• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.74-79
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• 2005

In this paper, we propose a novel approach to decentralized motion planning and conflict-resolution for multiple mobile agents working in an environment with unexpected moving obstacles. Our proposed motion planner has two characteristics. One is a real-time collision prognosis based on modified collision map. Collision map is a famous centralized motion planner with low computation load, and the collision prognosis hands over these characteristics. And the collision prognosis is based on current robots status, maximum robot speeds, maximum robot accelerations, and path information produced from off-line path planning procedure, so it is applicable to motion planner for multiple agents in a dynamic environment. The other characteristic is that motion controller architecture is based on potential field method, which is capable of integrating robot guidance to the goals with collision avoidance. For the architecture, we define virtual obstacles making delay time for collision avoidance from the real-time collision prognosis. Finally the results obtained from realistic simulation of a multi-robot environment with unknown moving obstacles demonstrate safety and efficiency of the proposed method.

• 전기전자학회논문지
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• 제22권2호
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• pp.440-445
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• 2018

본 논문은 미지 유동환경에서 다중 이동로봇들의 주행문제에 대한 연구결과이다. 여기에서 환경은 로봇에게는 알려져 있지 않기 때문에 로봇의 몸체에 부착된 근접센서들을 이용하여 주변환경들을 감지하여야 하고, 로봇이 충돌 없이 경로를 추적하여 목표지점에 도착하도록 기본 방책들을 조합한 지능주행 방법을 제안하였다. 이러한 대부분 기법들은 퍼지논리 제어기들을 이용하여 구현하였으며, 모든 로봇에 동일하게 적용하였다. 퍼지 제어기의 성능을 향상시키기 위해서 유전 알고리즘을 이용하여 퍼지 제어기의 membership function과 rules set를 진화시켰다. 모의실험 결과 제안한 방법이 주행문제에 긍정적인 결과가 있음이 증명되었다.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.327-338
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• 2008

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of different actuator faults are accounted for through different performance reduced (degraded) reference models. The degraded steady-state performances are governed by the reduced levels of command input. The reconfigurable controller is designed on-line automatically in an explicit model reference control framework so that the dynamics of the closed-loop system follow that of the performance reduced reference model under each fault condition. The reduced command input level is determined to prevent potential actuator saturation. The proposed method has been evaluated and analyzed using an aircraft example against actuator faults subject to constraints on the magnitude and slew-rate of actuators.

• 대한기계학회논문집B
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• 제25권11호
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• pp.1535-1542
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• 2001

A high resolution digital cinematic Particle Image Velocimetry(PIV) has been developed. The system consists of a high speed CCD camera, a continuous Ar-ion laser and a computer with camera controller. To improve the spatial resolution, we adopt a Recursive Technique for velocity interrogation. At first, we obtain a velocity vector fur a larger interrogation window size based on the conventional two-frame cross-correlation PIV analysis using the FFT algorithm. Based on the knowing velocity information, more spatially resolved velocity vectors are obtained in the next iteration step with smaller interrogation windows. When the correct velocity vector at the first step is found to be critical, a Multiple Correlation Validation(MCV) technique is applied to decrease the spurious vectors. The MCV technique turns out to improve SNR(Signal to Noise Ratio) of the correlation table. The developed cinematic PIV method has been applied to the measurement of the unsteady flow characteristics of a Rushton turbine mixer. A total of 3,245 instantaneous velocity vectors were successfully obtained with 4 ms time resolution. The acquired spatial resolution corresponds to the conventional high resolution digital PIV system using a 1K ${\times}$ 1K CCD camera.

• 전력전자학회논문지
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• 제9권2호
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• pp.187-193
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• 2004

PDA, 스마트폰, USP 및 전기자동차와 같은 전기적 장치의 전력공급을 위하여 배터리가 직렬로 연결된 다중 셀을 만들어 일반적으로 사용한다. 이 경우 개별 셀 전압의 편차가 발생되면 배터리의 수명과 용량은 낮아지게 된다. 셀에서 전압의 안정화상태를 유지하기 위한 셀 전압을 안정화시키는 효율적인 방범은 없어서는 안 될 중요한 사항이다. 본 논문에서는 휴대형 가전기기에 적용하기 위해 마이크로컨트롤러를 사용한 다중 셀용 밸런싱 회로의 설계에 대하여 제안한다. 밸런싱 시스템은 충전되는 주기 동안 밸런싱 동작을 이행하며 마이크로컨트롤러로서 제어된다. 제안된 방법은 충전기와 레코드를 사용하여 실험을 통해 증명하였다. 실험결과에서 개별 배터리의 용량, 수령, 성능이 향상됨을 보여준다.

