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이세한(Se-Han Lee) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.1
This research dealt with a two-degree-of-freedom controller which was used for 2-dimensional force generator based on an linear motor. The gain margin of the controller may be reduced when the time constant is near to the sampling time of a discrete controller. In case of low gain controller, it cannot satisfy the control performance. A two-degree-of-freedom controller based on PI-control was proposed. It can manage performance and stability respectively. It also had a kind of a feed-forward control. This scheme can not only lessen gain of conventional PI controller in order to stability but also obtain high tracking performance.
이세한(Se Han Lee),이정표(Jung Pyo Lee),김세중(Se Joong Kim),김성균(Seong Gyun Kim),김연수(Yon Su Kim),하종원(Jong Won Ha),안규리(Curie Ahn),김승협(Seung Hyup Kim),한진석(Jin Suk Han),김성권(Suhng Gwon Kim),이현순(Hyun Soon Lee),이정상( 대한신장학회 2002 Kidney Research and Clinical Practice Vol.21 No.5
Renal lymphangiectasia is a rare cystic kidney disorder. This disorder has been termed renal lymphangioma, renal lymphangiomatosis, pararenal lymphatic cyst. We report on a 32-year-old man admitted with complaints of abdominal discomfort, in whom unilateral renal lymphangiectasia with renal vein thrombosis was diagnosed. Abdominal computed tomography revealed left perirenal fluid collection with multiloculation. Left renal vein was completely obliterated due to thrombosis and inferior vena cava (IVC) was partially obliterated. Perirenal fluid collection and renal vein thrombosis were treated initially with percutaneous drainage and anticoagulation therapy. The biochemical features of the drained fluid were compatible with lymphatic fluid. Since there was no decrease in the amount of daily drainage, left nephrectomy and IVC thrombectomy was performed on the 34th day of hospitalization. Left kidney was enlarged (15×10×18 ㎝, 750 g) and composed of numerous smooth, thin-walled cysts. Pathologic diagnosis was renal lymphangiectasia.
경사면을 주행하는 차륜형 역진자를 위한 선형행렬부등식 기반 혼합 H₂/H<SUB>∞</SUB> 상태피드백 제어기 설계
이세한(Se-Han Lee),이상용(Sang-Yong Rhee) 한국지능시스템학회 2010 한국지능시스템학회논문지 Vol.20 No.5
본 논문에서는 차륜형 역진자에 적용되는 LMI 제어기 설계와 그 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 2개의 평형점을 갖고 있는 역진자의 일종이다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 경사면을 고려하여 차륜형 역진자의 동역학 방정식이 유도되었다. 경사면을 적극적으로 고려하여 차륜형 역진자를 안정화 시킬 수 있는 제어기를 구성하는데 선형행렬부등식 기법이 적용되었다. LMI 기반 제어기가 평면과 경사면에 대해서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다. In this research an LMI based mixed H₂/H∞ controller for a Wheeled Inverted Pendulum is designed and a numerical simulation of that is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. To keep that the naturally unstable equivalent point, a controller should control the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering inclined road that is one of the representative road conditions. A Linear Matrix Inequality method is used to construct a controller that is able to stabilize the Wheeled Inverted Pendulum with considering the inclined road condition aggressively. Various numerical simulations show that the LMI based controller is doing well on not only flat road but also inclined road condition.
경사면을 주행하는 차륜형 역진자를 위한 속도 추정기 기반 제어기 설계
이세한(Se-Han Lee),이상용(Sang-Yong Rhee) 한국지능시스템학회 2011 한국지능시스템학회논문지 Vol.21 No.3
본 논문에서는 차륜형 역진자에 적용되는 속도 추정기 기반 제어기 설계와 다양한 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 불안정한 평형점과 안정한 평형점을 동시에 갖는다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 제어기의 입력으로 차륜형 역진자 몸체의 각도, 각속도, 변위 속도 등이 필요하다. 필요한 속도는 모터에 부착된 에코더 신호를 차분하여 얻어지며, 엔코더의 해상도에 민감하게 의존한다. 저해상도 엔코더와 속도 추정기에 기반하여 개선된 속도 검출법이 제안되고 경사면에서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다. In this research a controller based on velocity estimator for a Wheeled Inverted Pendulum (WIP) is designed and various numerical simulation studies are carried out. The WIP has stable and unstable equivalent points. To Keep the unstable equilibrium point, a controller should control carefully the wheels persistently. There are angle, angular velocity, displacement, and velocity of the WIP for controller inputs. The velocity is obtained by differentiating the encoder signals from the motor and is subject to the resolution of the encoder. An improved velocity detection method is proposed based on low resolution encoder and velocity estimator. Various numerical simulations are carried out for showing the validation of the velocity estimator in case of the inclined road condition.
