기존 신호제어기법은 과거 주기에 파악된 교통상황을 바탕으로 다음 주기의 교통신호시간을 설계하는 방식으로 신호시간을 설계하기 위해 관측할 때의 교통상황과 신호시간을 제공받는 교통상황 간의 간극이 존재하였다. 또한, 설정된 주기길이 동안 차량이 교차로에 일정하게 도착하는 균일분포를 가정하지만, 실제 교차로에 도착하는 교통량의 행태는 비 균일분포로 실제 교통수요에 대응하기 어렵 다는 한계가 존재한다. 본 연구는 이러한 한계를 극복하기 위해 교차로로 진입하는 상류 교차로의 교통정보를 활용하여 단기 미래 도 착 교통량 예측모델 개발을 통해 관측 시점과 제공 시점 간의 간극을 최소화한다. 또한, 기존 주기길이 동안의 교통량 도착분포를 비 균일분포로 가정하여 주기길이가 고정되지 않는 방식(Acyclic)의 적응식 신호제어 기법(ATC) 개발한다. 제안된 단기 미래 도착 교통 량 예측모델은 실제 스마트교차로 자료를 가공하여 시뮬레이션을 통하여 학습데이터를 구축하여 장단기 메모리(LSTM) 모형과 시간 분산(TimeDistributed) 모형을 적용하여 딥러닝 모델을 개발하였다. 적응식 교통신호제어 기법은 실시간 예측 교통량을 활용하여 교통 류별 예측 지체 산출을 통하여 지체가 최소화되는 현시 종료 지점에서 현시를 종료하고 다음 시간 단계에서 예측된 교통량을 통해 최 적 현시를 재산출하는 롤링 호라이즌(Rolling Horizon)을 수행한다. 제안 신호제어 기법의 평가를 위해 미시적 교통 시뮬레이션을 활 용하여 기존 신호제어 기법인 TOD 신호제어 기법과 제안기법 간의 평가를 수행하였다.

A lot of sensor and control signals is generated by an industrial controller and related internet-of-things in discrete manufacturing system. The acquired signals are such records indicating whether several process operations have been correctly conducted or not in the system, therefore they are usually composed of binary numbers. For example, once a certain sensor turns on, the corresponding value is changed from 0 to 1, and it means the process is finished the previous operation and ready to conduct next operation. If an actuator starts to move, the corresponding value is changed from 0 to 1 and it indicates the corresponding operation is been conducting. Because traditional fault detection approaches are generally conducted with analog sensor signals and the signals show stationary during normal operation states, it is not simple to identify whether the manufacturing process works properly via conventional fault detection methods. However, digital control signals collected from a programmable logic controller continuously vary during normal process operation in order to show inherent sequence information which indicates the conducting operation tasks. Therefore, in this research, it is proposed to a recurrent neural network-based fault detection approach for considering sequential patterns in normal states of the manufacturing process. Using the constructed long short-term memory based fault detection, it is possible to predict the next control signals and detect faulty states by compared the predicted and real control signals in real-time. We validated and verified the proposed fault detection methods using digital control signals which are collected from a laser marking process, and the method provide good detection performance only using binary values.

국내 고도성장기 이후 본격 건설되기 시작한 사회 기반 시설물은 노후화가 빠르게 진행되고 있다. 특히 사고 발생 시 대량 인명 피해로 직결될 수 있는 교량, 터널 등의 대형 구조물들에 대한 안전성 평가가 필요하다. 하지만, 기존의 유선 센서 기반의 SHM을 개선한 무선 스마트 센서네트워크는 짧은 신호도달거리로 인해 경제적이고 효율적인 시스템 구축이 힘들다. 따라서 LoRa LPWAN시스템은 사물인터넷의 확산과 더불어 저전력 장거리통신이 각광을 받고 있으며, 이를 구조건전성 모니터링에 응용함으로써 경제적이면서도 효율적인 SHM 구축이 가능하다. 본 연구에서는 LoRa LPWAN의 구조건전성 모니터링에 적용 가능성을 검토하고 비면허 통신 대역을 사용함으로 인해 발생하는 채널간의 충돌을 해결하면서 대역폭을 효율적으로 활용할 수 있는 채널 기반의 LoRa 네트워크 운영방법을 제안한다.

