• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.726-729
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• 1996

A weighted impact ellipsoid normalized by maximum allowable angular velocity changes is defined and compared with conventional impact ellipsoids and impact polytopes. The results shows that the conventional impact ellipsoid may give false solution as far as the optimal direction of motion is concerned.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.787-796
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• 2008

매니퓰레이터와 환경과의 충돌 시 충격량을 줄이기 위해서는 유효질량이 최소화되는 자세가 요구되므로 자체운동(self motion)을 통하여 이러한 자세를 유지해야 한다. 이때 여유자유도를 분해하기 위하여 관절 토크 국소 최소화 알고리즘을 이용할 수 있다. 본 논문에서는 매니퓰레이터와 환경과의 충돌 시 충격 및 손상을 줄이기 위해 기구학적인 여자유도를 이용하여 관절토크를 최소화시킴과 동시에 충돌을 최소화시키는 새로운 제어 알고리즘을 제안한다 이 알고리즘은 기존의 국소 토크 최소화 알고리즘과 국소 충돌 최소화 알고리즘에 퍼지 로직과 유전자 알고리즘을 적용시킨 것이다. 제안된 알고리즘은 3자유도 평면 여자유도 매니퓰레이터에 적용하였으며, 시뮬레이션 결과를 통하여 제안된 알고리즘의 타당성을 확인하였다.

• 한국지능시스템학회논문지
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• 제19권3호
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• pp.388-397
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• 2009

로봇 매니퓰레이터를 이용한 대부분의 작업은 환경과의 상호작용을 요구하며, 위치제어, 충돌제어 그리고 힘제어로 구성된다. 위치제어는 환경에 도착하는 방법을 의미하고, 환경에 접촉하는 순간은 충돌제어 문제를 야기하며, 힘제어는 환경과의 충돌후에 원하는 힘궤적을 유지하는 것이다. 이러한 세 가지 제어문제는 순차적으로 발생하므로, 각각의 제어 알고리즘은 독립적으로 개발되어야 한다. 특히 여자유도 매니퓰레이터에서 이러한 세 가지 제어문제는 독립된 중요한 연구 주제이다. 예를 들어, 관절 토크 최소화와 충격힘 최소화는 여자유도 매니퓰레이터의 대표적인 연구주제이다. 본 논문에서는 단일 작업을 통하여 세 가지 제어문제를 구성하였다. 위치제어는 각 관절의 토크와 토크변화 그리고 충돌 시의 충돌힘 최소화를 위하여 개발되었다. 따라서 충돌제어의 초기조건은 이전의 위치제어 알고리즘으로부터 최적화 되고, 그러한 제어 전략은 충돌제어의 결과를 개선시킨다. 유사하게, 힘제어 문제의 초기조건은 이전의 위치제어와 충돌제어로부터 간접적으로 최적화된다. 힘제어 알고리즘은 각 관절 토크와 힘외란 최소화시키는 개념을 사용하였다. 모의실험 결과는 제안된 알고리즘의 타당성을 보여준다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.355-358
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• 1996

The primary objective of guidance system is to generate suitable commands so that the pursuer comes closer to its target. It is necessary, however, in the guidance of a certain pursuer that the attitude angle at impact should be within a prescribed range in addition to specification on the miss distance. These guidance requirements can not be satisfied by the general guidance laws developed for miss distance minimization. Compared with the demand in many applications, the guidance laws dealing with impact attitude angle constraint are not easily found. In this paper, biased PNG laws are proposed to obtain the guidance purposes. By Lyapunov method, it is shown that the pursuer can intercept the target with a prescribed attitude angle under the assumption that the pursuer is sufficiently fast and the target maneuver is negligible. The simulation results are presented to demonstrate the performance of the suggested guidance laws.

• Structural Monitoring and Maintenance
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• 제3권3호
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• pp.195-214
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• 2016

Monitoring of impact loads is a very important technique in the field of structural health monitoring (SHM). However, in most cases it is not possible to measure impact events directly, so they need to be reconstructed. Impact load reconstruction refers to the problem of estimating an input to a dynamic system when the system output and the impulse response function are usually known. Generally this leads to a so called ill-posed inverse problem. It is reasonable to use prior knowledge of the force in order to develop more suitable reconstruction strategies and to increase accuracy. An impact event is characterized by a short time duration and a spatial concentration. Moreover the force time history of an impact has a specific shape, which also can be taken into account. In this contribution these properties of the external force are employed to create a sample-force-dictionary and thus to transform the ill-posed problem into a sparse recovery task. The sparse solution is acquired by solving a minimization problem known as basis pursuit denoising (BPDN). The reconstruction approach shown here is capable to estimate simultaneously the magnitude of the impact and the impact location, with a minimum number of accelerometers. The possibility of reconstructing the impact based on a noisy output signal is first demonstrated with simulated measurements of a simple beam structure. Then an experimental investigation of a real beam is performed.

