• 한국군사과학기술학회지
• /
• 제11권2호
• /
• pp.53-65
• /
• 2008

This paper proposes the qualitative method for planning the operation of multi-AUVs with environmental disturbances, which is considered to be a very difficult task. In this paper we use an extension collision map as a collision free motion planner. The tool was originally developed for the multiple ground vehicles with no internal/external disturbance. In order to apply the method to a water environment where there are tides and waves, and currents, we analyze the path deviation error of AUVs caused by external disturbances. And we calculate safety margin for the collision avoidance on the extension collision map. Finally, the simulation result proves that the suggested method in this paper make multi-AUVs navigate to the goal point effectively with no collision among them.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제54권10호
• /
• pp.587-594
• /
• 2005

An adaptive observer for rotor resistance is designed to estimate rotor flux for the a-b model of an induction motor assuming that rotor speed and stator currents are measurable. A singularly perturbed model of the motor is used to design an Adaptive sliding mode observer which drives the estimated stator currents to their true values in the fast time scale. The adaptive observer on the sliding surface is based on the equivalent switching vector and both the estimated fluxes and the estimated rotor resistance converge to their true values. A speed controller considering the effects of parameter variations and external disturbance is proposed in this paper. First, induction motor dynamic model at nominal case is estimated. based on the estimated model, speed controller is designed to match the prescribed speed tracking specifications. Then a dead-time compensator and a robust controller are designed to reduce the effects of parameter variations and external disturbances. the desired speed tracking control performance can be preserved under wide operating range, and good speed load regulating performance. Some simulated results are provided to demonstrate the effectiveness of the Proposed controller.

• 생태와환경
• /
• 제40권4호
• /
• pp.546-552
• /
• 2007

The objectives of this study were to analyze fish compositions, based on trophic guilds and tolerance guilds and determine community characteristics structure at five sampling sites of Yeongsan Lake during July 2006-May 2007. Total number of species sampled was 30 species and the number was 1350. Cyprinidae (77%) and Centrarchidae (15.7%) dominated the community and then followed by Cobitidae(2.7%), Gobiidae(2.4%), Mugilidae (0.5%), and others (0.1%). The relative abundance of tolerant and omnivore species at all sites was 63% and 77% of the total, respectively, suggesting an ecological degradations in the Lake. Exotics species such as large mouth bass (Micropterus salmoides), which is a top-carnivore in the water distributed at all sampling sites, implying that ecological disturbance was severe based on previous reference of US EPA (1991). Also, we found external anomalies such as external deformities, bleeding and tumors and not found migratory fish. Analysis of fish community structure showed that species diversity index and richness index was the highest in Site 1 and the dominance index was the highest in Site 2. In this study, high proportions of tolerant species and omnivore species, widespread exotic species, and frequent observations of abnormal fish. Such problems may be directly or indirectly associated with high nutrient enrichments and the reduced flow velocity by the dam construction. The ecosystem restoration by dam removal or removal of exotic top-carnivore fish may be one of the best strategies for better lak management.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권2호
• /
• pp.195-203
• /
• 2016

In order to overcome the influence of system stability and accuracy caused by uncertainty, estimation errors and external disturbances in Eight-Rotor MAV, L2 gain control method was proposed based on interval type II fuzzy neural network identification here. In this control strategy, interval type II fuzzy neural network is used to estimate the uncertainty and non-linearity factor of the dynamic system, the adaptive variable structure controller is applied to compensate the estimation errors of interval type II fuzzy neural network, and at last, L2 gain control method is employed to suppress the effect produced by external disturbance on system, which is expected to possess robustness for the uncertainty and non-linearity. Finally, the validity of the L2 gain control method based on interval type II fuzzy neural network identifier applied to the Eight-Rotor MAV attitude system has been verified by three prototy experiments.

• 정보저장시스템학회논문집
• /
• 제7권2호
• /
• pp.70-74
• /
• 2011

The mobile camera module is a device to be inserted in the digital device for camera feature. The mobile camera module is being shaken by vibrations such as handshake during the exposure time. The clarity is compromised by these vibrations, thus the vibration is considered as an external disturbance. Moreover the use of mobile camera module has been being expanded for automotive vibration should be considered. These external disturbances can cause image blurring, thus optical image stabilization should be applied for image compensation. The compensator is fulfilled mechanically by movable lens group or image sensor that adjusts the optical path to the camera movement. Open loop control is useful for well-defined systems like compliant mechanism. Notch filter and lead compensator are designed and applied to improve the stability and bandwidth. The final level of image compensating is confirmed by image processing with MATLAB and CODE V to verify the better performance.