• 한국컴퓨터정보학회논문지
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• 제16권6호
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• pp.89-97
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• 2011

현재의 객체 추적과 검색의 과정을 보면 고정된 단일 카메라를 통해 입력받은 영상에서 객체를 추출하여 추적하고, 추적된 객체의 구체적인 정보를 알기 위해 줌(Zoom) 기능으로 객체를 인식하는 과정이었다. 본 논문은 다중카메라를 이용하여 객체를 추적하고, 인식하는 것으로써 추적된 객체에 대해 검색인식가능한 영역에 대한 정보를 증강현실로 나타내는 시스템을 제안한다. 제안 시스템의 실험결과를 보면 연산에 포함된 픽셀 수가 현저히 줄어들고, 객체의 인식률이 향상되고, 정보 확인 시간도 단축되었다. 그리고 기존 방법과 비교하여 객체의 움직임을 검출하는 정확성은 물론 움직임 검출에 소요되는 시간도 단축되어 개선된 성능을 보였다.

• Journal of Power Electronics
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• 제16권6호
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• pp.2272-2283
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• 2016

This paper proposes a power conditioning system (PCS) for distributed photovoltaic (PV) applications using an asymmetric cascaded multilevel inverter with a single PV source. One of the main disadvantages of the cascaded multilevel inverters in PV systems is the requirement of multiple isolated DC sources. Using multiple PV strings leads to a compromise in either the voltage balance of individual H-bridge cells or the maximum power point tracking (MPPT) operation due to localized variations in atmospheric conditions. The proposed PCS uses a single PV source with a flyback DC-DC converter to facilitate a reduction of the required DC sources and to maintain the voltage balance during MPPT operation. The flyback converter is used to provide input for low-voltage H-bridge cells which processes only 20% of the total power. This helps to minimize the losses occurring in the proposed PCS. Furthermore, transient analyses and controller design for the proposed PCS in both the stand-alone mode and the grid-connection mode are presented. The feasibility of the proposed PCS and its control scheme have been tested using a 1kW hardware prototype and the obtained results are presented.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2009년도 춘계 학술논문 발표대회 학계
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• pp.189-193
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• 2009

As large-scale buildings, skyscrapers, and multi-purpose buildings recently increase in numbers dramatically the internal space of such buildings becomes more and more large and complicated accordingly. The Multi-purpose buildings are increasing rapidly in number, and concerns over the evacuation process in case of fire emergency are also increasing. However, A controller who is responsible for visitor's safety makes a decision about measures for visitor safety in human based decision making process. Many potential accidents that are caused by human error lurk in results of the process. The accidents can be decreased by changing the decision making process from human-based into technology-based. Through this study, the way to improve current disasters prevention system is presented and it can also improve shelter inducement methods effectively. SICS(Spatial Information Control System) which is being studied in other research is used as the tool for improvement.

• Journal of Electrical Engineering and Technology
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• 제11권4호
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• pp.905-914
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• 2016

This paper proposes a new phase current reconstruction technique for interleaved three-phase bidirectional dc-dc converters using a single current sensor. In the proposed current reconstruction algorithm, a single current sensor is employed at the dc-link, and the dc-link current information is sampled at either the peak or valley point of the pulse-width modulation (PWM) carriers regularly. From the obtained current information, all phase currents are reconstructed in a single PWM cycle. After that, the digital current controller is applied to achieve current balancing in each phase. Compare to the previous multiple current sensor method, the proposed strategy reduces the number of the current sensors in the interleaved three-phase bidirectional converter as well as reducing potential current sensing error caused by non-ideal characteristics of the multiple current sensors. The effectiveness of the proposed method is verified from the experiments based on a 3kW three-phase bidirectional converter prototype for the automotive battery charging application.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2012년도 제38회 춘계학술대회논문집
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• pp.268-272
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• 2012

비행체의 경우 운용 중에 센서 등의 고장이 발생하더라도 이를 극복하고 지속적으로 운용이 가능하게 설계하여야 한다. 이러한 비행체에는 중요 센서의 고장에 대비하여 대체 가능한 센서를 여분으로 장착하여 측정값에 대한 신뢰성을 확보하고 있다. 본 논문에서는 시뮬레이션을 통하여 적용 대상 터보제트엔진의 센서 측정값을 MIMO NARX 모델을 사용하여 센서 결함이 발생하더라도 상태추정을 통하여 대치 가능함을 보였고, HILS 장비에 적용할 수 있는 엔진 모델로 사용가능함을 보였다.