• 한국정보통신학회논문지
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• 제18권4호
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• pp.906-912
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• 2014

물고기 로봇 연구는 몸체 및 꼬리 관절 궤적의 크기나 주파수의 크기에 따른 로봇의 추력 비교 또는 꼬리 관절 궤적을 적절한 함수로 선정하여 물고기 로봇의 빠른 회전 등과 관련된 연구가 주를 이루고 있다. 본 연구에서는 물고기 로봇이 추력을 받아 앞으로 유영할 경우, 로봇의 몸체 및 꼬리 관절이 사인파와 같이 좌, 우로 요동치며 움직이므로 피드백 제어를 행하기 어렵다. 따라서 물고기 로봇의 경로에 기초한 가상의 위치를 검출하고, 검출된 위치를 사용하여 주어진 경로 위의 예견 점(look-ahead point)을 기준으로 방향 오차를 정의하여 물고기 로봇이 경로를 추종하도록 제어기를 설계하였다. 모의실험 결과 제안된 방법의 유용성을 확인할 수 있었다.

• 한국정밀공학회지
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• 제16권6호
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• pp.90-99
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• 1999

A vehicle driving simulator is a virtual reality device which a human being feels as if the one drives a vehicle actually. The driving simulator is used effectively for studying interaction of a driver-vehicle and developing vehicle system of a new concept. The driving simulator consists of a vehicle motion bed system, motion controller, visual and audio system, vehicle dynamic analysis system, cockpit system, and etc. In it is paper, the main procedures to develop the driving simulator are classified by five parts. First, a motion bed system and a motion controller, which can track a reference trajectory, are developed. Secondly, a performance evaluation of the motion bed system for the driving simulator is carried out using LVDTs and accelerometers. Thirdly, a washout algorithm to realize a motion of an actual vehicle in the driving simulator is developed. The algorithm changes the motion space of a vehicle into the workspace of the driving simulator. Fourthly, a visual and audio system for feeling higher realization is developed. Finally, an integration system to communicate and monitor between sub systems is developed.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.229-238
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• 2009

In this paper, AWS ECU test method, which is considering behavior of a Bi-modal tram, is described. In order to evaluate the performance of an electronic automotive ECU, the method which combines HILS (Hardware In the Loop Simulation) and RBT (Requirement Based Testing) is introduced. HILS is the method to predict the behavior of a vehicle adopting an ECU. The behavior of a Bi-modal tram can be analyzed by using the vehicle dynamic model. Requirement Based Testing compare the outputs of a real system with a virtual electronic unit (oracle) which created by the requirements. Rear axles of the Bi-modal tram are independently controlled by two AWS ECU. Especially, swing out can happen when an articulated vehicle is operated in the curved road. Therefore dynamic behaviour of a Bi-modal tram is considered at this situation. Through this study, the reliability of ECU can be verified economically and safely using the proposed test method before conducting the track test.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2002년도 추계종합학술대회
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• pp.306-310
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• 2002

오늘날 기업들은 인터넷과 같은 공용망을 이용해 내부정보에 접근하도록 하고, 장비를 따로 구입하지 않고도 공중망을 기업정보망으로 활용할 경제적인 방안을 모색중이다. 그러나, 인터넷의 특성상 신뢰적인 데이터 전송을 보장할 수 없기 때문에 데이터의 보안과 전송로 대역을 보장받을 수 있는 기술로서 주목받는 것이 인터넷을 이용한 가상사설망(VPN)이다. 본 논문에서는 ATM-PON시스템의 ONU와 OLT에 VPN기능을 추가하여 SCB(Single Copy Broadcasting)를 제안한다. ATM망에 VPN기능이 있을 때보다 속도가 빠르고, 시간비 트랙픽 양을 줄일 수 있다. 이에 대한 성능분석을 NS-2를 이용한 네트워크 시뮬레이션을 실행하였다.

