• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1161-1164
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• 1996

In this paper, a parameter optimization technique for a mobile robot navigation is discussed. Authors already have proposed a navigation algorithm for mobile robots with sonar sensors using fuzzy decision making theory. Fuzzy decision making selects the optimal via-point utilizing membership values of each via-point candidate for fuzzy navigation goals. However, to make a robot successfully navigate through an unknown and cluttered environment, one needs to adjust parameters of membership function, thus changing shape of MF, for each fuzzy goal. Furthermore, the change in robot configuration, like change in sensor arrangement or sensing range, invokes another adjusting of MFs. To accomplish an intelligent way to adjust these parameters, we adopted a genetic algorithm, which does not require any formulation of the problem, thus more appropriate for robot navigation. Genetic algorithm generates the fittest parameter set through crossover and mutation operation of its string representation. The fitness of a parameter set is assigned after a simulation run according to its time of travel, accumulated heading angle change and collision. A series of simulations for several different environments is carried out to verify the proposed method. The results show the optimal parameters can be acquired with this method.

• 컴퓨터교육학회논문지
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• 제13권6호
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• pp.99-104
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• 2010

USN 화재방재 시스템은 온도, 습도, 조도, 가속도, CO2 등의 다양한 센서로부터 얻는 데이터를 이용해 관리자에게 전달하고, 화재를 판별하는 화재 판별 알고리즘을 이용하여 소화설비를 동작시키는 지능적인 시스템이다. USN 화재방재 시스템은 센서의 데이터에 전적으로 의지하여 동작함으로 본 논문에서는 분산된 각각의 센서 데이터들을 임베디드 시스템 환경에서 효율적이고 안전하게 수집, 전달하기 위한 모델을 제안한다. 패킷의 구성과 패키징은 저 전력 소모를 위해 최대한 가볍고 빠른 처리 과정을 거치게 설계하였으며, 현재 나와 있는 암호화 알고리즘 중 DES, 3DES, AES, HIGHT를 각각 적용, 빠른 암복호화에 목표를 두어 최종적으로 국내에서 제안한 표준 암호화 알고리즘인 HIGHT가 잦은 센싱 시간을 요구하는 화재방재 시스템에 적합함을 확인하였다.

• 한국정보통신학회논문지
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• 제14권6호
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• pp.1505-1510
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• 2010

본 논문은 근육의 기능을 조절하는 신경말단에 전기적인 자극을 가하여 신경의 반응 정도를 측정하는 플랫폼 구현에 관한 연구로써, 전기 자극에 대한 신경반응이 가해지는 전류량, 가해지는 전류지속시간, 전극위치에 따른 반응을 측정하였다. 신격자극의 전극 위치는 표면말달 운동신경이면 어느 신경이든지 가능하고, 신격자극 양식에는 단순연축자극(Single Twitch Stimulation), 사연속자극(Train-of-four, TOF), 두 집단 발사자극(Double Burst Stimulation, DBS)이 있다. 임베디드 시스템기반으로 가기위한 저전력 MCU를 선정하고, 기본적인 신경자극반응 측정 센서의 민감도를 알아보기 위해 센서 인터페이스를 구성하여 반응정도를 측정해야 한다. 그리고 측정된 Data의 정확도를 높이기 위해 고성능의 AD Convertor 선정하여 플랫폼을 구현하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• Smart Structures and Systems
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• 제19권4호
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• pp.393-402
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• 2017

Many vibration-based global damage detection methods attempt to extract modal parameters from vibration signals as the main structural features to detect damage. The local flexibility method is one promising method that requires only the first few fundamental modes to detect not only the location but also the extent of damage. Generally, the mode shapes in the lateral degree of freedom are extracted from lateral vibration signals and then used to detect damage for a beam structure. In this study, a new approach which employs the mode shapes in the rotary degree of freedom obtained from the macro-strain vibration signals to detect damage of a beam structure is proposed. In order to facilitate the application of mode shapes in the rotary degree of freedom for beam structures, the local flexibility method is modified and utilized. The proposed rotary approach is verified by numerical and experimental studies of simply supported beams. The results illustrate potential feasibility of the proposed new idea. Compared to the method that uses lateral measurements, the proposed rotary approach seems more robust to noise in the numerical cases considered. The sensor configuration could also be more flexible and customized for a beam structure. Primarily, the proposed approach seems more sensitive to damage when the damage is close to the supports of simply supported beams.