This study suggests a model of production information system that can reduce manufacturing lead time and uniformize quality by using DNC S/W as a part of constructing production information management system in the industrial field of the existing marine engine block manufacturing companies. Under the effect of development of this system, the NC machine interface device can be installed in the control computer to obtain the quality information of the workpiece in real time so that the time to inspect the process quality and verify the product defect information can be reduced by more than 70%. In addition, the reliability of quality information has been improved and the external credibility has been improved. It took 30 minutes for operator to obtain, analyze and manage the quality information when the existing USB memory is used, but the communication between the NC controller computer and the NC controller in real time was completed to analyze the workpiece within 10 seconds.

This study suggested a new real-time traffic signal operation algorithm using combined data of travel time and occupancy rate. This study applied the travel time data to traffic signal control system, and developed the signal operation algorithm based on saturation degree that was calculated using the travel time data. This algorithm calculates a queue length using a delay model, and converts the queue length to the saturation degree. Moreover, it calculates signal timing variables using this combined saturation degree. This study conducted a microscopic simulation for effectiveness evaluation. We checked that the average intersection delay decreased by up to 27 percent. Moreover, we checked that this signal operation algorithm could respond to a traffic condition of oversaturation and loop detector error effectively and usefully. In korea, sectional traffic detection systems are being installed in various ITS projects, such as Advanced Transportation Management System(ATMS) and Urban Transportation Information System(UTIS). This study has important significance in the sense that it is new methodology to accept the sectional detection system in traffic signal control system.

Background: The continuous co-contraction of the trunk muscles through trunk stabilization exercises is important to patients with lumbar spinal stenosis (LSS). However, intentional abdominal muscle contraction (IAMC) for trunk stabilization has been used only for specific training in the treatment room. Objects: The purpose of this study was to provide feedback to adults with LSS to enable IAMC during activities of daily living (ADLs). Methods: The participants with spinal stenosis were divided into an experimental group of 15 adults and a control group of 16 adults. Electromyographic signals were measured while the subjects kept their both hands held up at 90°. The measured muscles were the rectus abdominis (RA), external oblique (EO), internal oblique (IO), and erector spinae (ES). Pelvic tilt was measured using a digital pelvic inclinometer. The degree of pain was measured using the visual analogue scale (VAS) and functional capacity was measured using the Korean version of the Oswestry disability index (KODI). Results: While the experimental group showed statistically significantly higher activities in the RA, EO, and IO after the intervention compared with the control group. Pelvic tilt was significantly decreased only in the experimental group. Both the experimental and control groups exhibited statistically significant declines in the VAS and KODI (p<.01). In terms of the levels of changes, the experimental group exhibited a statistically significant larger decline only in the VAS and the pelvic tilt when compared with the control group (p<.05). Conclusions: The subjects could stabilize their trunks, and relieve their pain and dysfunctions and reduce pelvic tilt by learning abdominal muscle contraction during ADLs.

In this paper, an experimental study was carried out for vibration control of cable bridges with structurally flexible characteristics. For the experiment on vibration control, a model bridge was constructed by reducing the Seohae Grand Bridge and the shear type MR damper was designed using the wind load response measured at Seohae Grand Bridge. The shear type MR damper was installed in the vertical direction at the middle span of the model bridge, and dynamic modeling was performed using the power model. The tests of the vibration control were carried out by non-control, passive on/off control and Lyapunov control method on model bridge with scaled wind load response. The performance of the vibration control was evaluated by calculating absolute maximum displacement, RMS displacement, absolute maximum acceleration, RMS acceleration, and size of applied power using the response (displacement, acceleration, etc.) from the model bridge. As a result, the power model was effective in simulating the nonlinear behavior of the MR damper, and the Lyapunov control method using the MR damper was able to control the vibration of the structure and reduce the size of the power supply.

