• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.5-49
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• 2001

The Proportional-Integral-Derivative control scheme is widely used in industries. This paper investigates an alternative control paradigm for controlling lightweight Cartesian robot arms. Fuzzy PI control is used and validated experimentally by comparing performance with a conventional PID control algorithm. The results show the effectiveness of the fuzzy PI control. The fuzzy control shows superior performance in transient response over the conventional one.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• Applied Biological Chemistry
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• v.39 no.1
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• pp.25-31
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• 1996

Transgenic tobacco plants expressing calmodulin derivative($lys{\rightarrow}ile$ 115 calmodulin) and hygromycin resistance genes or hygromycin resistance gene alone(control) were generated by Agrobacterium-mediated DNA transfer. Seeds obtained from the transgenic plants($F_o$) were tested for resistance to hygromycin and the expected 3 : 1 ratio was observed. The expression of calmodulin derivative in the tobacco plants was identified by a combined method of Western blot and Chemiluminescence. The effects of surface sterilizers on the germiation of seeds from transgenic tobacco plants were tested in Murashige and Skoog agar medium. Seeds obtained from transgenic tobacoo plants expressing the calmodulin derivative showed no fungi contamination with normal germination by treating with sterilized water alone or sodium hypochlorite(2% effective chlorine). In contrast, seeds from the control transgenic tobacco plants showed severe contamination with fungi by treating with sterilized water alone and showed no contamination with normal germination by treating with sodium hypochlorite(2% chlorine). The effects of calcium concentration on the germination of seeds from transgenic tobacco plants were tested in Murashige and Skoog agar medium. Seeds obtained from transgenic tobacco plants expressing the calmodulin derivative showed better germination frequency than that of the control transgenic tobacco seeds in the medium containing 30 mM $CaCl_2$. The data raise the possibility that the expression of calmodulin derivative gene in tobacco plants could increase adaptability of the seeds to environmental stresses.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.452-456
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• 1988

A PID controller must need not only good servo response but also little operation of a control valve. We suggest a direct pole-placement PID self-tuning algorithm using the structure of derivative-of-output controller and Bezout identity. This algorithm can much reduce the change of output of controller and well follow the desired trajectory.

• ETRI Journal
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• v.35 no.6
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• pp.1168-1171
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• 2013

We propose an improvement of particle swarm optimization (PSO) based on the stabilization of particle movement (PM). PSO uses a stochastic variable to avoid an unfortunate state in which every particle quickly settles into a unanimous, unchanging direction, which leads to overshoot around the optimum position, resulting in a slow convergence. This study shows that randomly located particles may converge at a fast speed and lower overshoot by using the proportional-integral-derivative approach, which is a widely used feedback control mechanism. A benchmark consisting of representative training datasets in the domains of function approximations and pattern recognitions is used to evaluate the performance of the proposed PSO. The final outcome confirms the improved performance of the PSO through facilitating the stabilization of PM.

• Korean Journal of Computational Design and Engineering
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• v.3 no.2
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• pp.135-139
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• 1998

The hodograph, which are usually defined as the derivative of parametric curve or surface, is useful far various geometric operations. It is known that the hodographs of Bezier curves and surfaces can be represented in the closed form. However, the counterparts of rational Bezier curves and surface have not been discussed yet. In this paper, the equations are derived, which are the closed form of rational Bezier curves and surfaces. The hodograph of rational Bezier curves of degree n can be represented in another rational Bezier curve of degree 2n. The hodograph of a rational Hazier surface of degree m×n with respect to a parameter can be also represented in rational Bezier surface of degree 2m×2n. The control points and corresponding weight of the hodographs are directly computed using the control points and weights of the given rational curves or surfaces.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.264-268
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• 2010

The purpose of this paper is to propose new techniques to match measured optical images by using the edge abstraction method and differentiation method based on image processing technology. To do this, we detect the matching template and non-matching template from each optical image. And then, we detect the edge parts of the overlaped image from comer edge abstraction method and remove noise image. At last, these data are related to applied first-order derivative operator. Finally, we show the effectiveness and feasibility of the proposed method through some experiments.

• Computers and Concrete
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• v.34 no.1
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• pp.63-77
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• 2024

In this research, we considered fractional order optimal control models for cancer, HIV treatment and glucose.These models are based on fractional order differential equations that describe the dynamics underlying the disease.It is formulated in term of left and right Caputo fractional derivative. Pontryagin's Maximum Principle is used as a necessary condition to find the optimal curve for the respective controls over fixed time period. The formulated problems are numerically solved using forward backward sweep method with generalized Euler scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.721-724
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• 2000

This paper has been demonstrated to be essential to successful telemanipulator control when the communication delay between master arms in the operator control station and telemanipulators in the remote site. This paper includes the human dynamics to generate a control command, the monitoring force feedback in order to robust under short time delays and the controller not to requre the derivative of interaction forces. Simulation results suggest that, the proposed control system should be superior to conventional systems in terms of performance and robustness under short time delays.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.1
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• pp.40-46
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• 1999

A self-tuning FPID(Fuzzy Proportional Intergral Derivative) controller fo load frequency control of 2-area power systemis proposed in this paper. The paramters of the proposed self-tuning FPID controller are self-tuned by the proposed fuzzy inference technique. Therefore in this paper the fuzzy inference technique of PID gains using PSGM(Product Sum Gravity Method) is presented and is applied to the load frequency control of 2-area power system. The computer simulation results show that the proposed controller give better more control characteristics than convention-al PID, FLC under load changes.