• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.991-1000
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• 1994

To control nonlinear systems adaptively, we improve learning speed of neural networks and present a novel control algorithm characterized by compensation of control inputs. In an error-backpropagation algorithm for tranining multilayer neural networks(MLNN's) the effect of the slope of activation functions on learning performance is investigated and the learning speed of neural networks is improved by auto-adjusting the slope of activation functions. The control system is composed of two MLNN's, one for control and the other for identification, with the weights initialized by off-line training. The control algoritm is modified by a control strategy which compensates the control error induced by the indentification error. Computer simulations show that the proposed control algorithm is efficient in controlling a nonlinear system with abruptly changing parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1237-1240
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• 1996

This paper proposes a heuristic algorithm for performing the line balancing of PCB assembly fine including multiple surface mounters efficiently. We consider a PCB assembly line including the multiple surface mounters arranged serially as a target system. We assume that the number of heads of surface mounters can be changed. Also, the conveyor is assumed to move at a constant speed and have no buffer. Considering the minimum number of machines required for the desired production rate is a discrete nonincreasing function which is inversely proportional to the cycle time, we propose an optimization algorithm for line balancing by using the binary search method. Also we propose an head-changing algorithm. The algorithms are validated through the computer simulation.

• Journal of the Korea Society of Computer and Information
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• v.23 no.7
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• pp.57-62
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• 2018

In this paper, we propose an improved algorithm for rendering method to guarantee frame rates based on HMD (Head Mounted Display) motion in an avionics simulator. One of important issues in HMD simulators is to guarantee frame rates despite fast motion of HMD which is more rapid than the aircraft's moving speed to maintain a quality of images. Therefore, we propose an algorithm considering the moving speed of a pilot's head: Improved Speed-Based LOD (Level-Of-Detail) Control (ISBLC). In the proposed algorithm, frame rates are improved by changing dynamic LOD which determines details of objects for rendering images. Throughout the experiments, we show the average frame rates are achieved up to 60 and minimum frame rates are guaranteed up to 40. The proposed algorithms will be used HMD simulation in avionics simulators.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.04a
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• pp.50-57
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• 1999

Structural analysis of large-scale structures involving large amount of computational load and data storage requires high-performance computing resources. We have previously developed PC-level distributed structural analysis algorithms based on substructuring technique where each personal computer assigned to a slave node has been involved in the computations for single substructures. Recently, it has been proved by the authors that the performance of distributed structural analysis algorithm can be further enhanced by changing substructuring schemes. Therefore a new distributed structural analysis algorithm with one PC to multiple substructures scheme is presented in this paper. The algorithm is implemented on the network of multiple personal computers and applied to structural analysis of two dimensional frame structures.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.98.6-98
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• 2001

In the double-talk situation where both the near-end and far-end signal present, the performance of echo cancellation using the conventional LMS algorithm is easily degraded because it freezes the adaptation in this situation. Recently CLMS and ECLMS algorithms were proposed to solve this problem. These algorithms could be used to adapt the filter´s parameters continuously even in the double-talk situation. In this paper, we propose new recursion formulas to calculate the ECLMS algorithm. And we compare and analyze the performances of double-talk echo canceller according to changing the value of channel tracking factors ${\alpha}$, ${\beta}$ and forgetting factor λ. The computer simulation was performed and the results showed that, ...

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1742-1752
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• 2005

This paper presents a Multiple Target Tracking (MTT) Adaptive Cruise Control (ACC) system which consists of three parts; a multi-model-based multi-target state estimator, a primary vehicular target determination algorithm, and a single-target adaptive cruise control algorithm. Three motion models, which are validated using simulated and experimental data, are adopted to distinguish large lateral motions from longitudinally excited motions. The improvement in the state estimation performance when using three models is verified in target tracking simulations. However, the performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. The MTT-ACC system is tested under lane changing situations to examine how much the system performance is improved when multiple models are incorporated. Simulation results show system response that is more realistic and reflective of actual human driving behavior.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.7
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• pp.1178-1184
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• 2004

This paper presents the development of a satellite antenna tracking control system using a plane antenna for mobile DAB(Digital Audio Broadcasting) reception. To track more rapidly in the antenna of this system, this simple tracking system only tracks a direction of azimuth using pendulum in the direction of elevation. This system should track using the AGC(Automatic Gain Control) of the signal level which can receive DAB in spite of the changing of point and movement of the mobile. The directional gyro sensor is attached to solve the delay time in the Proposed tracking algorithm. The effectiveness of both the stabilization and tracking algorithm is demonstrated through experiment measuring AGC signal level. The implemented satellite antenna tracking control system is shown to be excellent for mobile DAB reception.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.345-348
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• 1997

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effecter of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.556-562
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• 2000

This paper presents new sensitivity analysis algorithm for the dynamic response of three dimensional rectilinear type structure. This method is derived from a combination of the transfer stiffness coefficient method(TSCM) and the Newmark method. We developed dynamic response analysis algorithm by TSCM. This method has more safe computational precision and time than transfer matrix method(TMM). We defined new design variable and object function, and computated simple three dimensional computation model by TSCM. The presented analysis algorithm was validated by results of changing design variable.