• Smart Structures and Systems
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• 제26권2호
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• pp.213-226
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• 2020

In this manuscript, static and dynamic behaviors of geometrically imperfect carbon nanotubes (CNTs) subject to different types of end conditions are investigated. The Doublet Mechanics (DM) theory, which is length scale dependent theory, is used in the analysis. The Euler-Bernoulli kinematic and nonlinear mid-plane stretching effect are considered through analysis. The governing equation of imperfect CNTs is a sixth order nonlinear integro-partial-differential equation. The buckling problem is discretized via the differential-integral-quadrature method (DIQM) and then it is solved using Newton's method. The equation of linear vibration problem is discretized using DIQM and then solved as a linear eigenvalue problem to get natural frequencies and corresponding mode shapes. The DIQM results are compared with analytical ones available in the literature and excellent agreement is obtained. The numerical results are depicted to illustrate the influence of length scale parameter, imperfection amplitude and shear foundation constant on critical buckling load, post-buckling configuration and linear vibration behavior. The current model is effective in designing of NEMS, nano-sensor and nano-actuator manufactured by CNTs.

• KIEAE Journal
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• 제6권4호
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• pp.25-32
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• 2006

Mock-up model can be applied to measure accurate performance data but difficult to apply the variables in experiment. There can be a slight experiment errors in Scale model, but various parameters can be applied for a objective experiment. This paper aims to compare the daylighting performance in 1, 1/5, 1/10 scale model of offices and analyze the experiment errors to certificate the influence of model experiment. To analyse daylighting performance, a comparison of a Mock-up model, sized $12.0m(w){\times}7.2m(l){\times}3.7m(h)$, designed for experimentation of daylighting systems and its 1:5, 1:10 scale model. It has an identical configuration of reference room and the test room. For the test room, the lightshelf system was designed as Micro-4 reflective material. To assess work plane illuminance and light factor, photometric sensors of each room were installed at work-plane(6 points) and exterior horizontal illuminance (1 point). And luminance of window, rare of the room was measured under clear sky. It is to be monitored by Agilent data logger, photometric sensor Li-cor and the Radiant Imaging ProMetric 1400. Comparisons with a light factor, increase-decrease ratio and luminance are discussed.

• 한국소음진동공학회논문집
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• 제21권10호
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• pp.940-950
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• 2011

This paper reports a filtered velocity feedback(FVF) controller, which is an alternative to direct velocity feedback(DVFB) controller. The instability problems at high frequencies due to non-collocated sensor/actuator configuration with the DVFB can be alleviated by the proposed FVF controller. The FVF controller is designed to filter out the unstable high frequency response. The dynamics of a clamped plate under forces and moments and the FVF controllers are formulated. The stability of the control system and performance are investigated with the open loop transfer function(OLTF). It is found that the FVF controller has a higher gain margin than the corresponding DVFB controller owing to the rapid roll-off behavior at high frequencies. Although the gain margin cannot be fully utilized because of the enhancement at the high frequencies, the vibration at the modes lower than the tuning frequency is well controlled. This performance of the FVF controller is shown to be improved from that of the DVFB controller. It is, however, noted that the stability around the tuning frequency is very sensitive so that the enhancement in vibration level should be followed. The reduction performance at low frequencies using the FVF controller should be compromised with the enhancement in the vibration at high frequencies while designing the controller.

• 한국통신학회논문지
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• 제31권10A호
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• pp.988-995
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• 2006

본 논문에서는 방위각과 고각을 동시에 탐지하는 2차원 멀티베이스라인 센서 배열 설계에서 DOA(Direction Of Arrival) 정확도를 유지하면서 센서 안테나수를 최소화하기 위해 위상차 공간에서 유클리드 최소 거리함수를 이용한 논하모닉 배열 구조 설계 메소드를 제안한다. 제안된 메소드는 기존 메소드와 달리 최소 이격 거리비가 반파장 이상인 경우에도 적용 가능할뿐더러 임의 배열구조에서도 적용이 가능한 장점을 갖는다. 다중신호 입사조건에서 초분해능 알고리즘을 적용한 모의 실험을 통해 설계 접근성의 효율성을 제시하였다. 또한 제안된 메소드를 적용하여 2차원 비대칭 배열 안테나를 설계하였고, 제작된 배열 안테나를 이용한 실험 결과를 통해 그 성능을 확인하였다.

• 분석과학
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• 제8권4호
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• pp.731-738
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• 1995

Toxic air pollutants are investigated in a petrochemical industrial park in Taiwan by using a movable open path FTIR. The results show the qualitative and quantitative analysis of emission gases from plants, and also provide the emission rate of different compounds. More than twenty compounds under usual operation are found from this industrial park. The concentration variation with time can be correlated exactly with wind direction. It means that by changing the measuring points, the source of emission can be unambiguously identified. An EPA proved PAL model is applied to estimate the emission rate of either a point or an area source. Local atmospheric stability is determined by releasing the $SF_6$ tracer. The origins of errors come mainly from the uncertainty of source's configuration and the variation of meteorological condition. Through the continuous measurement (half an hour base in this study) of OP-FTIR sensor, the maximum value of emission rate and the annual amount of emission can be derived. The emission rate of the measured toxic gases are derived by the model technique and the results show that the emission amount are in the order of ten to hundred tons per year.