• 융합신호처리학회논문지
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• 제8권2호
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• pp.124-129
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• 2007

최근, 반도체장비, 공구이송장비 그리고 CNC같은 여러 산업분야에 선형기계의 응용이 크게 증가하고 있다. 그러나 선형전동기는 진동특성을 가지고 있다. 그러므로 이러한 응용분야에서 정상 및 과도응답상태에서 고성능 위치제어가 필요하게 된다. 본 논문에서 간단하면서도 강력한 위치제어법을 2자유도 PID제어기를 이용하여 제안하였다. 이 기법은 과도현상없이 선형기계를 구동할 수 있는 잇점과 간단한 이득 동조를 할 수 있다. 일반적인 PID 제어기에 비해서 2자유도 제어기를 사용한 선형 전동기의 제어계의 성능 향상이 논의되었다. 그리고 시뮬레이션의 결과로 위치제어계의 응답에서 과도응답과 기동특성의 향상, 그리고 불필요한 진동성분의 제거에 유효함을 확인하였다.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.385-392
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• 2002

This paper introduces a new approach to analysis of error convergence for a class of iterative teaming control systems. Firstly, a nonlinear plant is represented using a Takagi-Sugeno(T-S) fuzzy model. Then each iterative learning controller is designed for each linear plant in the T-S fuzzy model. From the view point of two-dimensional(2-D) system theory, we transform the proposed learning systems to a 2-D error equation, which is also established if the form of T-S fuzzy model. We analyze the error convergence in the sense of induced L$_2$-norm, where the effects of disturbances and initial conditions on 2-D error are considered. The iterative teaming controller design problem to guarantee the error convergence can be reduced to the linear matrix inequality problem. This method provides a systematic design procedure for iterative teaming controller. A simulation example is given to illustrate the validity of the proposed method.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.269-277
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• 2008

This paper proposes a necessary and sufficient condition of convergence in the $L_2$-norm sense for a feedback-based iterative learning control (ILC) system including a multi-input multi-output (MIMO) linear time-invariant (LTI) plant. It is shown that the convergence conditions for a nominal plant and an uncertain plant are equal to the nominal performance condition and the robust performance condition in the feedback control theory, respectively. Moreover, no additional effort is required to design an iterative learning controller because the performance weighting matrix is used as an iterative learning controller. By proving that the least upper bound of the $L_2$-norm of the remaining tracking error is less than that of the initial tracking error, this paper shows that the iterative learning controller combined with the feedback controller is more effective to reduce the tracking error than only the feedback controller. The validity of the proposed method is verified through computer simulations.

• Nonlinear Functional Analysis and Applications
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• 제29권1호
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• pp.131-164
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• 2024

In this research, we study a modified relaxed Tseng method with a single projection approach for solving common solution to a fixed point problem involving finite family of τ-demimetric operators and a quasi-monotone variational inequalities in real Hilbert spaces with alternating inertial extrapolation steps and adaptive non-monotonic step sizes. Under some appropriate conditions that are imposed on the parameters, the weak and linear convergence results of the proposed iterative scheme are established. Furthermore, we present some numerical examples and application of our proposed methods in comparison with other existing iterative methods. In order to show the practical applicability of our method to real word problems, we show that our algorithm has better restoration efficiency than many well known methods in image restoration problem. Our proposed iterative method generalizes and extends many existing methods in the literature.

• 한국측량학회지
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• 제40권4호
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• pp.293-304
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• 2022

본 연구에서는 고해상도 위성영상의 상대기하보정 결과에 건물이 미치는 영향을 분석하기 위해 건물에서 추출된 정합쌍의 유무에 따른 상대기하보정 결과를 비교한다. 건물 정합쌍의 제거를 위해 수치지형도에서 건물 객체를 추출하여 생성한 건물마스크 영상을 이용하였으며, 추가적으로 수렴각의 크기에 따른 정합쌍 추출 성능 및 상대기하보정 결과를 분석하였다. Affine 및 Piecewise linear 변환모델을 각각 적용하여 건물밀집지역에 대한 상대기하보정 결과를 비교하였다. 실험 결과, Affine 변환모델은 건물 정합쌍 제거 후 전반적인 정확도 향상을 나타내었다. 반면에, Piecewise linear 변환모델은 주변에 건물을 포함하고 있는 검사점에서 정확도가 향상되었으나, 건물이 없는 평탄한 지역의 검사점에서는 정확도 향상이 크지 않았다. 또한, Piecewise linear 변환모델을 적용할 경우 20° 이하의 수렴각을 갖는 영상에서 2 pixels 이하의 안정적인 정확도를 도출하였다.

• 한국정밀공학회지
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• 제28권1호
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• pp.40-47
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• 2011

Mobile harbor which is a novel concept of ocean transportation to bring the containers from the cargo ship waiting on the ocean away is being focused now. To provide the mobile harbor with the stable loading/unloading condition, it is necessary to develop the oscillation mitigation technologies such as anti-rolling system. Anti-rolling system using AMD(Active Mass Driving) has merits that it can handle the disturbances more actively and mitigate the rolling oscillation faster than other type anti-rolling system. However, rack-and-pinion type AMD has problems such as big friction noise from gears and motor, wear and tear, and continuous maintenance. In this paper, novel anti-rolling system using Maglev type AMD for mobile harbor is suggested in order to resolve the problems caused by the friction. This novel anti-rolling system doesn't make any friction because it supports the moving mass by using magnetic levitation force and moves it by using propulsion force from the linear motor. The demo system of the novel anti-rolling system using maglev type AMD has been developed in order to investigate its feasibility. This paper presents the procedures and results of development of this demo system.

