• 대한조선학회논문집
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• 제46권4호
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• pp.382-390
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• 2009

The submerged body near the free surface is disturbed by the 1st and 2nd order wave forces, which results in unstable movements when no control is applied. In this paper, the vertical motions of the submerged body are analyzed, and the time-variant nonlinear system for the vertical motions of the submerged body is transformed to the time-invariant linear system in state space. Next, depth controller of the submerged body is designed by using LQR control, one of the modern optimal control technique. Numerical simulation shows that effective depth controls can be achieved by LQR control.

• 전기학회논문지
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• 제67권8호
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• pp.1080-1088
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• 2018

General methods of controlling a drone are divided into manual control and automatic control, which means a drone moves along the route. In case of manual control, a man should be able to figure out the location and status of a drone and have a controller to control it remotely. When people control a drone, they collect information about the location and position of a drone with the eyes and have its internal information such as the battery voltage and atmospheric pressure delivered through telemetry. They make a decision about the movement of a drone based on the gathered information and control it with a radio device. The automatic control method of a drone finding its route itself is not much different from manual control by man. The information about the position of a drone is collected with the gyro and accelerator sensor, and the internal information is delivered to the CPU digitally. The location information of a drone is collected with GPS, atmospheric pressure sensors, camera sensors, and ultrasound sensors. This paper presents an investigation into drone control by a remote computer. Instead of using the automatic control function of a drone, this approach involves a computer observing a drone, determining its movement based on the observation results, and controlling it with a radio device. The computer with a Depth camera collects information, makes a decision, and controls a drone in a similar way to human beings, which makes it applicable to various fields. Its usability is enhanced further since it can control common commercial drones instead of specially manufactured drones for swarm flight. It can also be used to prevent drones clashing each other, control access to a drone, and control drones with no permit.

• 한국해양공학회지
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• 제20권6호
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2011년도 한국컴퓨터종합학술대회논문집 Vol.38 No.1(B)
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• pp.462-465
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• 2011

낸드 플래시 메모리를 이용한 SSD(Solid-State Disk)는 빠른 속도와 저전력, 휴대성, 내구성 등의 특성을 가져 전통적인 저장 장치인 하드 디스크(HDD:Hard Disk Drive)를 대체할 차세대 저장 장치로 주목받고 있다. 그러나 저장 장치 성능 측정 도구는 기존의 하드 디스크의 특성을 기반으로 한 것들이 대부분으로 이를 통해 SSD의 성능을 측정하기엔 적합하지 않다. 특히 SSD는 하드 디스크에 비해 단위 공간 당비용이 수십 배 가량 높아 저장 공간의 효율적인 관리를 위해 컨트롤러(Controller)가 데이터 압축 기법을 사용하기도 하는데 이 압축 기법을 사용하는 컨트롤러에 따라 SSD는 다른 성능을 보인다. 또, 여러 가지 명령들이 한꺼번에 존재할 때 컨트롤러에 따라 이를 적절히 효율적으로 처리해주는 기능을 가지고 있는데 이 역시 SSD의 성능에 차이를 가져온다. 그러나 기존 저장 장치 성능 측정 도구는 압축 기법 유무를 판별할 수 있으면서 여러 명령들이 한꺼번에 존재할 때 SSD 성능의 차이를 파악할 수 있는 통합된 성능 측정 도구는 없다. 본 논문에서는 다양한 패턴에 따라 SSD의 특성을 측정할 수 있는 도구인 uFlip 성능 측정 도구를 기반으로, 압축 기법의 사용 유무를 판별할 수 있는 기능과 명령 큐 깊이(Command Queue Depth)에 따라 성능의 차이를 판별할 수 있는 기능을 추가하였고, uFlip 기반 수정된 성능 측정 도구로 몇 가지 상용 SSD의 성능을 평가하여 비교함으로써 추가된 기능들의 유무에 따라 SSD별로 다른 성능을 보이는 것을 확인할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1352-1355
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surface. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamometer. Based on the parameter estimation of cutting dynamics and the admittance model-based nanodynamic control scheme, simulation results are shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.49-52
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. The limitation of this control scheme is that the feedback signal does not account for additional dynamics of the tool post and the material removal process. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surfice. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining processprohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normalto the face of the workpice can be filterd through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment cotnrol action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. Based on the empirical data of the cutting dynamics, simulation results are shown.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2012년도 추계학술대회
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• pp.92-95
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• 2012

