• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.213-216
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• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• Communications for Statistical Applications and Methods
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• 제26권5호
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• pp.473-495
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• 2019

In this paper, a new extension of Lindley distribution has been introduced. Certain characterizations based on truncated moments, hazard and reverse hazard function, conditional expectation of the proposed distribution are presented. Besides, these characterizations, other statistical/mathematical properties of the proposed model are also discussed. The estimation of the parameters is performed through different classical methods of estimation. Bayes estimation is computed under gamma informative prior under the squared error loss function. The performances of all estimation methods are studied via Monte Carlo simulations in mean square error sense. The potential of the proposed model is analyzed through two data sets. A modified goodness-of-fit test using the Nikulin-Rao-Robson statistic test is investigated via two examples and is observed that the new extension might be used as an alternative lifetime model.

• Computers and Concrete
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• 제26권6호
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• pp.505-513
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• 2020

Grading of aggregate influences significantly almost all of the concrete performances. The purpose of this paper is to propose practicable equations that express the optimized total aggregate gradation, by weight or by number of particles in a concrete mix. The principle is based on the fractal feature of the grading of combined aggregate in a solid skeleton of concrete. Therefore, equations are derived based on the so-called fractal dimension of the grain size distribution of aggregates. Obtained model was then applied in such a way a correlation between some properties of the dry concrete mix and the fractal dimension of the aggregate gradation has been built. This demonstrates that the parameter fractal dimension is an efficacious tool to establish a unified model to study the solid phase of concrete in order to design aggregate gradation to meet certain requirements or even to predict some characteristics of the dry concrete mixture.

• Journal of Information Processing Systems
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• 제19권5호
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• pp.563-575
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• 2023

Trajectory planning is a key technology for unmanned aerial vehicles (UAVs) to achieve complex flight missions. In this paper, a terminal constraints conversion-based Gauss pseudospectral trajectory planning optimization method is proposed. Firstly, the UAV trajectory planning mathematical model is established with considering the boundary conditions and dynamic constraints of UAV. Then, a terminal constraint handling strategy is presented to tackle terminal constraints by introducing new penalty parameters so as to improve the performance index. Combined with Gauss-Legendre collocation discretization, the improved Gauss pseudospectral method is given in detail. Finally, simulation tests are carried out on a four-quadrotor UAV model with different terminal constraints to verify the performance of the proposed method. Test studies indicate that the proposed method performances well in handling complex terminal constraints and the improvements are efficient to obtain better performance indexes when compared with the traditional Gauss pseudospectral method.

• Journal of Electrical Engineering and Technology
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• 제10권4호
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• pp.1527-1539
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• 2015

In this paper the hardware implementation of the direct torque control based on the fuzzy logic technique of induction motor on the Field-Programmable Gate Array (FPGA) is presented. Due to its complexity, the fuzzy logic technique implemented on a digital system like the DSP (Digital Signal Processor) and microcontroller is characterized by a calculating delay. This delay is due to the processing speed which depends on the system complexity. The limitation of these solutions is inevitable. To solve this problem, an alternative digital solution is used, based on the FPGA, which is characterized by a fast processing speed, to take the advantage of the performances of the fuzzy logic technique in spite of its complex computation. The Conventional Direct Torque Control (CDTC) of the induction machine faces problems, like the high stator flux, electromagnetic torque ripples, and stator current distortions. To overcome the CDTC problems many methods are used such as the space vector modulation which is sensitive to the parameters variations of the machine, the increase in the switches inverter number which increases the cost of the inverter, and the artificial intelligence. In this paper an intelligent technique based on the fuzzy logic is used because it is allows controlling the systems without knowing the mathematical model. Also, we use a new method based on the Xilinx system generator for the hardware implementation of Direct Torque Fuzzy Control (DTFC) on the FPGA. The simulation results of the DTFC are compared to those of the CDTC. The comparison results illustrate the reduction in the torque and stator flux ripples of the DTFC and show the Xilinx Virtex V FPGA performances in terms of execution time.

• 한국융합학회논문지
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• 제11권11호
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• pp.203-209
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• 2020

본 연구에서는 자동차 엔진에 적용되는 고무마운트의 성능을 극대화하여 시동초기 진동특성를 개선하기 위해 능동형 하이브리드 마운트를 제안하고 진동절연 성능을 실험적으로 고찰하고자 한다. 제안된 하이브리드 마운트는 수동형 고무요소와 능동형 압전작동기로 구성되었으며, 동적 특성과 제어력의 실험적 고찰을 통해 하이브리드 마운트가 제작되었다. 수직방향의 진동을 고려하여 관성질량을 갖는 압전-고무 하이브리드 마운트의 동적 지배방정식을 수학적으로 모델링하였으며 상태 공간 방정식으로 표현하였다. 본 연구에서는 진동을 절연하기 위해 강건한 슬라이딩 모드 제어기가 구성되어 진동제어 실험에 적용되었다. 마지막으로 넓은 주파수 영역에서 진동제어 성능을 실험적으로 고찰하였으며 주파수 영역에서의 전달율과 시간영역에서 진동절연 성능을 평가하였다.