• Journal of Power Electronics
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• 제16권3호
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• pp.1067-1075
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• 2016

This paper presents an adaptive observer-based approach to estimate voltage parameters, including frequency, amplitude, and phase angle, for single-phase power systems. In contrast to most existing estimation methods of grid voltage parameters, in this study, grid voltage is treated as a dynamic system related to an unknown grid frequency. Based on adaptive observer theory, a full-order adaptive observer is proposed to estimate voltage parameters. A Lyapunov function-based argument is employed to ensure that the proposed estimation method of voltage parameters has zero steady-state error, even when frequency varies or phase angle jumps significantly. Meanwhile, a reduced-order adaptive observer is designed as the simplified version of the proposed full-order observer. Compared with the frequency-adaptive virtual flux estimation, the proposed adaptive observers exhibit better dynamic response to track the actual grid voltage frequency, amplitude, and phase angle. Simulations and experiments have been conducted to validate the effectiveness of the proposed observers.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Journal of Power Electronics
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• 제15권4호
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• pp.994-1005
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• 2015

This paper presents a novel power control strategy for PWM current-source rectifiers (CSRs) in the stationary frame based on the instantaneous power theory. In the proposed control strategy, a virtual resistance based on the capacitor voltage feedback is used to realize the active damping. In addition, the proportional resonant (PR) controller under the two-phase stationary coordinate is designed to track the ac reference current and to avoid the strong coupling brought about by the coordinate transformation. The limitations on improving steady-state performance of the PR controller is investigated and mitigated using a cascaded lead-lag compensator. In the z-domain, a straightforward procedure is developed to analyze and design the control-loop with the help of MATLAB/SISO software tools. In addition, robustness against parameter variations is analyzed. Finally, simulation and experimental results verify the proposed control scheme and design method.

• 한국산업융합학회 논문집
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• 제22권4호
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• 한국HCI학회논문지
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• 제12권4호
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• pp.45-55
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• 2017

최근 헬스케어 분야에서 지속적인 건강 관리 서비스를 제공하기 위해 챗봇 에이전트를 도입하는 시도가 늘어나고 있다. 하지만 아직까지 챗봇 에이전트 설계에 대한 연구는 인간과 기계라는 구분에 머물러 있어, 에이전트에 대한 신뢰, 친밀감, 행동 변화를 모두 고려해야 하는 헬스케어 영역에서의 챗봇 설계에 활용하기에는 한계가 있다. 따라서 본 연구에서는 인간과 기계라는 구분에서 나아가, 보다 다양한 에이전트 정체성에 따라 사용자의 인식과 행동이 달라지는지 조사하고자 했다. 이를 위해 정체성을 다르게 설정한 3개의 챗봇 에이전트인 의사(개인), 병원(기관), 가상 에이전트(기계)를 제작한 후, 집단 간 설계(between-group design) 방식으로 36명의 사용자를 세 그룹으로 나누어 6일간 챗봇을 사용하며 건강 습관을 기록하도록 하였다. 6일간의 챗봇 사용을 마친 후, 사후 설문 및 인터뷰를 통하여 사용자들의 신뢰, 친밀감, 행동 개선에 어떤 영향이 있었는지 살펴보았다. 그 결과 의사와 병원 에이전트는 건강지키미 에이전트보다 높은 신뢰를 보였으며, 친밀감에 있어서도 더욱 높은 평가를 받았다. 또한, 많은 참가자가 병원 에이전트를 선호하는 것으로 드러났다. 하지만 세 개 에이전트 모두 사용자들의 행동 변화를 성공적으로 유도하지는 못했던 것으로 나타났다. 이 같은 결과를 바탕으로 본 연구는 정체성이 다른 챗봇 에이전트가 사용자에게 신뢰, 친밀감의 차원에서 다른 영향을 미칠 수 있음을 밝혀냄으로써, 헬스케어 분야에서 챗봇 에이전트 설계에 대한 실용적인 가이드라인을 제공한다는 점에서 의의가 있다.