• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.10
• /
• pp.1915-1923
• /
• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.14 no.5
• /
• pp.486-502
• /
• 1989

This paper proposes two types of the preview algorithms to predict the velocities and joint positions, and deals with a control approach using the preview algorithms for the precise trajectory control. Specifically, a predictor as the form of discrete time state equations is proposed based on the robot dynamics model linearized by the computed toque method. And another state predictor is proposed by the best line fitting in the least square sense, where present joint velocities and positions and several past positions are employed. Then computer simulations are performed for the SCARA robot with two d.o.f to show the validities of the proposed algorithms.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.37 no.1
• /
• pp.69-75
• /
• 2000

In this paper, we consider the problem of discrete-time random signal detection problem under the presence of additive noise exhibiting weak dependence The test statistic of the locally optimum detector for correlated random signals under a weakly dependent noise model is derived The performance characteristic of the locally optimum detector is analyzed and compared with that of the square-law detector in terms of the asymptotic relative efficiency.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.23 no.1
• /
• pp.66-71
• /
• 2018

We propose an online parameter estimation method for surface-mounted permanent-magnet synchronous motor (SPMSM) using an affine projection algorithm (APA). The proposed method estimates parameters with two APAs based on the discrete-time model equation of SPMSM during motor operation. The first APA is designed to estimate inductance, and the second APA is designed to estimate resistance and flux linkage. However, in case when the d-axis current is controlled to 0A, the second APA cannot estimate resistance and flux linkage simultaneously because the matrix rank in APA becomes deficient. To overcome this problem, we temporarily inject a negative reference current input to the d-axis control loop, and the matrix in the APA then becomes full rank, which enables the simultaneous estimation of resistance and flux linkage. The proposed method is verified by PSIM simulation and an actual experiment, and the results reveal that SPMSM parameters can be estimated online during motor operation.

• Journal of the Society of Naval Architects of Korea
• /
• v.40 no.6
• /
• pp.12-19
• /
• 2003

Corrugated bulkheads for a bulk carrier are divided into watertight bulkheads and deep tank bulkheads. Design of the watertight bulkheads is principally determined by the permissible limit of Classification and IACS requirements. But, the verification of strength through finite element analysis is indispensable for design of the deep tank bulkheads. A stage for stress evaluation of corrugated part is required for optimum structural design of the deep tank bulkheads. Since the finite element analysis for real model requires excessive amount of calculation time, in this study one corrugated structure is replaced with beam element and is idealized as 2 dimensional frame structure connected to upper and lower stool Minimum weight design of the deep tank bulkheads is performed through generalized sloped deflection method(GSDM) as direct calculation method. The purpose of this study is the development of design system for the minimization of steel weight of deep tank bulkheads as well as watertight bulkheads. Discrete variables are used as design variables for the practical design. Evolution strategies(ES) is used as an optimization technique.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2000.11a
• /
• pp.228-231
• /
• 2000

The active vibration control of laminated composite shell has been performed with the optimized sensor/actuator system. PVDF film is used fur the material of sensor/actuator. Finite element method is utilized to model the whole structure including the piezoelectric sensor/actuator system, The distributed selective modal sensor/actuator system is established to prevent the adverse effect of spillover. In the finite element discretization process, the nine-node shell element with five nodal degrees of freedoms is used. Electrode patterns and lamination angles of sensor/actuator are optimized using genetic algorithm. Sensor is designed to minimize the observation spillover, and actuator is designed to minimize the system energy of the control modes under a given initial condition. Modal sensor/actuator profiles are optimized for the first and the second modes suppression of singly curved cantilevered composite shell structure. Discrete LQG method is used as a control law. The real time vibration control with profile optimized sensor/actuator system has been performed. Experimental result shows successful performance of the integrated structure for the active vibration control.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.330-339
• /
• 2008

Ground-based interceptors(GBI) comprise a major element of the strategic defense against hostile targets like Intercontinental Ballistic Missiles(ICBM) and reentry vehicles(RV) dispersed from them. An optimum design of the subsystems is required to increase the performance and reliability of these GBI. Propulsion subsystem design and optimization is the motivation for this effort. This paper describes an effort in which an entire GBI missile system, including a multi-stage solid rocket booster, is considered simultaneously in a Genetic Algorithm(GA) performance optimization process. Single goal, constrained optimization is performed. For specified payload and miss distance, time of flight, the most important component in the optimization process is the booster, for its takeoff weight, time of flight, or a combination of the two. The GBI is assumed to be a multistage missile that uses target location data provided by two ground based RF radar sensors and two low earth orbit(LEO) IR sensors. 3Dimensional model is developed for a multistage target with a boost phase acceleration profile that depends on total mass, propellant mass and the specific impulse in the gravity field. The monostatic radar cross section (RCS) data of a three stage ICBM is used. For preliminary design, GBI is assumed to have a fixed initial position from the target launch point and zero launch delay. GBI carries the Kill Vehicle(KV) to an optimal position in space to allow it to complete the intercept. The objective is to design and optimize the propulsion system for the GBI that will fulfill mission requirements and objectives. The KV weight and volume requirements are specified in the problem definition before the optimization is computed. We have considered only continuous design variables, while considering discrete variables as input. Though the number of stages should also be one of the design variables, however, in this paper it is fixed as three. The elite solution from GA is passed on to(Sequential Quadratic Programming) SQP as near optimal guess. The SQP then performs local convergence to identify the minimum mass of the GBI. The performance of the three staged GBI is validated using a ballistic missile intercept scenario modeled in Matlab/SIMULINK.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2002.10a
• /
• pp.142-148
• /
• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Journal of the Semiconductor & Display Technology
• /
• v.22 no.1
• /
• pp.11-17
• /
• 2023

This paper proposes a lightweight deep learning network for detecting an image splicing forgery. The research on image forgery detection using CNN, a deep learning network, and research on detecting and localizing forgery in pixel units are in progress. Among them, CAT-Net, which learns the discrete cosine transform coefficients of images together with images, was released in 2022. The DCT coefficients presented by CAT-Net are combined with the JPEG artifact learning module and the backbone model as pre-learning, and the weights are fixed. The dataset used for pre-training is not included in the public dataset, and the backbone model has a relatively large number of network parameters, which causes overfitting in a small dataset, hindering generalization performance. In this paper, this learning module is designed to learn the characterization depending on the DCT domain in real-time during network training without pre-training. The DCT RRU-Net proposed in this paper is a network that combines RRU-Net which detects forgery by learning only images and JPEG artifact learning module. It is confirmed that the network parameters are less than those of CAT-Net, the detection performance of forgery is better than that of RRU-Net, and the generalization performance for various datasets improves through the network architecture and training method of DCT RRU-Net.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.24 no.7B
• /
• pp.1296-1304
• /
• 1999

In this paper, we propose an enhanced usage parameter control algorithm, which is one of the preventive traffic control method in ATM networks. Proposed algorithm is based on the cell loss priority bit in the ATM cell header. This algorithm can eliminate the measurement phasing problem in cell conformance testing in ATM networks. Proposed algorithm can minimize the cell loss ratio of high priority cell(CLP = 0) and resolve the burstiness of cells which may be introduced in traffic multiplexing and demultiplexing procedure. For the performance evaluation, we simulate the proposed algorithm with discrete time input traffic model, the results show that the performance of proposed algorithm is better than that of ITU-T usage parameter control algorithm.