• 한국수학교육학회지시리즈E:수학교육논문집
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• 제37권2호
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• pp.233-256
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• 2023

이 연구는 수학교육에서의 ChatGPT의 활용 방안 도출을 위한 기초 연구로서 국가수준 학업성취도 평가 및 대학수학능력시험 문제에 대한 ChatGPT의 응답을 분석하였다. ChatGPT는 생성형 인공지능 모델로서 여러 분야에서 주목 받고 있으며, 교육계에서도 ChatGPT 활용 방안에 대한 요구의 목소리가 높아지고 있다. 이에 이 연구에서는 3개년 국가수준 학업성취도 평가 및 대학수학능력시험 문제에 대한 ChatGPT 3.5의 응답에 대해서 정답률, 풀이 과정의 정확도, 오류 유형을 분류하여 분석하였다. ChatGPT의 국가수준 학업성취도 평가 문제 및 대학수학능력시험 문제의 정답률은 각각 37.1%, 15.97%로 나타났다. ChatGPT의 풀이 과정의 정확도는 5점 만점으로 산출하였을 때, 국가수준 학업성취도 평가는 3.44점, 대학수학능력시험은 2.49점으로 산출되었다. ChatGPT의 수학 문제를 풀이하는 데 나타나는 오류 유형은 절차적 오류와 기능적 오류로 나뉘었다. 절차적 오류는 다음 단계로의 식을 연결 짓는 과정이나 계산상의 오류를 가리키며, 기능적 오류는 ChatGPT가 텍스트를 인식, 판단, 출력하는 과정에서 발생하는 오류였다. 이러한 분석은 정답률만이 ChatGPT의 수학적 성능을 판단하는 기준이 되어서는 안 되며, 풀이 과정의 정확도나 오류유형까지도 복합적으로 고려해야 함을 시사한다.

• 생물환경조절학회지
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• 제8권3호
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• pp.152-163
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• 1999

온수난방시스템 온실의 디지털 온도제어 수식모형을 수립하고, 이 수식모형을 이용하여 제어시뮬레이션을 실시하여 최적의 온도제어 방법을 구명하였다. 이용된 제어기법은 종래의 온수온도 일정 공급ON-OFF 제어, 비례제어, PI 제어, PID 제어기법이었으며, 시뮬레이션을 이용해 제어기법별 제어성능을 비교 분석하였다. 대상유리온실의 실내온도( T$_{i}$ )에 관한 디지털 제어수식모형은 공급온수온도( T$_{w}$ )와 외기온도( T$_{o}$ )가 관련된 T$_{i}$($textsc{k}$＋1)＝ 0.851.T$_{i}$($textsc{k}$)＋0.055.T$_{w}$($textsc{k}$)＋0.094.T$_{o}$ ($textsc{k}$)로 나타났다. 온실의 실내온도제어 시뮬레이션을 실시한 결과 종래의 온수온도 일정공급 ON-OFF 제어, P 제어, PI 제어,PID 제어의 정정시간, 오버슛트, 정상오차는 각각 무한, 3.5$0^{\circ}C$, 3.5$0^{\circ}C$ / 30분, 2.37$^{\circ}C$, 0.51$^{\circ}C$ / 21분, 0.0$0^{\circ}C$, 0.23$^{\circ}C$ / 18분, 0.0$0^{\circ}C$, 0.23$^{\circ}C$로 나타났으며, 온수난방시스템 온실의 온도제어에 가장 적합한 제어기법은 PI와 PID제어인 것으로 나타났다 또한 미분이득은 온실의 난방계에 거의 영향을 미치지 않지만 적분이득은 큰 영향을 미치는 것으로 나타났다. 나타났다.

• 동력기계공학회지
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• 제17권3호
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• pp.89-98
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• 2013

In this paper, the authors consider control system design problem of barge type surface vessel. It is based on the Dynamic Positioning System(DPS) design problem. The main role of barge ship is to carry and supply the materials to the floating units and other places. To carry out this job, it should be positioned in the specified area. Even though sometimes the thrust systems are installed on it, in general the mooring winch system with the rope is used. It may be difficult to compare the control performances of two types. But, if we consider this problem in point of usefulness, we can easily find out that the winch control system is more useful and applicable to the real field than the thrust control system except a special use. Therefore, in this paper we consider a single type mooring winch system and control system design problem in which accurate position control is needed. Because this result can be extended to the general type mooring system in which a number of winch are installed. At first, a mathematical model of winch is obtained and evaluated to verify the usefulness for control system design by experiment. Also, the disturbance model is extracted from experiment data to evaluate the strength of the uncertainty. Based on this results, the robust control system is designed and control performance is evaluated by simulation.

• Journal of Power Electronics
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• 제18권5호
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• pp.1336-1346
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• 2018

Wide band gap semiconductor devices such as SiC MOSFETs are becoming the preferred devices for high frequency and high power density converters due to their excellent performances. However, the proportion of the switching loss that accounts for the whole inverter loss is growing along with an increase of the switching frequency. In view of the third quadrant working characteristics of a SiC MOSFET, synchronous rectification discontinuous pulse-width modulation is proposed (SRDPWM) to further reduce system losses. The SRDPWM has been analyzed in detail. Based on a frequency domain mathematical model, a quantitative mathematical analysis of the harmonic characteristic is conducted by double Fourier transform. Meanwhile, a switching loss model and a conduction loss model of inverter for SRDPWM have been built. Simulation and experimental results verify the result of the harmonic analysis of the double Fourier analysis and the accuracy of the loss models. The efficiencies of the SRDPWM and the SVPWM are compared. The result indicates that the SRDPWM has fewer losses and a higher efficiency than the SVPWM under high switching frequency and light load conditions as a result of the reduced number of switching transitions. In addition, the SRDPWM is more suitable for SiC MOSFET converters.