• 대한기계학회논문집A
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• 제35권3호
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• pp.299-308
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• 2011

본 논문은 항만공사용 로봇의 실린더 길이 측정을 위한 압력 옵서버 개발이다. 로봇의 유압 실린더 제어를 위해 변위 센서가 필요하며 일반적으로 LVDT, 리니어 스케일 등이 사용된다. 이러한 센서는 실린더 외부몸통에 장착되므로 건설현장과 같은 열악한 환경에서 사용할 경우 내구성이 좋지 못하다. 본 논문에서는 압력센서를 이용하여 간접적으로 실린더 길이를 측정한다. 압력센서는 유압 밸브박스 내부에 장착되어 외부충격으로부터 보호되며 방수가 용이하다. 오일을 압축성 매개체로 간주하여 실린더의 위치와 속도 함수인 동적압력 방정식을 유도하고 RLS를 이용하여 실린더가 전진, 후진 리미트에 도달할 때마다 파라미터를 갱신한다.

• Journal of Cardiovascular Imaging
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• 제31권3호
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• pp.135-141
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• 2023

BACKGROUND: Global longitudinal strain (GLS) is an accurate and reproducible parameter of left ventricular (LV) systolic function which has shown meaningful prognostic value. Fast, user-friendly, and accurate tools are required for its widespread implementation. We aim to compare a novel web-based tool with two established algorithms for strain analysis and test its reproducibility. METHODS: Thirty echocardiographic datasets with focused LV acquisitions were analyzed using three different semi-automated endocardial GLS algorithms by two readers. Analyses were repeated by one reader for the purpose of intra-observer variability. CAAS Qardia (Pie Medical Imaging) was compared with 2DCPA and AutoLV (TomTec). RESULTS: Mean GLS values were -15.0 ± 3.5% from Qardia, -15.3 ± 4.0% from 2DCPA, and -15.2 ± 3.8% from AutoLV. Mean GLS between Qardia and 2DCPA were not statistically different (p = 0.359), with a bias of -0.3%, limits of agreement (LOA) of 3.7%, and an intraclass correlation coefficient (ICC) of 0.88. Mean GLS between Qardia and AutoLV were not statistically different (p = 0.637), with a bias of -0.2%, LOA of 3.4%, and an ICC of 0.89. The coefficient of variation (CV) for intra-observer variability was 4.4% for Qardia, 8.4% 2DCPA, and 7.7% AutoLV. The CV for inter-observer variability was 4.5%, 8.1%, and 8.0%, respectively. CONCLUSIONS: In echocardiographic datasets of good image quality analyzed at an independent core laboratory using a standardized annotation method, a novel web-based tool for GLS analysis showed consistent results when compared with two algorithms of an established platform. Moreover, inter- and intra-observer reproducibility results were excellent.

• 한국국방경영분석학회지
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• 제6권2호
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• pp.129-149
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• 1980

In medical follow-up, equipment lifetesting, various military situations, and other fields, one often desires to calculate survival probability as a function of time, p(t). If the observer is able to record the time of occurrence of the event of interest (called a 'death'), then an empirical, non-parametric estimate may simply by obtained from the fraction of survivors after various elapsed times. The estimation is more complicated when the data are truncated, i.e., when the observer loses track of some individuals before death occurs. The product-limit method of Kaplan and Meier is one way of estimating p(t) when the mechanism causing truncation is independent of the mechanism causing death. This paper proposes jackknife estimators of logistic trans-formation and compares it to the product-limit method. A computer simulation is used to generate the times of death and truncation from a variety of assumed distributions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.109-112
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• 1997

In this note, we investigate a noniterative design method of an observer-based robust H$\_$2/ controller in the presence of structured real parameter uncertainty by applying Riccati approach based on the guaranteed cost function. Motivated by the numerical difficulty of the problem, we try to develop a simple design method named as block-diagonal approach, which can be solved by the LMIs method. By assuming the block-diagonal structure of Riccati solution, the original problem can be derived into two sequentially decoupled optimization problems as LQG control problem. The proposed method seems to be numerically efficient in obtaining a feasible compensator.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.443-447
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• 2001

In this paper, a robust sensorless vector control system for induction motors with a speed estimator and an uncertainty observer is presented. At first, the proposed speed estimator is based on the MRAS(Mode Reference Adaptive System) scheme and constructed with a simple fuzzy logic(FL) approach. The structure of the proposed FL estimator is very simple. The input of the FL is the rotor flux error difference between reference and adjustable model, and the output is the estimated incremental rotor speed Secondly, the unmodeled uncertainties such as parametric uncertainties and external load disturbances are modeled by a radial basis function network(RBFN). In the overal speed control system, the control inputs are composed with a norminal control input and a compensated control input, which are from RBFN observer output and the modeling error of the RBFN, repectively. The compensated control input is derived from Lyapunov unction approach. The simulation results are presented to show the validity of the proposed system.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2504-2510
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• 2018

Actuator failures and the failures of controlled objects are often considered together. To overcome this limitation, a class of sliding mode observers for the fault diagnosis of nonlinear systems is designed in this paper. Due to the influence of the sliding mode function, the control strategy and the residual change of the observer exhibit certain trends governed by specific relations. Therefore, according to the changes in the control strategy and the observer residuals, the sensor and actuator faults in nonlinear systems can be determined. Finally, the effectiveness of the proposed method is verified based on simulations of a DC motor system.

• 조명전기설비학회논문지
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• 제25권1호
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• pp.78-84
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• 2011

Using sensors to detect current or voltage of motors is disadvantaged because motor is exposed to vibration, impacts, corrosion, high temperature and humidity in the machinery structure like HEV. In the case of IPMSM, position information is included not only in the flux or EMF term but also in the rotator inductance because of its saliency. To solve this problem, a new mathematical model of IPMSMs on fixed frame is proposed and an extended EMF includiing rotating position information is defined to estimate extended EMF. A strong low-pass filter through the variable cut-off frequency using velocity function was proposed. This makes it is possible to estimate extended EMF by least order disturbance observer. The proposed method was proved through the experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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• pp.1120-1122
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• 2001

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using disturbance observer. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.239-242
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• 1998

Most of time delay existing in industrial processes can be modeled as an input time-delay which causes a lot of difficulties. To implement a time-delay free control, loop transfer function is recovered through the direct state feedback. For the proper state feedback, and observer is designed based upon the factorization approach which is known as one of the most powerful tool for the design of various control systems. The design scheme is parctically applied for the control of a DC motro which suffers from input time-delay. Simulational results demonstrate that this new algorithm guarantess the stability of the time-delayed system, as well as performance improvement compared to the conventional PI control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 춘계학술대회 논문집 전기설비전문위원
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• pp.77-79
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• 2009

Nonlinear system fault detection and isolation of this paper is about the failure of unknown function approximation using neural network for fault detection and isolation techniques of induction motors were applied. observer-based fault signal residual value was used. Induction motor using the speed controller of the backstepping controller. Proposed fault detection and isolation to prove the performance of the simulation was applied to and the actual system.