• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.859-868
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• 2016

This paper proposes a new global positioning system (GPS) receiver algorithm to improve the positioning accuracy of a transporter using fault detection and isolation techniques from satellite signals. To improve the positioning accuracy, several factors including a feasible number of satellite signals, SNR, NAV Measurement Quality Indicator (mesQI), and Doppler, among others, have been utilized in the proposed algorithm. To increase the number of feasible satellite signals, an erroneous satellite signal has been replaced by the previous one. In conventional approaches, received GPS signals are analyzed and directly determined to be contaminated or not. The only clean signals are utilized for identifying the current location. This fault detection and isolation (FDI) feasibility test is popular for commercial GPS receivers. In the urban environment, especially near a building, the feasible number of satellite signals becomes insufficient to position the transporter. To overcome this problem, satellite signals are efficiently selected and recovered. Additionally, using the proposed GPS receiver algorithm, a feasible number of satellite signals can be increased, thereby improving the positional accuracy. Real world experiments using a transporter that carries blocks in a shipyard have demonstrated the superiority of the proposed algorithm compared to conventional approaches.

• Journal of the Korean Wood Science and Technology
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• 제36권5호
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• pp.42-48
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• 2008

This study was conducted to discuss the effects of hardener and extender contents on peak temperature, reaction enthalpy (${\Delta}H$), gelation time, viscosity change, and pH value in three types of UMF (urea-melamine- formaldehyde) resin with the help of perpHecT LogR meter, differential scanning calorimetry (DSC), and advanced rheometric expansion system (ARES), The results indicated that the pH value of Control A steeply decreased to 5,2 in the early stage but relatively remained constant thereafter as in Synthesis 1 and Synthesis 2, The peak temperature and time decreased as well, whereas ${\Delta}H$ and viscosity increased with the increase of hardener content. On the other hand, ${\Delta}H$ was not changed up to the extender content of 5% and then decreased with its further addition, And the pH value and peak temperature showed no change with the increase of extender content at the hardener content of 5% in three types of UMF resin, The effect of hardener content in this experiment, however, appeared more conspicuous in Control A than in the other two types of Synthesis 1 and Synthesis 2, These results might be caused by higher molecular weight with longer chains of methylene ($-CH_2-$) and methylene ($-CH_2-O-CH_2-$) ether bridges or much more branched chains in Control A.

• Restorative Dentistry and Endodontics
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• 제31권3호
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• pp.169-178
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• 2006

본 연구는 EDTA용액의 적용 시간에 따른 도말층의 제거 효과를 비교하여 EDTA용액의 최적 적용 시간을 알고자 시행되었다. 단근치 35개를 NaOCl 용액 하에서 근관 형성 후 대조군은 NaOCl 용액 5 ml로 2분간, 실험군은 30초군, 1분군, 2분군으로 세분하여 17% EDTA 용액 5 ml로 각각 30초, 1분, 2분간 세정하였다. 세정이 끝난 치근의 도말층 제거 정도와 상아 세관의 erosion 정도를 주사전자현미경을 이용하여 관찰한 결과는 다음과 같다. 1. 대조군: 도말층이 전혀 제거되지 않았다. 2. 실험군 1) 중간$\frac{1}{3}$: 세 군 모두에서 도말층이 거의 완전히 제거되었고, EDTA적용 시간이 증가할수록 erosion발생 빈도가 증가하였다. 2) 치근단$\frac{1}{3}$: 2분군이 다른 두 군에 비해 도말층 제거 정도가 우수하였다. 따라서 erosion 발생을 최소화면서 도말층을 효과적으로 제거하기 위해서는 17% EDTA 용액을 2분간 사용하는 것이 적절한 것으로 사료된다.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.646-652
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• 2013

EU's Galileo project is a market-based GNSS (Global Navigation Satellite System) that is under development. It is expected that Galileo will provide the positioning services based on new technologies in 2020s. Because Galileo E1 signal for OS (Open Service) shares the same center frequency with GPS L1 C/A signal, CBOC (Composite Binary Offset Carrier) modulation scheme is used in the E1 signal to guarantee interoperability between two systems. With E1 signal consisting of a data channel and a pilot channel at the same frequency band, there exist several options in designing signal acquisition for Assisted-Galileo receivers. Furthermore, compared to SNR worksheet of Assisted-GPS, some factors should be examined in Assisted-Galileo due to different correlation profile and code length of E1 signal. This paper presents SNR worksheets of Galileo E1 signals in E1-B and E1-C channel. Three implementation losses that are quite different from GPS are mainly analyzed in establishing SNR worksheets. In the worksheet, hybrid long integration of 1.5s is considered to acquire weak signal less than -150dBm. Simulation results show that the final SNR of E1-B signal with -150dBm is 19.4dB and that of E1-C signal is 25.2dB. Comparison of relative computation shows that E1-B channel is more profitable to acquire the strongest signal in weak signal environment. With information from the first satellite signal acquisition, fast acquisition of the weak signal around -155dBm can be performed with E1-C signal in the subsequent satellites.

