle dynamics analysis. Human body dynamics analysis was performed for a male driver(50 percentile Korean adult) restrained by a three point seatbelt system. The trained data using the neural network were obtained using a dynamic solver, ADAMS . The neural network were formed based on the dynamics of the simulator. The optimized hidden layer was obtained by selecting the optimal number of hidden layers. The driving scenario including bump passing and lane changing has been used for the estimation of the proposed neural network. A comparison between the trained data and neural network outputs is found to be satisfactory to show the applicability of the suggested approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.103-105
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• 1996

This paper describes real time dynamic tests on the digital distance relay using new digital test system including RTDS(Real Time Digital Simulator) in KEPRI. The RTDS is developed by the Manitoba HVDC Research Centre and consists of specialized hardware and software which allows transients simulation of electrical power systems in real time. From high impedance fault test, it is known that the characteristics of distance reach is influenced by load flow. A detailed discussion of relay test using the RTDS simulator, high impedance faults and test results are included in the paper.

• 한국시뮬레이션학회논문지
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• 제11권4호
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• pp.1-14
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• 2002

This paper presents bounding space(BS) management for real-time visual simulation when using GK-DEVS models. Since GK-DEVS, extended from DEVS formalism, has information of 3D geometry and 3D hierarchical structure, we employs three types of bounding spaces: BS of its own shape, BS of its children GK-DEVS, and total BS. In addition to next-event scheduling functionality of previous GK-Simulator, its abstract simulation algorithms is extended to manage the three types of BSs so that BSs can be utilized in the rendering process of a renderer, so called GK-Renderer, We have implemented the method and evaluated it with an automated manufacturing system. In the case study, the proposed BSs management method showed about 2 times improvement in terms of rendering process speed.

• 한국군사과학기술학회지
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• 제26권4호
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• pp.324-334
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• 2023

In this paper, the target simulator for RF signals was developed by using VST(Vector Signal Transceiver) and set by real-time signal processing SW programs. A function to process RF signals using FPGA(Field Programmable Gate Array) board was designed. The system functions capable of data processing, raw signals monitoring, target signals(simulated range, velocity) generating and RF environments data analyzing were implemented. And the characteristics of modulated signal were analyzed in RF environment. All function of programs for processing RF signal have options to store signal data and to manage the data. The validity of the signal simulation was confirmed through verification of simulated signal results.