• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1359-1361
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• 1996

This paper describes a design of real time fuzzy controller using Minimum fuzzy control Rule Selection Method(MRSM). The control algorithm of dynamic systems needs less computation time and memory. To reduce the computation time of fuzzy logic controller, minimum number of rules are to be selected for the fuzzy input variable. The universe of discourse is divided by the number of linguistic labels to allocate the assigned membership function to the fuzzy input variables. In this case, since fuzzy input variables are continuous, scale factor SU is tuned independently. According to increment of SU control surface is improved to adapt the change of system parameter. At this, crisp control surface is increased. With the increament of crisp control surface, fuzzy control surface is reduced. When error state deviates from desirable error state, crisp control surface is more useful than fuzzy control surface for obtaining fast rising time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.547-551
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• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• 한국정보통신학회논문지
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• 제12권2호
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• pp.276-281
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• 2008

본 논문에서는 SVM(Support Vector Machine)을 이용하여 공칭 시스템의 동특성을 갖는 슬라이딩 평면 설계기법을 제안한다. 전형적인 슬라이딩 모드에서 슬라이딩 평면의 차수는 시스템의 차수보다 낮은 차수를 갖기 때문에 슬라이딩 평면은 $H_{\infty}$ 제어기의 동특성을 가질 수 없다. 그러므로 이 문제를 해결하기 위해서는 추가적인 상태들이 정의되어야 한다. 본 논문에서는 추가적인 상태를 정의하지 않고 SVM을 이용하여 공칭 시스템의 동특성을 가질 수 있는 슬라이딩 평면의 설계기법을 제안한다. 이 설계기법은 먼저 $H_{\infty}$ 제어기에 의해서 제어되는 공칭시스템의 상태들 간에 SVM을 이용하여 그 관계를 정립하며. 이를 바탕으로 새로운 슬라이딩 평면을 설계하며 이 평면은 $H_{\infty}$ 제어 시스템 특성을 가진다. 그 결과 파라미터 불확실성이 존재하더라도 제안된 제어기는 $H_{\infty}$ 제어기에 의해서 제어되는 공칭 시스템의 동특성을 가질 수 있다.

• 한국항공우주학회지
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• 제34권7호
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• pp.35-44
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• 2006

항공기 비행 시, 조종면에 고장이 발생하였을 때 이를 검출하여 제어기를 수정하거나 다른 제어기로 전환하는 방식을 주로 사용한다. 본 논문은 작동기에 고장 발생시 임의의 고장검출 알고리듬을 사용하여 고장을 검출하여, 제어기를 수정/전환하는 방식을 사용하지 않고, 신경회로망과 PCH(Pseudo-Control Hedging) 기법을 이용하여, 발생된 고장정도에 따라 제어기 스스로 판단하여 대체 조종면으로 보상해 주는 재형상 비행제어법칙을 제시한다. 제어시스템은 DMI(Dynamic Model Inversion) 기법을 적용한 내부루프(SCAS : Stability Command Augmentation System)와 Coordinate Turn을 위한 Y축 가속도 피드백 외부루프로 구성한다. 특히 고장 보상을 위해 작동기 포화를 방지하는 PCH 기법을 이중으로 적용하였다. 끝으로 몇 가지 고장상황에 따른 시뮬레이션을 통해 그 가능성을 검증하였다.

• Bulletin of the Korean Chemical Society
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• 제12권5호
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• pp.529-536
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• 1991

In this paper, the question whether the curvature of the minimum energy path can affect the dynamic threshold was tested using the boundary trajectory method developed by Chesnavich and coworkers. For nonreactive system, the MO EXP model potential surface was used with modified equilibrium distance to control the curvature. The results showed that there is no relation between the curvature and the dynamic threshold. In order to study the reactive system, a generalization of the boundary trajectory method was achieved to apply on the nonsymmetric system. We have found no correspondence between the curvature and the dynamic threshold of the system. It was also shown that the fate of the trajectories strongly depends on the shape of potential surface around the turning points along the symmetric stretch line.

