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소형 드론을 위한 주파수 영역 식별과 모델 기반 외란 관측기
정규환,안형준 한국정밀공학회 2023 한국정밀공학회지 Vol.40 No.5
Drone is an innovative industry that can combine the application of various technologies in the fourth industrial era, such as big data, artificial intelligence, and ICT. Although the synergy effects of these technologies will be great in various industrial ecosystems, drones are vulnerable to gusts such as 'building wind' or 'valley wind'. Herein, the frequency domain of a mini drone was identified and a model-based disturbance observer (DOBs) was applied to implement the drone robust resistance against gusts. The frequency response of the Parrot Mambo or mini drone was measured with multi-sine excitation and the system dynamic parameters were identified. Based on the identified model, DOBs were designed and applied to the drone’s altitude, position, and yaw control. The effectiveness of the DOBs was verified with a sinusoidal disturbance. With the model-based DOB, 84.5% of the drone altitude responses, 50.7% of x responses, 52.1% of y responses, and 79.7% of yaw responses against sinusoidal disturbances were reduced. Flight responses were measured against wind disturbances with changing speed and direction. With the model-based DOBs, the drone's altitude decreased by 87.7%, the x position by 53.0%, the y position by 60.6%, and the yaw angle by 56.2%.
정규환 한국밀턴학회 1997 중세근세영문학 Vol.7 No.-
Both as a critique of and an apologetic for Milton, Blake composed Milton, his confessedly autobiographical poem. At the beginning Blake asks "what mov'd Milton" to leave heaven and go into the abyss in order to redeem himself and his sixfold Emanation. The reader receives the answer in "Bard's Song." Focusing on this section, this paper tries to shed some light on the interrelationship between Blake, Hayley, and Milton. It is in particular focused on rather a certain polemical relation between Blake and Milton around poetic influence, and on how the 'polemic' develops in Blake's life and poetry. It investigates into the nature of the influence of Milton on Blake, which the latter gratefully acknowledges, and into his own evaluation of the influence as well. It is through the conscious act of choice that Blake takes over a Miltonic self substituting for his own. Thus Milton in Blake's poem Milton is a poetic self of Blake. As a result, Blake's poetry assuredly claims itself to enter into the English canon. Rintrah, Palamabron, and Satan are three sons of Los. Derived from three classes of Calvinistic theology they respectively represent not only three aspects of human psyche but multilateral power structure of human relations politico-economic and religious. They perform a kind of 'family drama,' which evolves around a schema of conflict and confrontation among the three personas. It reflects a rich panoply of complex allegories which derives from the problematic Blake-Hayley connection Blake experienced in the early 1800's. While he criticizes Hayley's misleading description of Milton in his biography of Milton, Blake creates Milton in order to correct Milton's psychological and artistic errors, as Blake points out, shackled by a Pharisaic notion of established religion. Writing his prophetic poem Milton, Blake recognizes in the biblical tradition the idea that the soul of the prior poet-prophet is reincarnated in the posterity, and positively employs it for himself. The poem came into being in the course of Blake's effort to posit his identity through the process of identifying the shared bases of spiritual and emotional ties with Milton. Figuratively speaking in terms of music, "Bard's Song" plays the role both of a prelude to a grand symphony with multidimensional and contrapuntal structure and of a movement small in scale, each motif of which nevertheless as a matrix for the whole musical composition unfolds the other movements through a number of its variations. If we compare Milton to an architectural artefact, it could be said that "Bard's Song" works as its cornerstone or bird's-eye. It is the introduction to Milton which is essential to understanding of the relationship between Blake and Milton in the context of history of art and of ideas. It also functions as a useful and powerful synopsis of the poem with which the poet wins a superb poetic achievement by embodying his mental strife in a 'sublime allegory,' which is led around the polemic of literary influence inseparably connected to the shaping of the core of Blake's poetics. From the "Bard's Song," Blake's reader may grasp the end of a golden string for ranging through the maze of Milton a Poem, not without some bountiful rewards.