• 환경영향평가
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• 제22권6호
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• pp.713-724
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• 2013

In terms of waste load allocation, inequality of waste load discharge must be considered as well as economic aspects such as minimization of waste load abatement. The inequality of waste load discharge between areas was calculated with Gini coefficient and was included as one of the objective functions of the multi-objective waste load allocation. In the past, multi-objective functions were usually weighted and then transformed into a single objective optimization problem. Recently, however, due to the difficulties of applying weighting factors, multi-objective genetic algorithms (GA) that require only one execution for optimization is being developed. This study analyzes multi-objective waste load allocation using NSGA-II-aJG that applies Pareto-dominance theory and it's adaptation of jumping gene. A sensitivity analysis was conducted for the parameters that have significant influence on the solution of multi-objective GA such as population size, crossover probability, mutation probability, length of chromosome, jumping gene probability. Among the five aforementioned parameters, mutation probability turned out to be the most sensitive parameter towards the objective function of minimization of waste load abatement. Spacing and maximum spread are indexes that show the distribution and range of optimum solution, and these two values were the optimum or near optimal values for the selected parameter values to minimize waste load abatement.

• Journal of Power Electronics
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• 제9권6호
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• pp.940-948
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• 2009

The main objective of this a paper is to improve the efficiency of permanent magnet synchronous motors (PMSMs) by using an improved direct torque control (DTC) strategy. The basic idea behind the proposed strategy is to predict the impact of a small change in the stator flux amplitude at each sampling period to decrease electrical loss before the change is applied. Accordingly, at every sampling time, a voltage vector is predicted and applied to the machine to fulfill the flux change. The motor drive simulations confirm a significant improvement in efficiency as well as a very fast and smooth response under the proposed strategy.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.425-436
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• 2016

In this paper, a parameter optimization based iterative learning control strategy is presented for permanent magnet synchronous motor control. This paper analyzes the mechanism of iterative learning control suppressing PMSM torque ripple and discusses the impact of controller parameters on steady-state and dynamic performance of the system. Based on the analysis, an optimization problem is constructed, and the expression of the optimal controller parameter is obtained to adjust the controller parameter online. Experimental research is carried out on a 5.2kW PMSM. The results show that the parameter optimization based iterative learning control proposed in this paper achieves lower torque ripple during steady-state operation and short regulating time of dynamic response, thus satisfying the demands for both steady state and dynamic performance of the speed regulating system.

• 한국자동차공학회논문집
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• 제14권6호
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• pp.112-119
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• 2006

This paper is concerned with the light-weight design of a center-pillar assembly for the high-speed side impact of vehicle using advanced high strength steels(AHSS). Steel industries continuously promote the ULSAB-AVC project for applying AHSS to structural parts as an alternative way to improve the crashworthiness and the fuel efficiency because it has the superior strength compared to the conventional steel. In order to simulate deformation behavior of the center-pillar assembly, a simplified center-pillar model is developed and parts of that are subdivided employing tailor-welded blanks(TWB) in order to control the deformation shape of the center-pillar assembly. The thickness of each part which constitutes the simplified model is selected as a design parameter. Factorial design is carried out aiming at the application and configuration of AHSS to simplified side-impact analysis because it needs tremendous computing time to consider all combinations of parts. In optimization of the center-pillar, S-shaped deformation is targeted to guarantee the reduction of the injury level of a driver dummy in the crash test. The objective function is constructed so as to minimize the weight and lead to S-shape deformation mode. Optimization also includes the weight reduction comparing with the case using conventional steels. The result shows that the AHSS can be utilized effectively for minimization of the vehicle weight and induction of S-shaped deformation.

• 환경영향평가
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• 제21권1호
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• pp.119-132
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• 2012

Biodiversity is a key element of ecosystem of which function provides essential product and service in human life. In the course since development projects often causes damages to biodiversity, environmental impact assessment technique must be capable of accurately assessing potential impact from flora and fauna and to entire ecosystem. Korea needs improvement of its assessment technique that is compatible with Korean environmental regulatory standard that is generally stricter than that of most countries. This study attempts to explore both domestic and overseas biodiversity assessment techniques and analyze each stage of environmental impact assessment. The data is collected from numbers of literatures selected by navigating both domestic and overseas literature database with certain keywords. Among the 44 selected papers, overseas publications outnumber those of domestics, and there are more researches on assessment methodology of biodiversity than assessment tool and model. In terms of environmental impact assessment, the number of papers on environmental impact forecast exceeds the numbers of papers on current state of environment and the impact minimizing solution. Therefore, contents and trends of those researches in the different stages of environmental impact assessment discussed in this paper not only suggest potential impact on biodiversity and minimization solutions in detail, but is also a valuable resource particularly for biodiversity relevant environmental assessment technique improvement in Korea. Proposing of a new direction of improvement in biodiversity assessment techniques makes this study significant, and further research for preservation of biodiversity should follow up to provide an improvement scheme for biodiversity assessment techniques in the future.