• Journal of the Korean Society for Precision Engineering
• /
• v.33 no.8
• /
• pp.647-654
• /
• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.131-134
• /
• 1995

We developed a visual system that is able to track the moving objects within a certain range of errors. The visual system is driven by two DC servo motors that are controlled by a computer based on the visual data obtained from a CCD video camera. The software to track the moving objects is developed based on the PWM of the DC motors. Also, the problems how to implement a fuzzy logic control method and a neural network in this system, are also considered in order to check the control performance of tracking. The fuzzy logic algorithm is a powerful control technique for nonlinear dynamical system and also the neural network could be implemented in this system. In this paper, we present configuration of tracking system developed in our laboratory, the control methods of the visual system and the experimental results are shown.

• Proceedings of the KIEE Conference
• /
• 2001.07d
• /
• pp.2099-2101
• /
• 2001

In general, the thermal control system has nonlinearity and the time delay, futhermore, it is difficult to design the free size controller, because the external environmental disturbances, such as rapid temperature change. Many researchers in this field are preferring to adapt the fuzzy logic control methods. But it is noted that the actuator identification of M.F.'s used in FLC is very difficult. Therefore in this paper, an implementation technique of thermal control system using RVEGA based optimal fuzzy control was proposed. It's superiority and exaction in controller design processes hardware in implementation were proved through a series of simulations and experimentations.

• Ocean Systems Engineering
• /
• v.5 no.3
• /
• pp.199-220
• /
• 2015

The paper described the nonlinear dynamic motion behavior of a barge equipped with the portable outboard Dynamic Positioning(DP) control system in short-crested waves. The DP system based on the fuzzy theory is applied to control the thrusters to optimally adjust the ship position and heading in waves. In addition to the short-crested waves, the current, wind and nonlinear drifting force are also included in the calculations. The time domain simulations for the six degrees of freedom motions of the barge with the DP system are solved by the $4^{th}$ order Runge-Kutta method. The results show that the position and heading deviations are limited within acceptable ranges based on the present control method. When the dynamic positioning missions are needed, the technique of the alternative portable DP system developed here can serve as a practical tool to assist those ships without equipping with the DP facility.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1278-1282
• /
• 2003

A new interacting multiple model (IMM) method using intelligent input estimation (IIE) is proposed to track a maneuvering target. In the proposed method, the acceleration level for each sub-model is determined by IIE-the estimation of the unknown acceleration input by a fuzzy system using the relation between maneuvering filter residual and non-maneuvering one. The genetic algorithm (GA) is utilized to optimize a fuzzy system for a sub-model within a fixed range of acceleration input. Then, multiple models are composed of these fuzzy systems, which are optimized for different ranges of acceleration input. In computer simulation for an incoming ballistic missile, the tracking performance of the proposed method is compared with those of the input estimation (IE) technique and the adaptive interacting multiple model (AIMM) method.

• Journal of IKEEE
• /
• v.4 no.2 s.7
• /
• pp.233-240
• /
• 2000

This paper presents fuzzy clustering and wavelet transform analysis based technique for the industrial hourly load forecasting fur the purpose of peak demand control. Firstly, one year of historical load data were sorted and clustered into several groups using fuzzy clustering and then wavelet transform is adopted using the Biorthogonal mother wavelet in order to forecast the peak load of one hour ahead. The 5-level decomposition of the daily industrial load curve is implemented to consider the weather sensitive component of loads effectively. The wavelet coefficients associated with certain frequency and time localization is adjusted using the conventional multiple regression method and the components are reconstructed to predict the final loads through a five-scale synthesis technique. The outcome of the study clearly indicates that the proposed composite model of fuzzy clustering and wavelet transform approach can be used as an attractive and effective means for the industrial hourly peak load forecasting.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.4 no.1 s.12
• /
• pp.41-50
• /
• 2004

The objective of this study is to investigate the feasibility of the developed Fuzzy control techniques in dam operation. The simulated results for the 1984, 1990, and 1995 flood events are compared with historical operation results in the view of flood control and disaster prevention. The three models developed in this study determine the outflows based on the two conditions the first one is to consider only two inputs such as reservoir water level and inflow, for operation of the existing situations, the second one is that the possible maximum discharge from each dam does not exceed the allowable design maximum discharge for disaster prevention in downstream area. As the results, it was shown that the suggested models based on Fuzzy control technique could reduce both the peak water level and the maximum peak discharge compared with the historical operation results.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.17 no.12
• /
• pp.1475-1483
• /
• 1992

In this paper, a Fuzzy control approach of disturbance added servo system using MWT(modified windowing technique) was proposed. Because conventional windowing techniques adjust stepwisely a series of scale factors, even small disturbances make system unstable. But the proposed MWT adjusts exponentially. Therefore a servo system which applied this technique had coped excellenlty with internal and external disturbances, and also had decreased substantially steady-state deviation.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.2
• /
• pp.205-212
• /
• 1997

In this study, active vibration control for a flexible cantilever beam was performed by using the intelligent control technique. The intelligent control method which integrating the back propagation algorithm and the fuzzy inference technique was proposed and its performance was examined. The proposed control algorithm for the flexible cantilever beam was verified via computer simulation of active vibration control. Furthermore, the control system and its efficiency were investigated via experiments on active vibration control by the intelligent control technique without a digital signal processing device.

• International Journal of Reliability and Applications
• /
• v.12 no.2
• /
• pp.79-94
• /
• 2011

Redundancy-reliability allocation problems in multi-stage series-parallel systems are addressed in this study. Fuzzy programming techniques are proposed for finding satisfactory solutions. First, a multi-objective programming model is formulated for simultaneously maximizing system reliability and minimizing system total cost. Due to the nature of uncertainty in the problem, the fuzzy set theory and technique are used to convert the deterministic multi-objective programming model into a fuzzy nonlinear programming problem. A heuristic method is developed to get satisfactory solutions for the fuzzy nonlinear programming problem. A Pareto optimal solution is found with maximal degree of satisfaction from the interception area of fuzzy sets. A case study that is related to the electronic control unit installed on aircraft engine over-speed protection system is used to implement the developed approach. Results suggest that the developed fuzzy multi-objective programming model can effectively resolve the fuzzy and uncertain problem when design goals and constraints are not clearly confirmed at the initial conceptual design phase.