• 한국콘텐츠학회논문지
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• 제19권4호
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• pp.368-380
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• 2019

본 연구는 자동노출제어장치 사용 시 관전압과 감도 변화에 따른 dynamic step wedge와 히스토그램의 동적 범위 분석을 통해 검출기의 성능을 평가하는 방법을 제안하고자 하였다. 실험방법은 관전압 60, 70, 81, 90 kVp 별로 검출기 감도 S200, S400, S800, S1000에 해당하는 선질, 입사표면선량, 관전류량, 동적범위를 측정하여 검출기의 성능을 평가하고자 하였다. 그 결과 선질은 모두 합격 기준에 부합하였고, 입사표면선량과 관전류량은 감도가 높게 설정될수록 단계적으로 감소하였다. Dynamic step wedge는 관전압이 높아질수록 관찰 가능한 동적 범위도 함께 증가하였고, 또한 히스토그램은 관전압과 감도가 높게 설정될수록 양자화 이격 현상과 히스토그램 양단의 정보량이 상실되는 언더플로우와 오버플로우가 나타났다. 결론적으로 검출기가 성능 저하로 인하여 자동노출제어장치 사용 시 관전압과 감도 변화에 따른 동적 범위를 제대로 구현해내지 못한다는 것을 알 수 있었고, 검출기 성능평가 시 dynamic step wedge와 히스토그램을 통한 평가가 유용하다는 점을 알 수 있었다.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• 대한물리의학회지
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• 제11권1호
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• pp.1-9
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• 2016

PURPOSE: This study compared the effectiveness of trunk control exercise performed on an unstable surface with that of general balance exercise on dynamic balance in the patients with chronic stroke. METHODS: The persons of this study were thirty-seven chronic stroke patients were recruited and randomly divided into 2 groups; (1) those who performed trunk control exercise on a foam roll and (2) those who performed general balance exercise. The exercises were performed 5 times a week for 4 weeks. To determine the effectiveness of the 2 types of exercises, we measured dynamic balance at the beginning of the exercises and again after 4 weeks at the completion of exercises program. RESULTS: After 4 weeks of exercise, both the groups showed increased Berg's balance scale and timed-up-and-go test (p<.001) scores. However, Trunk control exercise group was more effective than general balance exercise group was in increasing the Berg's balance scale (p<.01) and timed-up-and-go test (p<.05) scores. CONCLUSION: We suggest that trunk control exercise may be effective in increasing the balance ability of patients with chronic stroke than general balance exercise. Thus, trunk control exercise is important for such patients. Further studies are needed for better understanding of the effectiveness of trunk control exercise in chronic stroke patients.

• 한국가시화정보학회지
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• 제22권2호
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• pp.82-89
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• 2024

In this study, experiments were conducted to visualize and analyze the dynamic characteristics of splash and residual liquid film formation during and after the injection of water droplets onto vertically situated solid substrates with varying surface wettability, elasticity, and microtexture. As wettability decreased (higher contact angle), more splash droplets formed, and the residual liquid film decreased. Low contact angles resulted in thin residual films and less splash. Surface elasticity absorbed the impact forces of droplets, thereby decreasing splash phenomena and significantly reducing the formation of residual liquid films due to surface vibration. Surfaces with microtextures demonstrated control over droplet splash direction, guiding the liquid along desired pathways. High-speed imaging provided detailed insights, showing that surface properties critically influence splash dynamics and residual liquid film formation.

• International Journal of Aeronautical and Space Sciences
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• 제12권3호
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• pp.241-251
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• 2011

Most large commercial aircrafts and high performance military aircrafts use fly-by-wire (FBW) or fly-by-light systems to improve their controllability, comfort, and safety. A flight envelope protection technique is used with flight control systems utilizing the FBW technique. Such flight envelope protection systems prevent these aircraft from exceeding the structural/aerodynamic limits and control their surface limits. This is accomplished by predicting the values of the future state variables and adaptively compensating the control action. In this study, the conventional dynamic trim algorithm of the flight envelope protection is modified to increase the method accuracy and to handle cases with multiple variables. Numerical simulation is also performed to verify the performance of the proposed method.