• 제어로봇시스템학회논문지
• /
• 제3권6호
• /
• pp.555-562
• /
• 1997

With only the classical PID controller applied to control of a DC motor, good (target) performance characteristic of the controller can be obtained if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are known exactly. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee good performance, which is assumed with precisely known system parameters and operating conditions. In view of this and the robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one world wide asymptotically. Computer simulation and experimental results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing its superiority to the conventional fixed PID controller.

• 정보저장시스템학회논문집
• /
• 제7권1호
• /
• pp.19-24
• /
• 2011

Holographic Data Storage System, one of the next generation data storage devices, is a 2-dimensional page oriented memory system using volume holograms in writing and retrieving process. Recently photopolymer with disc type substrate was selected as a media for the Holographic Data Storage System. The disc tilt occurs when the media rotates and the external disturbance applies. The disc tilt causes the change of the angle between the reference beam and the media, the data cannot be retrieved with the right angle or other data page is retrieved. The tilt is generated in a 2-axis direction (tangential, radial). The tangential tilt direction is the same with the multiplexing plane, while the radial tilt direction is a perpendicular to the multiplexing plane. In this research we propose 2-axis tilt angle servo system. The tilt errors are measured by using external photo detector and the additional red laser. Then the tangential direction tilt is compensated by using the galvano mirror. Also the radial direction tilt is compensated by the rotating prism between the relay lens in the reference field. Finally we confirm the compensation results through the Signal to Noise Ratio(SNR) and Bit Error Rate(BER).

• 풍력에너지저널
• /
• 제13권3호
• /
• pp.33-42
• /
• 2022

In this paper, a semi-supervised machine learning technique applied to actual field vibration data acquired from Jeju-do wind turbines for predictive diagnosis of abnormal conditions of offshore wind turbines is introduced. Semi-supervised machine learning, which combines un-supervised learning with supervised learning, can be used to perform anomaly detection in situations where sufficient fault data cannot be obtained. The signal processing results using the spectrogram of the original signal were shown, and external data were used to overcome the problem that disturbance reactions easily occurred due to the imbalance between the number of normal and abnormal data. Out of distribution (OOD), which uses external data, is a technology that is regarded as abnormal data that is unlikely to occur in reality, but we were able to use it by expanding it. By rearranging the distribution of data in this way, classification can be performed more robustly. Specifically, by observing the trends of the abnormal score and the change in the feature of the representation layer, continuous learning was performed through a mixture of existing and new data.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• 제28권2호
• /
• pp.161-164
• /
• 2002

Le Fort III 골절단술 후 강성 외장형 신장기를 이용한 중안면부 골신장술은 적은 합병증으로 골편의 많은 전방 이동이 가능하고, 술후에도 신장 축방향을 조절할 수 있는 장점을 가지고 있으며, 견인 철선을 비외측부 안면 피부를 관통하여 견인하는 방법은 견인력이 회전 중심 가까이에 전달되며, 견인장치가 저작시에도 방해가 되지 않는 장점을 가지고 있는 유용한 방법이다. 본과에서는 두개안면부 저성장을 가진 환자에서 Le Fort III 골절단술 후 피부를 관통하여 견인하는 강성 외장형 신장기를 이용하여 적은 합병증으로 매우 심미적인 결과를 얻을 수 있었다. 중안면부의 골신장술을 이용한 치료법은 아직 장기적인 추적 조사가 필요하지만 많은 합병증을 유발하고 골편의 이동량이 제한되는 기존의 골절단술과 소형 금속판을 이용한 골접합술을 대체할 수 있는 유용한 방법으로 생각된다.

• 한국지반환경공학회 논문집
• /
• 제9권6호
• /
• pp.71-79
• /
• 2008

다양한 환경의 지반 속에 매설되어 있는 지하 매설관은 지반과 외부 하중의 종류 뿐만 아니라 하중 작용시간, 작용조건 등에 따라 다양한 거동특성을 보인다. 또한 같은 지역 내에서도 환경조건이 다르기 때문에 현재의 이론적 해석방법으로는 매설관의 응력상태나 거동상태를 정확히 예측하는 데는 현실적으로 많은 어려움이 따른다. 특히 예측치 않은 하중발생 상황이나 차량 및 열차 하중에 대한 매설관의 영향 평가는 국내의 경우 아직 미진한 상황이다. 이에 본 연구에서는 대형토조실험과 수치해석을 통하여 매설깊이에 대한 영향 평가, 지반 교란의 영향 평가를 실시하였다. 또한 열차하중과 같은 동적하중에 대한 매설관의 영향 평가를 위하여 수치해석을 통해 열차이동하중에 대한 영향 평가를 수행하였다.