• Journal of Ocean Engineering and Technology
• /
• v.22 no.4
• /
• pp.14-19
• /
• 2008

This paper proposes a mixed $H_2/H_{\infty}$ optimal PID controller with a genetic algorithm based on the dynamic model of a brushless direct current (BLDC) motor and applies it to speed control. In the dynamic model of the BLDC motor with perturbation, the proposed controller guarantees arobust and optimal tracking performance to the desired speed of the BLDC motor. A genetic algorithm was used to obtain parameters for the PID controller that satisfy the mixed $H_2/H_{\infty}$ constraint. To implement the proposed controller, a control system based on PIC18F4431 was developed. Numerical and experimental results are shown to prove that the performance of the proposed controller was better than that of the optimal PID controller.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.7
• /
• pp.144-153
• /
• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.3
• /
• pp.1111-1130
• /
• 2016

Cooperative communications can significantly improve the wireless transmission performance with the help of relay nodes. In cooperative communication networks, relay selection and power allocation are two key issues. In this paper, we propose a relay selection and power allocation scheme RS-PA-PSACO (Relay Selection-Power Allocation-Particle Swarm Ant Colony Optimization) based on PSACO (Particle Swarm Ant Colony Optimization) algorithm. This scheme can effectively reduce the computational complexity and select the optimal relay nodes. As one of the swarm intelligence algorithms, PSACO which combined both PSO (Particle Swarm Optimization) and ACO (Ant Colony Optimization) algorithms is effective to solve non-linear optimization problems through a fast global search at a low cost. The proposed RS-PA-PSACO algorithm can simultaneously obtain the optimal solutions of relay selection and power allocation to minimize the SER (Symbol Error Rate) with a fixed total power constraint both in AF (Amplify and Forward) and DF (Decode and Forward) modes. Simulation results show that the proposed scheme improves the system performance significantly both in reliability and power efficiency at a low complexity.

• International Journal of Precision Engineering and Manufacturing
• /
• v.5 no.1
• /
• pp.27-35
• /
• 2004

In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

• Smart Structures and Systems
• /
• v.5 no.3
• /
• pp.241-260
• /
• 2009

Shape control of flexible structures using piezoelectric materials has attracted much attention due to its wide applications in controllable systems such as space and aeronautical engineering. The major work in the field is to find a best control voltage or an optimal placement of the piezoelectric actuators in order to actuate the structure shape as close as possible to the desired one. The current research focus on the investigation of static shape control of intelligent shells using spatially distributed piezoelectric curve beam actuators. The finite element formulation of the piezoelectric model is briefly described. The piezoelectric curve beam element is then integrated into a collocated host shell element by using nodal displacement constraint equations. The linear least square method (LLSM) is employed to get the optimum voltage distributions in the control system so that the desired structure shape can be well matched. Furthermore, to find the optimal placement of the piezoelectric curve beam actuators, a genetic algorithm (GA) is introduced in the computation model as well as the consideration of the different objective functions. Numerical results are given to demonstrate the validity of the theoretical model and numerical algorithm developed.

• Journal of Information Processing Systems
• /
• v.14 no.4
• /
• pp.807-823
• /
• 2018

Speaker verification system performance depends on the utterance of each speaker. To verify the speaker, important information has to be captured from the utterance. Nowadays under the constraints of limited data, speaker verification has become a challenging task. The testing and training data are in terms of few seconds in limited data. The feature vectors extracted from single frame size and rate (SFSR) analysis is not sufficient for training and testing speakers in speaker verification. This leads to poor speaker modeling during training and may not provide good decision during testing. The problem is to be resolved by increasing feature vectors of training and testing data to the same duration. For that we are using multiple frame size (MFS), multiple frame rate (MFR), and multiple frame size and rate (MFSR) analysis techniques for speaker verification under limited data condition. These analysis techniques relatively extract more feature vector during training and testing and develop improved modeling and testing for limited data. To demonstrate this we have used mel-frequency cepstral coefficients (MFCC) and linear prediction cepstral coefficients (LPCC) as feature. Gaussian mixture model (GMM) and GMM-universal background model (GMM-UBM) are used for modeling the speaker. The database used is NIST-2003. The experimental results indicate that, improved performance of MFS, MFR, and MFSR analysis radically better compared with SFSR analysis. The experimental results show that LPCC based MFSR analysis perform better compared to other analysis techniques and feature extraction techniques.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.11a
• /
• pp.764-767
• /
• 2005

