• 한국해양공학회지
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• 제17권6호
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• 융합신호처리학회논문지
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• 제9권4호
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• pp.280-287
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• 2008

간접접촉 심전도(IDC-ECG) 측정에 공통 모드 잡음을 줄이기 위해 오른발 구동(Driven-right-leg) 접지 방법을 적용하고 그 접지의 성능을 조사하였다. 최근에 소개된 간접접촉 심전도 측정 기술은 전극과 인체 피부간의 직접 접촉이 필요하지 않기 때문에, 최근에 필요성이 대두되고 있는 가정에서의 장기간 무구속 심전도 측정에 적합한 측정방법으로서 현재 다양한 응용이 연구되고 있다. 그렇지만 간접접촉 심전도는 전원선에 의한 60Hz 잡음이 기존 측정 방법보다 크게 발생하여, 응용 범위의 확대에 제약 조건이 되고 있다. 본 연구에서는, 기존의 심전도 측정 방법에 사용되는 오른발 구동 접지 방법을 간접접촉 심전도 측정 방법에도 적용하여, 공통모드 잡음 성분을 반전 증폭하여 의자 좌판(seat)에 깔린 전도성 직물을 통해 인체에 feedback하였다. 이로써 피부와 직접 접촉이 없는 간접 접촉 방식의 오른발 구동 접지를 구현하였으며, 이 접지가 안정적으로 동작되고, 오른발 구동 이득이 약 1000정도에서 40dB 수준의 전원 잡음 감소 됨을 확인할 수 있었다. 이 연구의 결과로 간접접촉 심전도의 주파수 대역을 기존의 30Hz이하에서 100Hz 수준까지 높일 수 있게 되었으며, 접지 임피던스를 높일 수 있게 되어 간접접촉 심전도의 응용 분야를 더욱 넓힐 수 있게 되었다.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.827-835
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• 1999

In this paper, a dead reckoning navigation system for differential drive mobile robots is presented. The navigation system consists of two incremental encoders and a gyroscope. We have built a third order polynomial function for compensating the nonlinear scale factor errors of the gyroscope. We utilize an indirect Kalman filter that feeds back estimated errors to the main navigation system. Also, the observability of the filter is analyzed in order to systematically evaluate the filter's performance. Experimental results show that the proposed navigation system provides a reliable position and heading angle by mutually compensating the encoder and the gyroscope errors. The proposed filter also reduces the computational burden and enhances the navigation system's reliability. The observability analysis confirms the characteristics of inevitably unbounded position error growth in dead reckoning navigation systems.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 I
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• pp.409-412
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• 2001

Identification of systems operating in closed loop has long been of prime interest in industrial applications. The fundamental problem with closed-loop data is the correlation between the unmeasurable noise and the input. This is the reason why several methods that work in open loop fail when applied to closed-loop data. The prediction error based approaches to the closed-loop system are divided to direct method and indirect method. Both of direct and indirect methods are known to be applied to the closed-loop data without critical modification. But the direct method induces the bias error in the experimental frequency response function and this bias error may deteriorates the parameter estimation performance

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.771-776
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• 1991

In this paper. an indirect adaptive controller for manipulator which is composed of two controller structure is considered. One is feedforward controller in which the dynamics equation solved and the other is feedback controller in which the output error compensated. This controller has a good performance, but the computation burden of the feed forward controller keep from real time control. At this point, we proposed the two time adaptive controller where the sampling time of the feedforward controller is quite longer than that of the feedback controller. By the computer simulation, this proposed two time adaptive controller shows good performance in the view of accuracy in spite of decreasing computational burden.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1496-1499
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• 1996

A nonlinear tracking control technique developed for the control of nonlinear systems has been applied to the autopilot design of missile system. The difficulties in the application of inversion based control methods such as input-output feedback linearization and sliding mode control due to nonminimum phase characteristics are discussed. To avoid the stability problem associated with unstable zero dynamics, the input-output feedback linearization is applied with output-redefinition method to normal acceleration control. The output-redefinition method gives an indirect way to apply the nonlinear controls to nonminimum phase plants by redefining the plant output such that the tracking control of the modified output ensures the asymptotic tracking of the original output. The numerical simulation shows satisfactory results both for nominal and for slightly perturbed missile systems adopting the sliding mode control technique. However, the robustness problem in this method is briefly investigated and verified with the simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.631-634
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• 1999

A new multiple-output dc-to-dc converter based on a switched capacitor circuit is proposed. The proposed converter offers multiple outputs that can be individually regulated by a direct output voltage feedback or indirect cross regulations. The performance of the new converter is demonstrated using a 10W experimental converter that delivers 5V/1A output and 3.3V/1A output from a 10∼15V input source.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.95.4-95
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• 2001

In this paper, we proposed and analyze an robust adaptive control scheme for uncertain nonlinear systems using Universal function approximators. The proposed scheme completely overcomes the singularity problem which occurs in the indirect adaptive feedback linearizing control. No projection in the estimated parameters and no switching in the control input are needed. The stability of the closed-loop systems is guaranteed in the Lyapunov standpoint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.633-638
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• 1988

In this paper, a zero-velocity update technique to improve navigation accuracy of a SDINS(Strapdown Inertial Navigation System) has been studied. An indirect feedback Kalman filter which includes SDINS error equations based on a quaternion between body-fixed frame and local level navigation frame is employed for processing zero-velocity updates in an on-board navigation filter. Simulation results for land-mobile vehicle show that the zerovelocity update technique make a significant contribution to improving SDINS performance without any external aids.

• Smart Structures and Systems
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• 제20권3호
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• pp.273-283
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• 2017

This paper presents and compares three feedback control strategies for active control of noise inside a 3-D vibro-acoustic cavity. These are a) control strategy based on direct output feedback (DOFB) b) control strategy based on linear quadratic regulator (LQR) to reduce structural vibrations and c) LQR control strategy with a weighting scheme based on structural-acoustic coupling coefficients. The first two strategies are indirect control strategies in which noise reduction is achieved through active vibration control (AVC), termed as AVC-DOFB and AVC-LQR respectively. The third direct strategy is based on active structural-acoustic control (ASAC). This strategy is an LQR based optimal control strategy in which the coupling between the various structural and the acoustic modes is used to design the controller. The strategy is termed as ASAC-LQR. A numerical model of a 3-D rectangular box cavity with a flexible plate (glued with piezoelectric patches) and with other five surfaces treated rigid is developed using finite element (FE) method. A single pair of collocated piezoelectric patches is used for sensing the vibrations and applying control forces on the structure. A comparison of frequency response function (FRF) of structural nodal acceleration, acoustic nodal pressure, and piezoelectric actuation voltage is carried out. It is found that the AVC-DOFB control strategy gives equal importance to all the modes. The AVC-LQR control strategy tries to consume the control effort to damp all the structural modes. It is seen that the ASAC-LQR control strategy utilizes the control effort more intelligently by adding higher damping to those structural modes that matter more for reducing the interior noise.