• 전기전자학회논문지
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• 제16권4호
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• pp.335-342
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• 2012

본 논문에서는 고효율과 고역률을 위한 새로운 DCM-ZVS 스텝 업-다운 AC-DC 컨버터에 대해 연구된다. 제안한 DCM-ZVS 컨버터에 사용된 스위칭 소자들은 새로운 유사공진 회로에 의해 소프트 스위칭 기법으로 동작되고, 펄스폭변조(PWM) 방식에 의한 전류불연속모드(DCM)로 구동된다. 제안한 컨버터의 유사공진 회로는 스텝 업-다운 인덕터와 무손실 스너버 커패시터로 구성되고, 또한 DCM에 의해 제어회로 기법과 제어회로 구성이 간단한 장점이 주어진다. 입력 교류 전류파형은 일정 스위칭 주파수에 의한 교류 입력전압의 크기에 비례한 유사 정현파형으로 된다. 그 결과, 제안한 DCM-ZVS 컨버터는 낮은 스위칭 손실과 고효율을 얻을 수 있으며, 컨버터의 입력역률은 거의 단위역률로 된다. 해석적 결과의 타당성은 다양한 컴퓨터 시뮬레이션과 실험 결과를 통해 입증된다.

• 한국기계가공학회지
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• 제21권3호
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• pp.49-55
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• 2022

The design of a battery package and a BMS module for applications using seawater rechargeable batteries, which are known as next-generation energy storage devices, is proposed herein. Seawater rechargeable batteries, which are currently in the initial stage of research, comprise primarily components such as anode and cathode materials. Their application is challenging owing to their low charge capacity and limited charge/discharge voltage and current. Therefore, we design a method for packaging multiple cells and a BMS module for the safe charging and discharging of seawater rechargeable batteries. In addition, a prototype seawater rechargeable battery package and BMS module are manufactured, and their performances are verified by evaluating the prevention of overcharge, overdischarge, overcurrent, and short circuit during charging and discharging.

• 한국구조물진단유지관리공학회 논문집
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• 제6권2호
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• pp.145-155
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• 2002

It is essential for health monitoring of a cable-stayed bridge to provide more accurate and enough information from the sensors. In experimental modal testing, the chosen measurement locations and the number of measurements have a major influence on the quality of the results. The choice is often difficult for complex structures like a cable-stayed bridge. It is extremely important a cable-stayed bridge to minimize the number of sensing operations required to monitor the structural system. In order to obtain the desired accuracy for the structural test, several issues must take into consideration. Two important issues are the number and location of response sensors. There are usually several alternative locations where different sensors can be located. On the other hand, the number of sensors might be limited due to economic constraints. Therefore, techniques such as methodologies, algorithms etc., which address the issue of limited instrumentation and its effects on resolution and accuracy in health monitoring systems are paramount to a damage diagnosis approach. This paper discusses an optimum sensor placement criterion suitable to the identification of structural damage for continuous health monitoring. A Kinetic Energy optimization technique and an Effective Independence Method are analyzed and numerical and theoretical issues are addressed for a cable-stayed bridge. Its application to a cable-stayed bridge is discussed to optimize the sensor placement for identification and control purposes.

• 전기전자학회논문지
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• 제16권2호
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• pp.131-137
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• 2012

본 논문에서는 영전압 스위칭(ZVS)과 전류불연속 모드(DCM)에 의한 새로운 고효율의 DC-DC 컨버터에 대해 연구된다. 일반적으로 고효율의 컨버터를 만들기 위해서는 전력변환기내에 사용된 반도체 스위칭 소자의 손실을 최소화하여 이루어진다. 제안한 컨버터는 DCM에 의하여 스위치의 턴-온 동작을 영전류 스위칭(ZCS)으로 만들고, 또한 새로운 유사공진 회로를 접목하여 컨버터의 고효율을 실현시킨다. 제안한 컨버터에 사용된 제어용 스위칭 소자들은 유사공진 기법에 의해 소프트 스위칭, 즉 ZVS와 ZCS으로 동작시키고, 이에 따른 제어용 스위칭 소자들은 전압과 전류의 스트레스 없이 동작한다. 그 결과 제안한 컨버터는 스위칭 손실의 저감에 의해 고효율로 구동된다. 제안한 DCM-ZVS 컨버터의 소프트 스위칭 동작과 시스템 효율은 디지털 시뮬레이션과 실험결과를 통해 그 타당성이 입증된다.

• 전자공학회논문지S
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• 제36S권6호
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• pp.67-75
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• 1999

자율분산로봇시스템에서 협조행동을 위한 로봇의 센싱과 통신 기능은 필수적이다. 일반적으로 대역적 통신시스템에서 로봇의 대수가 증가하면 통신자원의 제한과 정보의 범람이 발생한다. 따라서 이 경우 지역적 통신방법이 유리하다. 본 논문에서는 지역적 통신에 의한 정보의 전파를 해석하고 최적의 통신반경을 찾기 위한 3가지 방법을 제시한다. 또한 로봇이 정보를 획득하고 소실할 경우 발생하는 군의 카오스 행동을 피하기 위한 조건을 찾는다.

• 로봇학회논문지
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• 제9권1호
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.