• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1269-1274
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• 2004

This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1147-1156
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• 1993

In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.

• JSTS:Journal of Semiconductor Technology and Science
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• v.17 no.4
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• pp.534-542
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• 2017

This paper presents a fast locking technique for a fractional-N PLL frequency synthesizer. The technique directly measures $K_{VCO}$ on a chip, computes the VCO's target tuning voltage for a given target frequency, and directly sets the loop filter voltage to the target voltage before the PLL begins the normal closed-loop locking process. The closed-loop lock time is significantly minimized because the initial frequency of the VCO are put very close to the desired final target value. The proposed technique is realized and designed for a 4.3-5.3 GHz fractional-N synthesizer in 65 nm CMOS and successfully verified through extensive simulations. The lock time is less than $12.8{\mu}s$ over the entire tuning range. Simulation verifications demonstrate that the proposed method is very effective in reducing the synthesizer lock time.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.59-64
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• 1989

In this paper, the launch trajectory of the Japan scientific satellite M-3H-3 from launch to orbit injection is investigated. For the terminal conditions at a guidance target point, a guidance and control system is used. An open-loop and a closed-loop guidance schemes are used simultaneously. For the closed-loop guidance scheme, the velocity polynomial algorithm represented by the velocity difference between the target point and present velocity is used. A PD control system is used for activating gimbal type engines. The simulation result shows that all the terminal position and velocity conditions are satisfied and the trajectory for the M-3H-3 scientific satellite is reasonable.

• Journal of Korean Institute of Industrial Engineers
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• v.43 no.1
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• pp.1-11
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• 2017

Stochastic resource-constrained project scheduling problem is an extension of resource-constrained project scheduling problem such that activity duration has stochastic nature. In real situation where activity duration is not known until the activity is finished, open-loop based static policies such as activity-based policy and priority-based policy will not well cope with duration variability. Then, a dynamic policy based on closed-loop decision making will be regarded as an alternative toward achievement of minimal makespan. In this study, a dynamic policy designed to select activities to start at each decision time point is illustrated. The performance of static and dynamic policies based on variable neighborhood search is evaluated under the discrete-event simulation environment. Experiments with J120 sets in PSPLIB and several probability distributions of activity duration show that the dynamic policy is superior to static policies. Even when the variability is high, the dynamic policy provides stable and good solutions.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.29-38
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• 1997

A closed-loop system modeling of an active/semiactive suspension system has been accomplished through an artificial neural network. A 7DOF full model as a system's equation of motion has been derived and an output feedback linear quadratic regulator has been designed for control purpose. A training set of a sample data has been obtained through a computer simulation. A 7DOF full model with LQR controller simulated under several road conditions such as sinusoidal bumps and rectangular bumps. A general multilayer perceptron neural network is used for dynamic modeling and target outputs are fedback to the a layer. A backpropagation method is used as a training algorithm. Model validation of new dataset have been shown through computer simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.437-442
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• 2014

Due to electrical cross-coupling between modulation voltage and photodetector output in a closed-loop fiber optic gyro, deadzone inevitably occurs. In this paper, deadzone error by cross-coupling effect was analyzed and the overcoming method was suggested. Simulation and measurement results show the main reason for deadzone is mainly related to electrical cross-coupling, and it can be effectively reduced by square-wave dithering method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1706-1710
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• 2004

This paper presents a feedback-controlled, MEMS-fabricated microaccelerometer (${\mu}$XL). The ${\mu}$XL has received much commercial attraction, but its performance is generally limited. To improve the open-loop performance, a feedback controller is designed and experimentally evaluated. The feedback controller is applied to the x/y-axis ${\mu}$XL fabricated by sacrificial bulk micromachining (SBM) process. Even though the resolution of the closed-loop system is slightly worse than open-loop system, the bandwidth, linearity, and bias stability are significantly improved. The noise equivalent resolution of open-loop system is 0.615 mg and that of closed-loop system is 0.864 mg. The bandwidths of open-loop and closed-loop system are over 100 Hz. The input range, non-linearity and bias stability are improved from ${\pm}$10 g to ${\pm}$18 g, from 11.1 %FSO to 0.86 %FSO, and from 0.221 mg to 0.128 mg by feedback control, respectively

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.109-114
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• 2004

This paper presents a closed-loop evaluation of the Vehicle Stability Control (VSC) system using a vehicle simulator. Human driver-VSC interactions have been investigated under realistic operating conditions in the laboratory. Braking control inputs for vehicle stability enhancement have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. A driving simulator has been validated using actual vehicle driving test data. Real-time human-in-the loop simulation results in realistic driving situations have shown that the proposed controller reduces driving effort and enhances vehicle stability.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.29 no.3
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• pp.119-126
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• 2017

Recently, ground source heat pump systems are being used in buildings for cooling and heating to reduce greenhouse gas and save energy. However, ground source heat pump systems mainly use the vertical closed-loop geothermal system design rather than the open-loop geothermal system design. This is due to a lack of knowledge and few research feasibility studies. In this research, a dynamic thermal analysis numerical simulation based on a standard house model was conducted for an open-loop geothermal system. Based on heating load analysis results, the life cycle costs of a standard house using an open two-well geothermal system were analyzed and compared with a vertical closed-loop geothermal system, and a diesel boiler. As a result, it was found that using an open two-well geothermal system shows economic return on investment after three years.