This paper deals with the flexural-torsional free vibrations of circular strip foundations with a variable breadth. The breadth of strip foundation varies with the linear functional fashion, which is symmetric about the mid-arc. Differential equations governing free vibrations of such foundations are derived, in which Winkler foundation is considered as the model of elastic soils. Effects of the rotatory and torsional inertias and shear deformation are included in the governing equations. Differential equations are numerically solved to calculate the natural frequencies. In the numerical examples, the free-free end constraint is considered. Effects of the rotatory and torsional inertias and shear parameter on the natural frequencies are reported. Parametric studies between frequency parameters and various system parameters are investigated.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.5
• /
• pp.549-554
• /
• 2012

In this paper, we consider the optimal fuzzy filter of nonlinear discrete-time with estimation error variance constraint. First, the Takagi and Sugeno(T-S) fuzzy model is employed to approximate the nonlinear system. Next, the error state is mean square bounded, and the steady state variance of the estimation error of each state is not more than the individual predefined value. It is shown that, the addressed problem can be carried out by solving linear matrix inequality(LMI) and some algebraic quadratic matrix inequalities. Finally, some examples are provided to illustrate the design procedure and expected performance through simulations.

• Progress in Medical Physics
• /
• v.34 no.4
• /
• pp.48-54
• /
• 2023

Purpose: In this study, the dosimetric characteristics of lung stereotactic body radiotherapy (SBRT) plans using the new Halcyon system were analyzed to assess its suitability. Methods: We compared the key dosimetric parameters calculated for the Halcyon SBRT plans with those of a conventional C-arm linear accelerator (LINAC) equipped with a high-definition multileaf collimator (HD-MLC)-Trilogy Tx. A total of 10 patients with non-small-cell lung cancer were selected, and all SBRT plans were generated using the RapidArc technique. Results: Trilogy Tx exhibited significant superiority over Halcyon in terms of target dose coverage (conformity index, homogeneity index, D_{0.1 cc}, and D_95%) and dose spillage (gradient). Trilogy Tx was more efficient than Halcyon in the lung SBRT beam delivery process in terms of the total number of monitor units, modulation factor, and beam-on time. However, it was feasible to achieve a dose distribution that met SBRT plan requirements using Halcyon, with no significant differences in satisfying organs at risk dose constraints between both plans. Conclusions: Results confirm that Halcyon is a viable alternative for performing lung SBRT in the absence of a LINAC equipped with HD-MLC. However, extra consideration should be taken in determining whether to use Halcyon when the planning target volume setting is enormous, as in the case of significant tumor motions.

• Journal of Computational Design and Engineering
• /
• v.2 no.4
• /
• pp.218-232
• /
• 2015

Piecewise linear (G01-based) tool paths generated by CAM systems lack $G_1$ and $G_2$ continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical instability, lack of chord error constraint, and lack of assurance of a usable result. Progressive and Iterative Approximation for Least Squares (LSPIA) is an efficient method for data fitting that solves the numerical instability problem. However, it does not consider chord errors and needs more work to ensure ironclad results for commercial applications. In this paper, we use LSPIA method incorporating Energy term (ELSPIA) to avoid the numerical instability, and lower chord errors by using stretching energy term. We implement several algorithm improvements, including (1) an improved technique for initial control point determination over Dominant Point Method, (2) an algorithm that updates foot point parameters as needed, (3) analysis of the degrees of freedom of control points to insert new control points only when needed, (4) chord error refinement using a similar ELSPIA method with the above enhancements. The proposed approach can generate a shape-preserving B-spline curve. Experiments with data analysis and machining tests are presented for verification of quality and efficiency. Comparisons with other known solutions are included to evaluate the worthiness of the proposed solution.