DEVS 방법론을 적용한 소형 IoT 기기의 모니터링 시스템 모델링
이세한(Se-Han Lee),서희석(Hee-Suk Seo),최요한(Yo-Han Choi) 한국컴퓨터정보학회 2018 韓國컴퓨터情報學會論文誌 Vol.23 No.2
In this paper, we propose a Designed and Developed home router management system. Through the fourth industrial revolution and development of IoT technology, now people can experience a wide range of IoT related services at their workplace or daily lives. At the industrial site, IoT devices are used to improve productivity such as factory automation, and at home, IoT technology is used to control home appliances from a remote distance. Usually IoT device is integrated and controlled by the router. Home router connects different IoT devices together at home, however when security issues arise, it can invade personal privacy. Even though these threats exist, the perception for home router security is still insufficient. In this paper, we have designed and developed home router management system using DEVS methodology to promote the safe use of home router. Through the DEVS methodology, we have designed the system and developed the mobile application. This management system enables users to set up security options for home router easily.
차륜형 역진자의 광학식 엔코더에 적용한 신경망 기반 속도추정에 관한 시뮬레이션 연구
이세한(Se-Han Lee) 한국지능시스템학회 2020 한국지능시스템학회논문지 Vol.30 No.6
광학식 엔코더는 정밀한 모터 제어에 쉽게 적용될 수 있는데, 광학식 엔코더의 출력은 디지털 펄스이며, 그 디지털 펄스는 마이크로프로세서에 쉽게 입력될 수 있다. 광학식 엔코더를 사용하는 속도추정 방법으로 T-, M-, M/T법 등 여러 가지가 존재한다. 첫 번째 2가지 방법은 매우 느린 속도에서 속도추정 성능이 측정주기에 민감하게 의존한다는 공통적인 한계점을 갖고 있다. 그 추정성능을 개선하기 위해서 테일러 급수에 기반하는 새로운 방법이 제안되었는데, 테일러 급수는 현재의 위치 데이터뿐만 아니라 과거의 여러 개의 위치 데이터를 사용하고 있다. 순수 테일러 급수는 과거의 여러 개의 데이터를 사용함에도 불구하고 구조적으로 고차 미분항 때문에 속도를 양호하게 추정하지 못하고 있다. 이 점을 극복하기 위해서, 테일러 급수와 유사한 비선형 함수를 근사할 수 있는 신경망이 제안되었다. 신경망용 학습 데이터로 실제 차륜형 역진자의 속도응답과 유사한 응답이 사용되었다. 신경망에 기반한 속도 추정은 기존의 M법에서는 곤란했던 속도응답의 흔들림을 완화하였다. An optical encoder is easily implemented for precise motor control application. The output of the optical encoder is a digital pulse form, which can make it easy to be connected to a microprocessor. There are various velocity estimation methods, T-, M-, and M/T-method by using an optical encoder. The first both methods have common limitation that the velocity estimation performance is strongly subject to estimation period in case of low velocity range. To improve the estimation performance a new method is proposed based on Taylor series which is using not only the present position data but also several ones in the past, while the M/T-method is using just present and previous sample data. Pure Taylor series cannot manage to estimate velocity well because of its having high order derivatives characteristics though it can govern a relationship among present velocity, past velocity and several past position data. To cope with it, neural network is proposed which can manage to approximate a nonlinear function resembling the Taylor series. To provide the neural network with learning data, velocity-position curve are proposed that resemble the velocity response of a real wheeled inverted pendulum. The neural network based velocity estimation can attenuate fluctuation over the velocity response while the conventional M-method cannot well.