This paper is concerned with an experimental research to control of random vibration caused by external loads specially in cable-stayed bridges which tend to be structurally flexible. For the vibration control, we produced a model structure modelled on Seohae Grand Bridge, and we designed a shear type MR damper. On the center of its middle span, we placed a shear type MR damper which was to control its vibration and also acquire its structural responses such as displacement and acceleration at the same site. The experiments concerning controlling vibration were performed according to a variety of theories including un-control, passive on/off control, and clipped-optimal control. Its control performance was evaluated in terms of the absolute maximum displacements, RMS displacements, the absolute maximum accelerations, RMS accelerations, and the total power required to control the bridge which differ from each different experiment method. Among all the methods applied in this paper, clipped-optimal control method turned out to be the most effective to reduces of displacements, accelerations, and external power. Finally, It is proven that the clipped-optimal control method was effective and useful in the vibration control employing a semi-active devices such MR damper.

최근 스마트 폰의 급격한 보급으로 그 사용자 수가 크게 늘어남에 따라 이를 이용한 실시간 온라인 게임의 많은 이용 등으로 인터넷 트래픽이 급속히 증가하고 있는 실정이다. 이에 네트워크의 대역폭, 서비스 제공의 유연성, 전송속도, 확장성, 보안성 등 여러 방면에서 기존의 네트워크보다 훨씬 향상된 네트워크 성능을 요구하게 되어 전달망 및 통신망 제어기술 또한 급속히 발전하고 있다. 이를 수용하기 위한 광 다계층 망에서의 신속한 복구를 수행하여 실시간 온라인 게임이 단락이 없이 수월하게 운용할 수 있는 새로운 복구 메커니즘을 제시하고, 이에 대한 특성을 살펴본다.

실시간 하이브리드 실험법(real-time hybrid testing method)은 구조물의 수치해석부와 실험부 부분구조를 운동방정식으로 통합하여 실시 간으로 동시에 계산과 실험을 수행하는 방법이다 본 연구는 실시간 하이브리드 실험법을 사용하여 수동 및 준능동 MR감쇠기가 설치된 건축구조물의 내진성능을 정량적으로 평가한다. 건물 모델은 실물 크기 5층 건물을 강제진동실험 결과를 통해 식별한 수치모델로 사용하였고, MR감쇠기는 실험적 부분구조르 UTM에 설치되었다. 본 연구에서 수행되는 실시간 하이브리드 실험은 사인파 및 지진파 가진을 통하여 얻은 결과와 전류에 따른 MR감쇠기의 제어력을 이용하여 얻은 Bouc-Wen모델을 사용하여 얻은 해석모델과 일치함으로 그 유효성을 입증하였다. 또한 예비연구로써 구조물의 응답을 최적으로 제어하기 위한 clipped-optimal 제어알고리즘과 modulated homogeneous friction 준능동 제어알고리즘을 MR감쇠기에 적용하였다. 각 전류별 Bouc-Wen모델을 곡선맞춤하여 각각의 Bouc-Wen모델 파라미터를 식별하였으며 그 결과를 준능동 제어알고리즘 수치해석에 적용하였다. 또한 실시간 하이브리드 실험법을 이용한 준능동 제어 실험결과와 해석결과를 비교하여 준능동 제어알고리즘의 성능을 평가함에 있어 실시간 하이브리드 실험이 합리적임을 보여준다.

Real-time hybrid testing technique (RT-HYTT) is a structural dynamic testing method that the numerical calculation of the equations of motion of a structure and the experimental measurement of the reaction forces resulting from the application of this motion to the numerical structure are simultaneously implemented in real time. In this paper, structural control performance of the magneto-rheological (MR) damper installed in a real-scaled 5 story building is experimentally evaluated through real-time hybrid test method. In this method, a numerical substructure is based on a structural model identified from the forced vibration testing results of a real-story building, and an MR damper that is used as an experimental substructure is physically tested with a universal testing machine (UTM). In the test, load cell on the UTM measure the force necessary to attain the required story displacement and these structural reaction forces are returned to the computer for use in next time step calculation of a numerical structural model. Test results show that the higher level of control force generated by the Mr damper causes the lower level of controlled response of a structure.