• Journal of Positioning, Navigation, and Timing
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• 제13권3호
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• pp.221-235
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• 2024

Errors included in Global Navigation Satellite System (GNSS) measurements degrade the performance of user position estimation but can be mitigated by spatial correlation properties. Augmentation systems providing correction data can be broadly categorized into State Space Representation (SSR) and Observation Space Representation (OSR) methods. The satellite-based cm-level augmentation service based on the SSR broadcasts correction data via satellite signals, unlike the traditional Real-Time Kinematic (RTK) and Network RTK methods, which use OSR. To provide a large amount of correction data via the limited bandwidth of the satellite communication, efficient message structure design considering service area, correction generation, and broadcast intervals is necessary. For systematic message design, it is necessary to analyze the influence of error components included in GNSS measurements. In this study, errors in satellite orbits, satellite clocks for GPS, Galileo, BeiDou, and QZSS satellite constellations ionospheric and tropospheric delays over one year were analyzed, and their spatial decorrelations and linear modeling characteristics were examined.

• Journal of Radiation Protection and Research
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• 제43권1호
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• pp.10-19
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• 2018

Background: Monte Carlo (MC) simulation is the most accurate for calculating radiation dose distribution and determining patient dose. In MC simulations of the therapeutic accelerator, the characteristics of the initial electron must be precisely determined in order to achieve accurate simulations. However, It has been computation-, labor-, and time-intensive to predict the beam characteristics through predominantly empirical approach. The aim of this study was to analyze the relationships between electron beam parameters and dose distribution, with the goal of simplifying the MC commissioning process. Materials and Methods: The Varian Clinac 2300 IX machine was modeled with the Geant4 MC-toolkit. The percent depth dose (PDD) and lateral beam profiles were assessed according to initial electron beam parameters of mean energy, radial intensity distribution, and energy distribution. Results and Discussion: The PDD values increased on average by 4.36% when the mean energy increased from 5.6 MeV to 6.4 MeV. The PDD was also increased by 2.77% when the energy spread increased from 0 MeV to 1.019 MeV. In the lateral dose profile, increasing the beam radial width from 0 mm to 4 mm at the full width at half maximum resulted in a dose decrease of 8.42% on the average. The profile also decreased by 4.81% when the mean energy was increased from 5.6 MeV to 6.4 MeV. Of all tested parameters, electron mean energy had the greatest influence on dose distribution. The PDD and profile were calculated using parameters optimized and compared with the golden beam data. The maximum dose difference was assessed as less than 2%. Conclusion: The relationship between the initial electron and treatment beam quality investigated in this study can be used in Monte Carlo commissioning of medical linear accelerator model.

• 한국융합학회논문지
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• 제13권3호
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• pp.33-41
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• 2022

본 논문에서는 다중 요인을 고려한 천연 가스 누출 정도 예측을 위해 관련 요인을 포함하는 기상청 자료와 천연가스 누출 자료를 통합하고, 요인 분석을 기반으로 중요 특성을 선택하는 머신러닝 기법을 제안한다. 제안된 기법은 3단계 절차로 구성되어 있다. 먼저, 통합 데이터 셋에 대해 선형 보간법을 수행하여 결측 데이터를 보완하는 전처리를 수행한다. 머신러닝 모델 학습 최적화를 위해 OrdinalEncoder(OE) 기반 정규화와 함께 요인 분석을 사용하여 필수 특징을 선택하며, 데이터 셋은 k-평균 클러스터링으로 레이블을 지정한다. 최종적으로 K-최근접 이웃, DT(Decision Tree), RF(Random Forest), NB(Naive Bayes)의 네 가지 알고리즘을 사용하여 가스 누출 수준을 예측한다. 제안된 방법은 정확도, AUC, 평균 표준 오차(MSE)로 평가되었으며, 테스트 결과 OE-F 전처리를 수행한 경우 기존 기법에 비해 성공적으로 개선되었음을 보였다. 또한 OE-F 기반 KNN(OE-F-KNN)은 95.20%의 정확도, 96.13%의 AUC, 0.031의 MSE로 비교 알고리즘 중 최고 성능을 보였다.

• 전기학회논문지
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• 제61권2호
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• pp.284-290
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• 2012

This paper addresses a new passive target tracking problem using the range differences measured by cooperative UAVs. In order to solve the range difference based passive target tracking problem within the framework of linear robust state estimation, the uncertain linear measurement model which contains the stochastic parameter uncertainty is derived by using the noisy range difference measurements. To cope with the performance degradation due to the stochastic parameter uncertainty, the recently developed non-conservative robust Kalman filtering technique [1] is applied. For the cruciform formation flying UAVs, the relationship between the target tracking performance and the measurement errors is quantitatively analyzed. The proposed filter has practical advantages over the classical nonlinear filters because, for its recursive linear structure, it can provide satisfactory convergence properties and is suitable for real-time multiple UAVs applications. Through the simulations, the usefulness of the proposed method is demonstrated.