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Impact of Kalman Filtering in Battery Management Systems
Nashatar Singha,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
This paper analyzes the stability of a battery management system (BMS) in hybrid electrical vehicles. The purpose of the BMS is to guarantee safe and reliable battery operation. It is shown that the internal resistance and internal voltage of the battery affect system stability. Variations in these parameters may occur due to aging. Using average-value modeling, this problem is framed into a nonlinear system formulation and the region of stability as a function of the internal resistance and the internal voltage of the battery is determined. This paper also extends its results in determining the configuration of a battery pack in terms of the number of battery cells in series and parallel to prevent instability while meeting demand power requirements. The findings are useful both in the design and operation stages of large-scale battery storage systems in the grid. To maintain this purpose, state monitoring and evaluation, state of charge (SoC), state of health (SoH), remaining useful life (RUL) and cell balancing are functionalities that have been implemented in BMS. The uncertainty of a battery’s performance poses a challenge to the implementation of these functions. Through reviewing the latest methodologies for the state evaluation of batteries, the future challenges for BMSs are presented and possible solutions are proposed as well.
신경 회로망 예측 모델을 이용한 실시간 멀티미디어 데이터 전송률 제어
김용석,권방현,정길도,Kim, Yong-Seok,Kwon, Bang-Hyun,Chong, Kil-To 한국통신학회 2005 韓國通信學會論文誌 Vol.30 No.2B
본 논문에서는 멀티미디어 전송 시 QoS(Quality of Service)를 개선하기 위한 유효패킷 전송률을 향상 시키는 방법으로 신경회로망을 이용한 예측 알고리즘을 제안하였다. 신경회로망 모델을 이용하여 왕복지연시간과 패킷손실률을 예측하고 예측된 인자를 이용하여 데이터 전송률을 결정하는 방법이다. 제안한 방법은 과거의 데이터를 기준으로 전송률을 결정하여 전송하는 데이터의 양을 제어하는 기존의 방법보다 향상된 성능을 확보할 수 있게 된다. 제안한 방법의 성능을 확인하기 위하여 실 시스템에 적용하는 실험을 실시하였다. 리눅스 운영 PC를 사용하였으며, UDP 프로토콜을 이용하여 실시간 데이터를 전송하는 실험 장치를 구현하였다. 제안한 방법의 유효패킷 전송률이 기존의 TCP-Friendly 혼잡제어 방법에 비하여 5% 정도 향상된 성능을 보였다. This paper proposes a neural network prediction model to improve the valid packet transmission rate for the QoS(Quality of Service) of multimedia transmission. The Round Trip Time(RTT) and Packet Loss Rate(PLR) are predicted using a neural network and then the transmission rate is decided based on the predicted RTT and the PLR. The suggested method will improve the transmission rate since it uses the rate control factors corresponding to time of data is being transmitted, while the conventional one uses the transmission rate determined based on the past informations. An experimental set-up has been established using a Linux PC system, and the multimedia data are transmitted using UDP protocol in real time. The valid transmitted packets are about 5% higher than the one in the conventional TCP-Friendly congestion control method when the suggested algorithm was applied.
Multi-Robots and Robot Sensor Network Applications
Bayanjargal Baasandorj,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. Mobile sensor networks are a class of networks where small sensing devices move in a space over time to collaboratively monitor physical and environmental condition. They are the growing popular class of WSN in which mobility plays a key role in the execution of the application. By introducing mobility to nodes in WSN, we can enhance its capability and flexibility to support multiple mansions and to handle the aforementioned problems. The decreasing costs and the increasing capabilities make mobile sensor networks possible and practical. More and more researches focus on the development of mobile wireless sensor networks (MWSNs) due to its favorable advantages and applications. The research on mobile sensor networks has been plenty worldwide. Robotics can be used in wireless sensor networks to solve many problems such as node repositioning, node localization, acting as data mules, detecting and reacting to sensor failure, aggregate sensor data and even provide mobile battery chargers for the nodes. And also wireless sensor networks can help solve many problems in robotics, such as path planning, robot localization sensing, mapping. Most of the problems in traditional sensor networks may be addressed by incorporating intelligent, mobile robots directly into it. Mobile robots provide the means to explore and interact with the environment in a dynamic and decentralized way. In addition to enabling mission capabilities well beyond those provided by sensor networks, these new systems of networked sensors and robots allow for the development of new solutions to classical problems such as localization and navigation. In this paper we present a overview of multi-robots systems its uses and in the second part reviewed Robotic Sensor network applications.
Fuzzy logic based Obstacle Avoidance system for Mobile Robot
Subbash Panati,Kil to Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
Mobile robot navigation in real world environment is a key research area related to autonomous robots. Path planning and obstacle avoidance play a key role in mobile robot navigation. This paper proposes a sensor based path planning method which utilizes fuzzy logic for mobile robot obstacle avoidance. The ultrasonic sensors are used to acquire the information about the environment around the mobile robot, based on the sensor readings the fuzzy rules are fired to make a decision on the angular velocity of the left and right wheels of mobile robot. The fuzzy rules and membership functions are constructed based on human reasoning and are tuned by iterative simulations. The simulation results show the effectiveness of the proposed method.
Use of GPS carrier phase single and double differences
Jhabindra Khanal,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
GPS carrier phase single and double characteristics are studied. For same satellite with two receivers are used to eliminated the satellite clock error, tropospheric range error, ionosphere range error satellite hardware delay and initial phase error generated by the satellite are presented. On the other hand, two receivers with respect to two satellites (double difference) to eliminate the receiver’s clock error by the algorithm have been shown.
Xian Zang,Kil To Chong(정길도) 제어로봇시스템학회 2012 제어로봇시스템학회 각 지부별 자료집 Vol.2012 No.12
A clustering method using fast global kernel fuzzy c-means is developed to segment the speech signal into small non-overlapping blocks for consonant/vowel segmentation. This method proceeds in an incremental way attempting to optimally add new cluster center at each stage through kernel fuzzy c-means. It overcomes the well-known shortcomings of the most popular clustering method, fuzzy c-means, and improves the clustering accuracy. Due to the speeding up scheme, the complexity is lowered and the convergence speed is improved. Simulation results demonstrate the effectiveness of the proposed method in consonant/vowel segmentation.
PD Control For Quadrotor Hovering
Ang Zhang,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
In this paper, a Proportional-Derivative (PO) control method is investigated for a quadrotor to solve attitude control problems. The main target is to design controllers that provide required performances during the quadrotor hovering. A complete simulation model of the angel system dynamic was developed and used to tune controllers in Matlab and Simulink. Simulations results are carried out to prove the effectiveness of the proposed strategy.