• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.135-138
• /
• 1997

In this paper, Tuning method of the parameter P.I.D of the 2DOG-PID controller for having a required response to the disturbance and the setpoint is studied by the neural network. This algorithms is simulated in the level control of the steam generator and the flow control system, and resulting represents than the conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.339-342
• /
• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• 한국시뮬레이션학회논문지
• /
• 제11권2호
• /
• pp.45-53
• /
• 2002

The main idea behind the Intelligent Networks(IN) concept is the separation of switching functionality from the service control, in order to meet various service requirements of subscribers and development of new services in time. In (N+1) type Intelligent Network with FEP-BEP framwork, each SCP-BEP system maintains its own subscibers' database respectively. In this case, DB updating operations at each SCP-BEP should be peformed concurrently such that DB updating method could affect the overall system performance. Moreover, it is not easy to predict the current system capacity to satisfy the future IN subscribers' service needs. In this paper, we discuss how much DB updating method affects the performance trends of (N+1) type Intelligent Network with FEP-BEP system by means of the simulation technique as the number of calls increase. The average turnaround time is used as a system performance measure.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 F
• /
• pp.1984-1986
• /
• 1998

This paper presents an optimal efficiency control for the inverter fed induction machine system using neural network. The motor speed and the load torque vary the efficiency characteristics of an induction motor. The optimal slip frequency has nonlinearity varied by the load torque as well as the motor speed. The induction motor is driven using the inverter system and the indirect vector control method which input is slip frequency. The neural network for estimating the optimal slip frequency has two input layer(the motor speed and the load torque) and one output layer(the optimal slip frequency that minimize the input power). Learning algorithm of the neural network is the back-propagation. Using the equivalent circuit including the nonlinearity of the induction motor, the loss reduction is analyzed quantitatively. Experimental results are shown noticeable power savings by proposed scheme in high speed and light load conditions.

• 한국컴퓨터정보학회논문지
• /
• 제27권6호
• /
• pp.33-42
• /
• 2022

기존의 지능형 지휘통제체계 연구에서는 지휘관의 전장 상황 질문에 대한 분석 결과를 지식베이스 기반 상황 데이터에서 정보를 추출하여 제공해주고 있다. 하지만, 다양한 표현의 자연어가 사용된 정·첩보를 문맥에 맞게 분석하는 것이 상황 분석에 있어 중요해지면서 인공지능을 사용한 전장 상황 분석 연구가 진행되고 있다. 본 논문에서는 전장 상황 분석용 인공지능 개발에 필요한 데이터 셋을 제공하기 위해 전장 상황 모의 시나리오 기반 가설 데이터 셋 생성 방법을 제안한다. 가설 데이터 셋은 실제 전장 환경이 고려된 모의 시나리오에서 전장 지식요소를 식별하여 생성한다. 먼저 후보가설을 생성하면 자동으로 단위가설이 생성된다. 단위가설을 조합하여 유사 식별 가설 조합을 만들고, 연관된 후보가설을 그룹화하여 집합가설을 생성한다. 제안하는 방법으로 데이터 셋을 생성할 수 있음을 확인하기 위해 생성기 SW를 구현하였고, 생성기 SW로 가설 데이터 셋을 생성할 수 있음을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1706-1709
• /
• 2003

This paper demonstrates a unique method for measuring vehicle states such as body sideslip angle and tire sideslip angle using Global Positioning System(GPS) velocity information in conjunction with other sensors. A method for integrating Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The experimental results for the GPS velocity-based sideslip angle measurement. From the experimental results, it can be concluded that the proposed method has an advantage for future implementation in a vehicle safety system.

• 한국지능시스템학회논문지
• /
• 제11권7호
• /
• pp.621-627
• /
• 2001

In this paper, a novel and efficient global intelligent digital redesign technique for a Takagi-Sugeno (TS) fuzzy system is addressed. The proposed method should be notably discriminated from the previous works in that in allows us to globally match the states of the closed-loop TS fuzzy system with the pre-designed continuous-time fuzzy-model-based controller and those with the digitally redesigned fuzzy-model-based controller, and further to guarantee the stabilizability by the redesigned controller in the sense of Lyapunov. Sufficient conditions for the global state-matching and the stability of the digitally controller system are formulated in terns of linear matrix inequalities (LMIs). The Duffing-like chaotic oscillator is simulated and demonstrated, to validate the effectiveness of the proposed digital redesign technique, which implies the safe applicability to the digital control system.

• 제어로봇시스템학회논문지
• /
• 제18권3호
• /
• pp.181-187
• /
• 2012

Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury.

• 한국지능시스템학회:학술대회논문집
• /
• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
• /
• pp.233-236
• /
• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• 전기학회논문지
• /
• 제65권12호
• /
• pp.2046-2052
• /
• 2016

Ramp metering is one of the most efficient and widely used control methods for an intelligent transportation management system on a freeway. Its objective is to control and upgrade freeway traffic by regulating the number of vehicles entering the freeway entrance ramp, in such a way that not only the alleviation of the congestion but also the smoothing of the traffic flow around the desired density level can be achieved for the maintenance of the maximum mainline throughput. When the cycle of the signal detection is larger than that of the system process, the density tracking problem needs to be considered in the form of the discrete-time system. Therefore, a discrete-time sliding mode control method is proposed for the ramp metering problem in the presence of both input constraint in the on-ramp and exogenous disturbance in the off-ramp considering the random behavior of the driver. Simulations were performed using a validated second-order macroscopic traffic flow model in Matlab environment and the simulation results indicate that proposed control method can achieve better performance than previously well-known ALINEA strategy in the sense that mainstream flow throughput is maximized and congestion is alleviated even in the presence of input constraint and exogenous disturbance.