• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.10
• /
• pp.1128-1136
• /
• 2012

In this paper, the states and parameters in a dynamic system are estimated by applying an Unscented Kalman Filter (UKF). The UKF is widely used in various fields such as sensor fusion, trajectory estimation, and learning of Neural Network weights. These estimations are necessary and important in determining the stability of a mobile system, monitoring, and predictions. However, conventional approaches are difficult to estimate based on the experimental data, due to properties of non-linearity and measurement noises. Therefore, in this paper, UKF is applied in estimating the states and parameters needed. An experimental dynamic system has been set up for obtaining data and the experimental data is collected for parameter estimation. The measurement noises are primarily reduced by applying the Low Pass Filter (LPF). Given the simulation results, the estimated error rate is 39 percent more efficient than the results obtained using the Least Square Method (LSM). Secondly, the estimated parameters have an average convergence period of four seconds.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.5
• /
• pp.577-584
• /
• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.835-841
• /
• 2014

In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.213-218
• /
• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.15 no.2
• /
• pp.1066-1073
• /
• 2014

This paper presents a new design method of optimal control of system which are changed the system parameters. The method used for this purpose are the Lagrange interpolation method and Pole's Moving range method. We selects a system within the scope of the changing the system parameters. Using pole's moving range we calculated the state weighting matrix of optimal control. The optimal controller is designed by Lagrange interpolation method of the state weighting matrix. We are compared with a traditional optimal controller and proposed method by simulation. The simulation showed that the proposed method is better control performance than traditional method of optimal controller.

• Journal of the Korea Society of Computer and Information
• /
• v.27 no.4
• /
• pp.37-43
• /
• 2022

In this paper, we calculate the word frequency by date and region using news data related to COVID-19 distributed for about 8 months from December 2019 to July 2020, and visualized the correlation with the current state data of COVID-19 patients using the results. News data was collected from Big Kids, a news big data system operated by the Korea Press Promotion Foundation. The visualization system proposed in this paper shows the news frequency of the selected region compared to the overall region, the key keyword of the selected region, the region of the main keyword, and the date change of the selected region. Through this visualization, the main keywords and trends of COVID-19 confirmed and infected people can be identified for previous events.

• Journal of IKEEE
• /
• v.26 no.4
• /
• pp.681-685
• /
• 2022

Including the COVID-19 crisis, humanity is constantly exposed to viral infections, and efforts are being made to prevent the spread of infection by quickly isolating infected people and tracing contacts. Passive epidemiological investigations that confirm contact with an infected person through contact have limitations in terms of accuracy and speed, so automatic tracking methods using various digital technologies are being proposed. This paper verify contact by utilizing Bluetooth Low Energy (BLE) technology and present an algorithm that identifies close contact through analysis and correction of RSSI (Received Signal Strength Indicator) values. Also, propose a system that can prevent the spread of viruses in a centralized server structure.

• Pediatric Infection and Vaccine
• /
• v.31 no.1
• /
• pp.102-112
• /
• 2024

Purpose: To identify the epidemiological characteristics and risk factors of coronavirus disease 19 (COVID-19) outbreaks depending on the type of educational facility by analyzing the COVID-19 cluster associated with educational facilities. Methods: This study is based on epidemiological investigation of COVID-19 cluster in Gangwon-do, Korea from December 10, 2020 to September 23, 2021 reported to the Korea Disease Control and Prevention Agency's Integrated Disease and Health Management System. Four hundred seven patients in 19 facilities, classified as cluster related to educational facilities, were the study population. The result of preliminary epidemiology survey report, in-depth epidemiological survey by phone and the result of risk assessment derived from the field epidemiology investigation were retrospectively analyzed to evaluate infectivity and the characteristics of the risk factors. Results: There were total of 407 confirmed patients related to 19 educational facilities, with 204 students under the age of 19 (50.1%). One hundred fifty-five preceding spreaders were from families (38.1%) and 125 were the teachers (30.7%). The place exposed to confirmed patients was the highest with 139 people (34.2%) at home. Conclusions: It was confirmed that the cause of the occurrence of clusters related to educational facilities was higher due to family transmission than the risk of facilities in schools. Nevertheless, continuous efforts should be made to control infection in educational facilities, and that teachers' implementation of principles for prevention of COVID-19 personal hygiene in their daily lives should be strengthened.

• Korean Journal of Construction Engineering and Management
• /
• v.3 no.2 s.10
• /
• pp.114-120
• /
• 2002

Traditional bidding process and activities in public construction area has many problems in terms of the transparency and fairness of administration. And, it causes many expenses to suppliers. As part of the efforts to solve these problems, some public institutions developed the electronic bidding systems. But these systems have still problems in diverse aspects. Therefore, the purpose of this study is to analyze current bidding systems through literature survey, Questionnaire, contentment estimation and IDEF method to compare the result of the analysis with the developed electronic bidding systems and to suggest the improvement for the coming bidding systems. According to the survey, under present bidding system big problem is inconvenience of conducting process. Nearly all users of current electronic bidding systems were contented. When public institutions are planning new electronic bidding systems, standardization, security, law and bidding system consolidation must be applied. This study proposes an improved bidding system and described the effects through the improvements.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.36S no.10
• /
• pp.51-57
• /
• 1999

In this paper, we deal with the problem of controlling an unknown nonlinear dynamical system, using wavelet network. Accurate control of the nonlinear systems depends critically on the accuracy and efficiency of the function approximator used to approximate the function. Thus, we use wavelet network which shows high capability of approximating the functions and includes the free-selection of basis functions for the control of the nonlinear system. We find the dilation and translation that are wavelet network parameters by analyzing the time-frequency characteristics of the controller's input to construct an initial adaptive wavelet network controller. Then, weights is adjusted by the adaptive law based on the Lyapunov stability theory. We apply this direct adaptive wavelet network controller to control the inverted pendulum system which is an nonlinear system.