An experimental real-time hybrid method, which implements the wind response control of a building structure with only a two-way TLMD, is proposed and verified through a shaking table test. The building structure is divided into the upper experimental TLMD and the lower numerical structural part. The shaking table vibrates the TLMD with the response calculated from the numerical substructure，which is subjected to the excitations of the measured interface control force at its top story and an wind-load input at its base. The results show that the conventional method can be replaced by the proposed methodology with a simple installation and accuracy for evaluating the control performance of a TLMD

본 논문에서는, 동조액체감쇠기(이하 TLD)만을 실험적 부분구조로 이용하여 TLD가 설치된 건축구조물의 지진 응답 제어효과를 평가하기 위한 실시간 하이브리드 실험법을 제안하고 진동대 실험을 통해 실험적으로 규명한다. 제안된 실험법에서, TLD가 설치된 전체구조물은 상부의 TLD와 하부의 구조물 부분으로 각각 실험적 그리고 수치해석적 부분구조로 나누어진다. 이때 부분구조 사이의 경계면에서 작용하는 하중 또는, TLD에 의한 제어력은 진동대에 설치된 전단형 로드셀에 의해 계측되며 진동대는, 계측된 경계면에서의 제어력이 상부에 작용하고 또한 동시에 기초에 지진하중이 작용하는 수치해석적 부분구조로부터 계산된 응답으로, 상부에 설치된 TLD를 가진하게 된다. 제안된 실험법에 의한 결과와 TLD와 건물모델 모두를 제작하여 실험하는 기존의 방법에 의한 실험 결과들은 서로 잘 일치하며, 이로써 본 논문에서 제안된 실험법을 이용하여 TLD의 제어성능을 손쉽게 평가 할 수 있음을 알 수 있다.

Automated manufacturing systems are applied to shop floors as tools for increase of productivity and quality and the decrease of manufacturing lead times and industry accidents. One of the most important issue of the present day is the application of Internet. The development of Internet technologies makes manufacturing enterprises break spacial barriers between users and shop floors, and collect various field data in remote sites. In this research, an Internet-based remote control system for a small-sized automated storage and retrieval system is developed for the purpose of real-time monitoring and control of automatic production equipment. The developed system has a client-server architecture and sends real-time images of the automated storage and retrieval system to clients by an CCD camera connected to a server.

As the development of autonomous vehicles becomes realistic, many automobile manufacturers and components producers aim to develop ‘completely autonomous driving’. ADAS (Advanced Driver Assistance Systems) which has been applied in automobile recently, supports the driver in controlling lane maintenance, speed and direction in a single lane based on limited road environment. Although technologies of obstacles avoidance on the obstacle environment have been developed, they concentrates on simple obstacle avoidances, not considering the control of the actual vehicle in the real situation which makes drivers feel unsafe from the sudden change of the wheel and the speed of the vehicle. In order to develop the ‘completely autonomous driving’ automobile which perceives the surrounding environment by itself and operates, ability of the vehicle should be enhanced in a way human driver does. In this sense, this paper intends to establish a strategy with which autonomous vehicles behave human-friendly based on vehicle dynamics through the reinforcement learning that is based on Q-learning, a type of machine learning. The obstacle avoidance reinforcement learning proceeded in 5 simulations. The reward rule has been set in the experiment so that the car can learn by itself with recurring events, allowing the experiment to have the similar environment to the one when humans drive. Driving Simulator has been used to verify results of the reinforcement learning. The ultimate goal of this study is to enable autonomous vehicles avoid obstacles in a human-friendly way when obstacles appear in their sight, using controlling methods that have previously been learned in various conditions through the reinforcement learning.

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

In this dissertation, experimental study about the real-time vibration control of the bridge structure was conducted by using the semi-active vibration control method that has been in the spotlight recently. Based on the laboratory-scale bridge model in the form of the cable-stayed bridge, the shear type MR damper and the semi-active vibration control algorithm (Lyapunov and Clipped-optimal) were applied in order to the control the harmful vibration in real time. From the investigation of the test results, the performance of each semi-active control algorithm was evaluated quantitatively.