• The Journal of Korean Institute of Communications and Information Sciences
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• v.14 no.2
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• pp.155-163
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• 1989

For a one link flexible arm control, quadratic optimal control is applied to the dynamic modilling which is derived from an assumed mode method. For the quadratic optimal control technique, the full state feedback must be obtained for closing the control loop, but because some of the states in the flexible system(e.g. the rate of change of the time dependent variables of the mode shapes) can not be directly measured, state estimator is necessary to achieve the practical implementation of the optimal controller. When disturbances and measurement noise occur, stochastic approach must be applied to estimating the states of the system. Kalman Filter is used as a stste estimator. Through the simulation, the flexible system with state estimator is compared with the flexible system assuming that all the states can be measured.

• Nuclear Engineering and Technology
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• v.56 no.2
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• pp.498-505
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• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

• The Journal of Korean Obstetrics and Gynecology
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• v.26 no.4
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• pp.30-47
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• 2013

Objectives: The purpose of the present study is to investigate anti-depressive effects of Samul-tanggahyangbuja (SGH) on ovariectomized and chronic mild stress (CMS) induced rats. Methods: Ovariectomized rats were exposed to CMS for 4 weeks. Changes of depression behavior were tested by using sucrose intake test (SIT), elevated plus maze (EPM), forced swimming test (FST) and Morris water maze test (MWMT) in rats until being orally medicated with SGH (100 or 400 mg/kg/day). In addition, the serum levels of corticosterone (CORT), IL-4, IL-$1{\beta}$ and changes of 5-HT in the brain were measured. Results: 1. SGH 400 mg/kg treated group (SGH 400) significantly increased amount of sucrose intake compared with the control group (p<0.05). 2. SGH 100 mg/kg treated group (SGH 100) and SGH 400 significantly increased the time spent in the open arms of the EPM compared with the control group (p<0.01). SGH 400 also significantly increased the number of crossing of the open and closed arms compared with the control group (p<0.05). 3. SGH significantly shortened the immobility time in FST compared with the control group (SGH 100 p<0.05, SGH 400 p<0.01). 4. SGH significantly increased performance of acquisition trials compared with the control group (p<0.05, on day 4, 5 of SGH 100 and 400). SGH 400 also significantly increased performance of retention trials compared with the control group (p<0.05). 5. The serum levels of corticosterone and IL-4 were not significantly different among the groups. There were no changes on the serum levels of corticosterone, IL-$1{\beta}$ and IL-4 after administration with SGH. 6. SGH 400 significantly increased the level of 5-HT in the hippocampus compared with the control group (p<0.05). SGH significantly increased the levels of 5-HT in the hypothalamus compared with the control group (SGH 100 p<0.05, SGH 400 p<0.01). Conclusions: These results suggest that SGH has the anti-depressive effect on ovariectomized rat and affect 5-HT system rather than hypothalamic-pituitary-adrenal (HPA) axis and immune system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.577-582
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• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.12
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• pp.1306-1316
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• 1990

A controller using a multilayer neural network is proposed to the dynamic control of a PUMA 560 robot arm. This controller is developed based on an error back-propagation (BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it is used as a commanded feedforward torque generator. A Proportional Derivative (PD) feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the manipulator as well as the PD feedback error torque. No a priori knowledge on system dynamics is needed and this information is rather implicitly stored in the interconnection weights of the neural network. In another experiment, the neural network was trained with the current, past and future positions only without any use of velocity sensors. Form this thim window of position values, BP network implicitly filters out the velocity and acceleration components for each joint. Computer simulation demonstrates such powerful characteristics of the neurocontroller as adaptation to changing environments, robustness to sensor noise, and continuous performance improvement with self-learning.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.1
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• pp.37-43
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• 1996

This paper presents a new control scheme for decoupling the dynamics of two coordinating robot manipulators. A simple full-state feedback scheme with configuration dependent gains can be devised to decouple the system dynamics such that the dynamics of each arm and that of an object held by the two arms is independent of one another. A condition for stability is shown. The advantage of the proposed scheme is that the same control scheme can be applied both for the closed kinematic chain(object-grasping) case and open kinematic chain(no object-grasping) case.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.953-957
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• 2001

This paper is concerned with a transfer alignment method for the SDINS under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonliner measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1126-1132
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• 2000

In this paper we propose an angular rate and acceleration matching method for initial transfer alignment in aircraft. The conventional angular rate and acceleration matching method performs compensation for the lever arm effects between the master and slave INS before initial alignment. However, the conventional method does not take the flexure angular acceleration into account and thus is not effective when the flexure angular acceleration is large. We propose a new angular rate and acceleration matching method to cope with the flexure acceleration between the master and slave INS and compare the results with those of the conventional method by simulation. The simulation results show that the proposed matching method is better than the conventional matching method in case of large flexure acceleration.

• New & Renewable Energy
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• v.6 no.2
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• pp.19-26
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• 2010

Experiences in wind farm operation are very limited in Korea, and the foundation for setting standards in power system connection is weak. Therefore, connection and operation standards for wind farms in other countries must be reviewed and power system operation criteria need to be established in order to set up connection standards and optimal operation plans according to the Jeju power system. In this study, reactive power control characteristics of a wind farm were analyzed using a wind farm model of the Jeju power system to propose power system connection operation standards for wind generation within the Jeju power system. Also, change in characteristics of the power system for the application of each reactive power control standard was confirmed, and the results were verified through trial tests arm was analyzed.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.64 no.4
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• pp.267-272
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• 2015

Active noise control (ANC) is a method of cancelling a noise signal in an acoustic cavity by generating an appropriate anti-noise signal via canceling loudspeakers. The continuous progress of ANC involves the development of improved adaptive signal processing algorithms, transducers, and DSP hardware. In this paper, the convergence behavior and the stability of the FxLMS algorithm in ANC systems with real-time implementation is proposed. Specially, The advanced DSP H/W with dual core(DSP+ARM) and API(application programming interface) S/W programming was developed to improve the real-time implementation performance under the FxLMS algorithms of input noise such as road noise environment. The experimental results are found to be in good agreement with the theoretical predictions.