• Current Research on Agriculture and Life Sciences
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• 제31권2호
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• pp.131-138
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• 2013

농용무인 헬리콥터는 벼농사는 물론 전작, 과수 등 소규모 필지의 정밀방제에 이용되고 있으며 농작업의 새로운 패러다임으로 자리 잡고 있다. 본 연구의목적은 농용헬리콥터의 비상시퀀스에서 정지비행 중 측풍에 의해서 비상착륙자리를 이탈하지 않고 위치를 유지하는 편류제어 모듈과 알고리즘의 성능을 평가하는데 있다. 편류제어의 목적은 비상착륙과 연동되어있는데, 비상조건에 도달하게 되면 호버링을 하면서 비상대처 알고리즘이 작동하게 된다. 그러나 관성 제어는 등속운동에서 기체의 움직임을 감지하지 못하게 되고 측풍에 의하여 비상지점으로부터 편류를 하게 되어 착륙 목표지점으로부터 멀어질 수 있다. GPS 모듈을 기초로 개발한 편류제어모듈을 시험하였다. 알고리즘 및 실효성을 고려하여 5 m 직경 내에 위치를 벗어나지 않는지에 대한 기준을 적용하였다. 초기에는 2~4m/s의 측풍 교란에 대하여 과민하게 반응하였지만 이후 5 m 직경 내에서 위치를 벗어나지 않고 자세 및 요의 방향을 유지 하였다. 목도의 관찰에서는 전후좌우 흔들림을 인지하기 어려운 정도이지만, 데이터에서 보인 편위는 GPS 수신기의 특성에 기인하는 것으로 판단한다. 이와 같은 편류제어는 비상착륙이나 호버링을 유지하려 할 때 의도하지 않는 편류를 제어하는데 사용될 수 있다.

• Smart Structures and Systems
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• 제12권5호
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• pp.501-521
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• 2013

This paper is concerned with static and dynamic shape control of a laminated Bernoulli-Euler beam hosting a uniformly distributed array of resistively interconnected piezoelectric patches. We present an analytical one-dimensional model for a laminated piezoelectric beam with material discontinuities within the framework of Bernoulli-Euler and extent the model by a network of resistors which are connected to several piezoelectric patch actuators. The voltage of only one piezoelectric patch is prescribed: we answer the question how to design the interconnected resistive electric network in order to annihilate lateral vibrations of a cantilever. As a practical example, a cantilever with eight patch actuators under the influence of a tip-force is studied. It is found that the deflection at eight arbitrary points along the beam axis may be controlled independently, if the local action of the piezoelectric patches is equal in magnitude, but opposite in sign, to the external load. This is achieved by the proper design of the resistive network and a suitable choice of the input voltage signal. The validity of our method is exact in the static case for a Bernoulli-Euler beam, but it also gives satisfactory results at higher frequencies and for transient excitations. As long as a certain non-dimensional parameter, involving the number of the piezoelectric patches, the sum of the resistances in the electric network and the excitation frequency, is small, the proposed shape control method is approximately fulfilled for dynamic load excitations. We evaluate the feasibility of the proposed shape control method with a more refined model, by comparing the results of our one-dimensional calculations based on the extended Bernoulli-Euler equations to three-dimensional electromechanically coupled finite element results in ANSYS 12.0. The results with the simple Bernoulli-Euler model agree well with the three-dimensional finite element results.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 추계학술대회 논문집
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• pp.109-114
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• 2001

Photovoltaic systems normally use a maximum power point tracking (MPPT) technique to continuously deliver the highest possible power to the load when variations in the insolation and temperature occur. A simple method of tracking the maximum power points (MPPs) and forcing the boost converter system to operate close to these points is presented through deriving small-signal model and transfer function of boost converter. This paper aims at modeling boost converter including equivalent series resistance of input reservoir capacitor by state-space-averaging method. In the future, properly designed controller for compensation will be constructed for maximum photovoltaic power tracking control.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2001년도 학술대회논문집
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• pp.65-72
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• 2001

Power system stabilizer act efficiently to damp the electromechanical oscillations in interconnected power systems. This paper presents an algorithm for the optimal parameter selection of a power system stabilizer in two-area power systems with a series HVDC link. This method is one of the classical techniques by allocating properly pole-zero positions to fit as closely as desired the ideal phase lead between the voltage reference and the generator electrical power and by changing the gain to produce a necessary damping torque over the matched frequency range. Control of HVDC converter and inverter are used a constant current loop. Proper parameters of PI controllers are obtain based on the Root-locus technique in other to have sufficient speed and stability margin to cope with charging reference values and disturbance. The small signal stability arid transient stability studies using the PSS parameters obtained from this method show that a natural oscillation frequency of the studycase system is adequately damped. Also the simulation results using the HVDC converter and inverter parameters obtained from this proposed method show proper current control characteristics. The simulation used in the paper was performed by the Power System Toolbox software program based on MATLAB.

• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.84-91
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• 2005

In this paper, we describe the real-time parallel processing simulator developed for the use of performance analysis of rolling missiles. The real-time parallel processing simulator developed here consists of seeker emulator generating infrared image signal on aircraft, real-time computer, host computer, system unit, and actual equipments such as auto-pilot processor and seeker processor. Software is developed from mathematic models, 6 degree-of-freedom module, aerodynamic module which are resided in real-time computer, and graphic user interface program resided in host computer. The real-time computer consists of six TIC-40 processors connected in parallel. The seeker emulator is designed by using analog circuits coupled with mechanical equipments. The system unit provides interface function to match impedance between the components and processes very small electrical signals. Also real launch unit of missiles is interfaced to simulator through system unit. In order to apply the real-time parallel processing simulator to performance analysis equipment of rolling missiles it is essential to perform the performance verification test of simulator.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.406-412
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• 2009

ECG is used on purpose to keep good health or monitor cardiac function of aged person as well as on purpose to diagnose the disease of heart patients. The ambulatory ECG monitoring system under guarantee of safety and accuracy is very efficient to prevent the progress of heart disease and sudden death. These systems can detect the temporary change of ECG that is very significant to diagnose heart disease such as myocardial ischemia, arrhyamia and cardiac infarction. In this paper, we describe the ECG signal analysis algorithm and measurement device for ECG monitoring. The authors designed a small-size portable ECG device that consisted of instrumentation amplifier, micro-controller, filter and RF module. The device measures ECG with four electrodes on the body and detects QRS complex and ST level change in realtime. Also it transmits the measured signals to the personal computer. The developed software for ECG analysis in personal computer has the function to detect the feature points and ST level changes.

• Journal of Power Electronics
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• 제13권5호
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• pp.896-908
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• 2013

Under high grid impedance conditions, it is difficult to guarantee the stability of grid-connected inverters with an LCL filter designed based on ideal grid conditions. In this paper, the theoretical basis for output impedance calculation is introduced. Based on the small-signal model, the d-d channel closed-loop output impedance models adopting the converter-side current control method and the grid-side current control method are derived, respectively. Specifically, this paper shows how to simplify the stability analysis which is usually complemented based on the generalized Nyquist stability criterion (GNC). The stability of each current-controlled grid-connected system is analyzed via the proposed simplified method. Moreover, the influence of the LCL parameters on the stability margin of grid-connected inverter controlled with converter-side current is studied. It is shown that the stability of grid-connected systems is fully determined by the d-d channel output admittance of the grid-connected inverter and the inductive component of the grid impedance. Experimental results validate the proposed theoretical stability analysis.

• International Journal of Internet, Broadcasting and Communication
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• 제8권3호
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• pp.69-77
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• 2016

Maximum utilization of unused license spectrum is one of key factor in cognitive radio network which can handle the large number of systems and devices connected on smart grid AMI network. The central intelligence control system has responsibility to accept new technologies and users for automation. To ensure a reliable communication in smart grid system through cognitive network, a minimum mean square error (MSE) signal using unused licensed spectrum (or frequency) is necessary to be detected with small decision error. In this paper, we introduce a user control wireless smart grid system with minimum MSE using LMS algorithm.

• 한국태양에너지학회 논문집
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• 제29권6호
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• pp.1-13
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• 2009

Photovoltaic conditioning systems normally use a maximum power point tracking (MPPT) technique to deliver the highest possible power to the load continuously when variations occur in the insolation and temperature. A unique method of tracking the maximum power points (MPPs) and forcing the boost converter system to operate close to these points is presented through deriving small-signal model and transfer function of boost converter considering input capacitor. This paper aims at modeling boost converter including fairly large equivalent series resistance(ESR) of input reservoir capacitor by state-space-averaging method and PWM switch model and compares both methods using Bode plots. In the future, properly designed controller for compensation will be constructed in 3kw real system for maximum photovoltaic power tracking control.

• Journal of Power Electronics
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• 제8권4호
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• pp.332-344
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• 2008

High frequency AC (HFAC) power distribution systems delivering power through a high frequency AC link with sinusoidal voltage have the advantages of simple structure and high efficiency. In a multiple module system, where multiple resonant inverters are paralleled to the high frequency AC bus through connection inductors, it is necessary for the output voltage phase angles of the inverters be controlled so that the circulating current among the inverters be minimized. However, the phase angle of the resonant inverters output voltage can not be controlled with conventional phase shift modulation or pulse width modulation. The phase angle is a function of both the phase of the gating signals and the impedance of the resonant tank. In this paper, we proposed a pulse phase modulation (PPM) concept for the resonant inverters, so that the phase angle of the output voltage can be regulated. The PPM can be used to minimize the circulating current between the resonant inverters. The mechanisms of the phase angle control and the PPM were explained. The small signal model of a PPM controlled half-bridge resonant inverter was analyzed. The concept was verified in a half bridge resonant inverter with a series-parallel resonant tank. An HFAC power distribution system with two resonant inverters connected in parallel to a 500kHz, 28V AC bus was presented to demonstrate the applicability of the concept in a high frequency power distribution system.