대한민국에서 3DTV 방송서비스는 더 이상 '미래방송서비스'가 아니다. EBS는 올해 4월 지상파 DTV 주파수에서 세계최초로 2D/3D 혼용방송서비스를 실시하였으며, 오는 10월 15일에는 APC(Automatic Program Controller)와 연동하여 방송스케줄에 따라 자동으로 3D 방송을 송출하는 시스템을 구축하여 2차 시범방송을 진행할 예정이다. 이렇게 3D 방송을 위한 기술적 준비는 차근차근 이루어지고 있음에 반하여, 3D 방송서비스에 대한 시청자의 호응은 그다지 크지 않다. 이것은 방송되는 3D 콘텐츠의 양과 질이 부족하기 때문으로 풀이된다. 이 같은 3D 방송서비스의 장애요소에 착안하여, 본 논문에서는 3D 콘텐츠 제작효율을 높이고, 만들어지는 3D 방송콘텐츠의 품질을 높이기 위한 하나의 방법으로서, 제작현장에서 활용할 수 있는 3D 콘텐츠 제작과 밀접한 관련이 있는 새로운 참조지표인 '입체충실도(Depth Fidelity)'를 정의하여 제안하고자 한다. 입체충실도를 도출하기 위해 우선 양안식(兩眼式) 3D 입체영상의 특징을 분석하였고, 시청자 체감 가상깊이를 계산하여 활용하였다. 또한 연구를 통해 도출한 입체충실도 계산 알고리즘이 적용된 EBS 입체계산기(Stereoscopic Calculator) 애플리케이션을 개발하여 안드로이드 스마트폰에서 이용할 수 있도록 함으로써, 카메라감독과 프로듀서 등 방송제작 현업 스태프들이 연구결과를 활용할 수 있도록 했다.

• Journal of Biosystems Engineering
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• 제41권4호
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• pp.313-318
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• 2016

Purpose: This study measured and analyzed the PTO (power take off) torque of a transplanter according to the planting conditions during field operation. Methods: A torque measurement system was constructed with torque sensors to measure the torque of a PTO shaft, a measurement device to acquire sensor signals, and a power controller to provide power for a laptop computer. The field operation was conducted at four planting distances (26, 35, 43, and 80 cm) and two planting depths using the transplanter on a field with similar soil conditions. One-way ANOVA with planting distance and Duncan's multiple range test at a significance level of 0.05 were used to analyze the PTO torque. The torque ratio was calculated based on the minimum torque using the average PTO torque measured under each planting condition. Results: The average torques on the PTO shaft for planting distances of 26, 35, 43, and 80 cm at a low planting depth were 11.05, 9.07, 7.04, and 3.75 Nm, respectively; the same for planting distances of 26, 35, 43, and 80 cm at a middle planting depth were 12.20, 9.86, 7.94, and 4.32 Nm, respectively. When the planting distance decreased by 43, 35, and 26 cm, the torque ratio at a low planting depth increased by 88, 142, and 195%, respectively. When the planting distance decreased by 43, 35, and 26 cm, the torque ratio at the middle planting depth increased by 84, 128, and 182%, respectively. Conclusions: PTO torque fluctuated by planting distance and depth. Moreover, the PTO torque increased for short planting distances. Therefore, farmers should determine the planting conditions of the transplanter by considering the load and durability of the machine. The results of this study provide useful information pertaining to the optimum PTO design of the transplanter considering the field load.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.703-706
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• 2005

본 논문에서는 스테레오 비전 알고리즘을 ARM9 프로세서를 사용하는 SoC의 IP 개념으로 구현하였다. 구현하고자 하는 스테레오 비전 시스템을 기능에 따라서 하드웨어와 소프트웨어 모듈로 나누어서 성능을 최대화할 수 있도록 설계하였다. SAD correlator는 한 쌍의 이미지에 많은 계산을 필요로 하기 때문에 성능을 우선시하여 하드웨어로 구성하였고, 소프트웨어는 프로세서를 초기화 시키고, 인터럽트 처리와 SAD correlator, TFT-LCD controller, 메모리 등의 하드웨어를 제어하는 역할을 하는 firmware로 구성을 하였다. 메모리에 기저장된 영상정보를 스테레오 비전 알고리즘을 이용한 결과를 외부 TFT-LCD 모듈에서 필요로 하는 포맷에 맞게 변환시켜서 depth map을 출력하는 시스템을 ARM922T 프로세서가 내장된 Altera Excalibur를 target으로 설계하여 테스트 보드에서 정상적으로 동작하는 것을 확인하였다.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제52권6호
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• pp.291-297
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• 2003

This paper presents a current-source-inverter based on a buck-boost configuration and its application for residential photovoltaic system. The proposed circuit has five switches. Among them, only one switch acts as chopping, and the other determine the polarity of output; therefore, it can reduce the switching loss. Because the input inductor current is operated on the discontinuous conduction mode, high power factor can be achieved without additional input current controller. So the overall system shows a simple structure. The operational modes are analysed in depth, and then it was verified through the experimental results using a 150 [W] prototype equipped with digital signal processor TMS320F241.