• 대한전기학회논문지:시스템및제어부문D
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• 제55권3호
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• pp.98-109
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• 2006

Fire control system(FCS) errors can be classified as hardware errors, filter prediction errors, effective ballistic function errors, and aiming errors. Among these errors, the filter prediction errors are the most significant error sources. To reduce them, a target future position calculation method using the acceleration estimate is suggested and it is compared with the constant velocity target prediction method. Simulation results show that the suggested method has better performance than the constant velocity prediction method. Target tracking algorithm is established with multiple target tracking filters based on IMM structure.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1629-1633
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• 2004

In this paper, we first implement the simulation environment to investigate the efficient control method of a Fuel Cell Electric Vehicle (FCEV) system with battery. The subsystems of a FCEV including the fuel cell system, the electric motor (including the power electronics) and the tansmission (reduction gear), and the auxiliary power source (battery) are mathematically fomulated and coded using the Matlab/Simulink software. Some examples are given to show the capabilities of the modeled system and d a basic control strategy is examined for the economic energy distribution between the fuel cell and the auxiliary power source. It is illustrated by simulations that the actual vehicle velocity follows the given desired velocity pattern while both SOC control and power distribution control are being performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1269-1274
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• 2004

This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

• 한국지반공학회논문집
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• 제25권9호
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• pp.45-55
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• 2009

철도 토공노반의 품질은 현장 밀도나 평판재하시험을 통해 관리되어 왔다. 현재 지반반력계수($k_{30}$)의 경우 일반철도와 고속철도의 설계기준으로도 사용되기 때문에 설계와 품질관리에서 일관성을 갖는다. 그럼에도 불구하고 지반반력계수($k_{30}$), 또는 반복평판재하시험의 결과인 변형계수($E_{v2}$)와 변형계수의 비($E_{v2}/E_{v1}$) 같은 설계인자에 대해 간편한 실내기준 설정 방법이 없어 설계과정의 치명적인 결함으로 남는다. 본 예비연구에서는 이러한 단점을 극복하고자 최근 개발된 철도 토공노반의 역학적-경험적 설계 방법에도 합당한 새로운 품질관리 기준으로 압축파 속도를 도입하였고 계측 기법을 제안하였다. 품질관리 방안의 핵심은 다짐시험과 병행하여 획득한 최적함수비에서의 압축파 속도를 현장의 품질관리 기준으로 설정하고 현장에서는 시공 중에 직접도달파 기법으로 품질을 확인하는 것이다. 직접도달파 기법은 현장의 기술자가 지표면 얕은 깊이의 균질한 층에서 간편하게 적용할 수 있고 저림하며 결과의 신뢰성이 높다. 시험 부지에서 직접도달파 시험으로부터 계측한 압축파 속도가 다짐도에 따라 식별 가능한지 확인하였고, 품질관리 지표로서 압축파 속도를 효과적으로 적용할 수 있음을 입증하였다. 본 논문의 현장 및 실내 압축파 계측을 통해 동반논문(박철수 등, 2009)에서 수행할 실험적 토대를 마련하였다.

• 대한기계학회논문집A
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• 제26권10호
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• pp.2034-2043
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• 2002

The process design to produce a near net shape home-appliance compressor component using semi-solid die casting process is performed. In order to obtain a good component without defects such as liquid segregation and porosity, the relationship between pressure and time, and plunger tip displacement and injection velocity are proposed with repeated trial and error. The effect of the velocity variation in the process parameters on liquid segregation and extraction is investigated to produce the aluminum frame part(a kind of compressor part) with good mechanical properties. The mechanical characteristic of semi-solid die casting formed parts for AlSi7Mg0.65r(A357) and AlSi17Cu4Mg(A390) are investigated with a view to minimizing the occurrence of defects. To investigate of application possibility at industry field, A380 aluminum alloy with 8∼9% silicon contents used for the squeeze casting process. The obtained mechanical properties is compared with semi-solid die casting.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• 융복합기술연구소 논문집
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• 제6권2호
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1995년도 추계학술대회논문집; 한국종합전시장, 24 Nov. 1995
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• pp.7-15
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• 1995

Sound pressure and particle velocity are the most essential quantities prescribing a sound field; they correspond to voltage and electric current respectively, in electric system. As electric power is the product of voltage and electric current, sound intensity is the product of sound pressure and particle velocity and it means the acoustic power passing through a unit area in a sound field. Although the definition of sound intensity is very simple as mentioned above, the method of measuring this quantity has not been realized for a long time, because it has been very difficult to measure the particle velocity simultaneously with the sound pressure. Owing to the recent development of such technologies as transducer production and digital signal processing, it has finally been realized. According to the sound intensity(SI) method, the sound power flow in an arbitrary sound field can be directly measured as a vector quantify. In this paper, the principle of the SI method is briefly explained at first and some examples of its application made in the author's laboratory are introduced.

• 한국터널지하공간학회 논문집
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• 제6권4호
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• pp.269-278
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• 2004

최근 임계속도 (critical velocity)는 터널안전 분야의 연구자들로부터 많은 관심을 끌고 있는 주제가 되고 있다. 이러한 임계속도는 화재시 화재연의 역류 (backlayering)를 방지하기 위한 최소유속으로써 지금까지 많은 식들이 제안되고 있으며, 다음의 3가지 식들이 제연팬의 용량을 산정하기 위한 국내 기준으로 고려되고 있다. Froude 수에 기초한 Kennedy 식, Kennedy 식을 수정하여 ${\beta}$ 변수값을 고려한 Tetzner 식, 그리고 초임계속도 (super critical velocity) 개념을 도입한 Wu 식 등이 본 연구의 비교 분석대상이며, 또한 임계속도와 제연팬 용량간의 관계를 보여주는 등고선도 (제연팬 특성도)는 국내 도로터널의 화재시 제연팬의 대수를 산정하기 위한 툴로써 제시되고 있다.

• 한국지반공학회논문집
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• 제25권9호
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• pp.57-66
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• 2009

예비연구(박철수 등, 2009)를 통해 철도 토공노반에 대한 새로운 품질관리 지표로서 압축파 속도와 계측 기법을 제안하였다. 제안하고자 하는 새로운 품질관리 방안은 밀도를 이용한 품질관리 과정을 동일하게 따랐으며, 다만 밀도를 설계단계의 회복탄성계수와 관련 있는 압축파 속도로 대신하였다. 이와 더불어 현장 함수비가 최적함수비의 ${\pm}2%$를 만족하도록 보완하였다. 본 연구에서는 직접도달파 기법 및 실내 압축파 계측 외에 크로스홀 시험과 공진주시험을 추가로 수행하여, 압축파 속도에 근거한 새로운 품질관리 방안의 적용성을 검증하였다. 응력이 보정된 크로스홀 시험결과는 직접도달파 시험의 결과와 잘 일치 하였고, 공진주시험 결과 또한 크로스홀 시험의 결과와 잘 일치 하였다. 압축파 속도는 이론적으로나 실무적 관점에서 철도 토공노반의 우수한 품질관리 기준임이 밝혀졌다.