• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.1
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• pp.215-215
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• 2004

This paper describes a fault detection and fault handling algorithm to be used in a longitudinal vehicle cruise control systems. The fault diagnosis system consists of two structures to generate proper residuals and to find that which component has a fault. A systematic design of the fault diagnosis system using model-based techniques is presented. A linear observer is used to create a set of signals sensitive to faults in a radar sensor. The fault handling system consists of two structures to compensate for faults and degraded system performance. Simulation results show that the algorithm is effective for a fault diagnosis and handling in a longitudinal vehicle cruise control system.

• Journal of Power Electronics
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• v.15 no.2
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• pp.431-442
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• 2015

Dead-time element must be set into space vector pulsed width modulation signals to avoid short circuits of the inverter. However, the dead-time element distorts the output voltage vector, which deteriorates the performance of electrical machine drive system. In this paper, dead-time effect and its compensation control strategy are analyzed. Based on the analysis, the voltage distortion caused by dead-time is regarded as two disturbances imposed on dq axes in the rotor reference frame, which degenerates the current tracking performance. To inhibit the adverse effect caused by the dead-time, a control scheme using two linear extended state observers is proposed. This method provides a strong ability to suppress dead-time effects. Simulations and experiments are conducted on a permanent magnet synchronous motor drive system to demonstrate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.8-13
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• 1998

A tracking controller is presented for RLFJ(rigid link flexible joint) robot manipulators with only position measurements. The controller is developed based on the integrator backstepping design method and on the two observers: the first is simple linear form observer for the filtered link velocity errors and the other for the actuator velocities. The proposed controller achieves exponential tracking of link positions and velocities while keeping all internal signals bounded. It also guarantees exponential convergence of the estimated signals to their actual ones. Finally, simulation results are included to demonstrate the tracking performance.

• Steel and Composite Structures
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• v.46 no.1
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• pp.107-114
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• 2023

A new intelligent adaptive control scheme was proposed that combines observer disturbance-based adaptive control and fuzzy adaptive control for a composite structure with a mass-adjustable damper. The most important advantage is that the control structures do not need to know the uncertainty limits and the interference effect is eliminated. Three adjustable parameters in LMI are used to control the gain of the 2D fuzzy control. Binary performance indices with weighted matrices are constructed to separately evaluate validation and training performance using the revalidation learning function. Determining the appropriate weight matrix balances control and learning efficiency and prevents large gains in control. It is proved that the stability of the control system can be ensured by a linear matrix theory of equality based on Lyapunov's theory. Simulation results show that the multilevel simulation approach combines accuracy with high computational efficiency. The M-TMD system, by slightly reducing critical joint load amplitudes, can significantly improve the overall response of an uncontrolled structure.

• Journal of Drive and Control
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• v.14 no.2
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.23 no.2
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• pp.277-285
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• 1993

This study was performed to evaluate the role of Waters' view and panoramic view for the interpretation of mucosal cyst of the maxillary sinus and to determine the radiographic features of that according to the sites and sizes. For this study, clinically 25 cases of mucosal cyst of the maxillary sinus were used, and experimentally with two dry skulls, rubber ball of 15mm in diameter for marked radiopacity, and two jelly balls of 8 and 20㎜ in diameter for the similar radiopacity to cyst were used. The 25 cases with 25 panoramic views and 15 Waters' views were first analyzed, and secondly, the radiographic features of artificial lesions attached to the each wall of the antrum on Waters' view and panoramic view were analyzed. The obtained results were as follows: At clinical analysis, 1. 4 cases of 13-14㎜, 4 cases of 15-19mm, 14 cases of 20-25㎜, 3 cases of over 30㎜ in dia- meter were found on panoramic views. And 24 cases of 25 cases showed no relationship with teeth, and only 1 case was associated with advanced periodontal disease 2. The majority of mucosal cysts appeared to arise the posterior portion of the floor of the sinus and were superimposed with the inominate line of zygoma and the horizontally linear image of hard palate on panoramic view. 3. Only 2 cases of 15 cases were identified on both films. At experimental analysis, 4. On Waters' view, the images of the artificial lesion of the anterior portion and midportion of the floor of the sinus were lessend in diameter compared with the real size. On panoramic views, the images of the lesion were more radiolucent with lessened diameter than images on Water' view. 5. The images of the lesion of the posterior wall and the posterior portion of the floor of sinus on panoramic view were well detected by the preeducated group but not or poorly detected by the non-preeducated observer group. 6. On Waters' view, both observer groups recognized that the cystic images of the posterior portion of the floor of the maxillary sinus were superimposed with the petrous portion of the skull.

• The Transactions of the Korean Institute of Power Electronics
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• v.16 no.6
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• pp.594-601
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• 2011

In this paper, a new current controller with the compensation of an unbalance and distorted grid voltages has been proposed. Generally, in the three-phase power system, single phase or nonlinear loads can be connected with the 3 phase linear load simultaneously on the same point of common coupling. Therefore, The source voltage unbalance and distortion problem can be occurred. Under these unbalance and distorted grid voltage conditions, the input current of 3 phase PWM rectifiers also have unbalance and distortion. In this paper, a current controller with the simple Model Reference Adaptive System based unbalance and distorted voltages observer is proposed to get a sinusoidal input current. The performance of the proposed algorithm is verified through the simulation and the experiment.

• The Journal of Korean Society for Radiation Therapy
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• v.16 no.2
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• pp.33-41
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• 2004

Purpose : Film has been the primary tool in coincidence testing between the light field and the radiation field, which constitutes the quality assurance list of a linear accelerator. But there is a great chance of errors being different among the observer when using film. Thus this study set out to use the BIS(Beam Image System) in addition to film in comparing and evaluating coincidence results between the two fields and in searching for the improvement measures. Materials & Methods : Photon beam of 6 and 15MV was exposed to film and the BIS using a linear accelerator. The light and radiation fields were each $50{\times}50,\;100{\times}100,\;and\;200{\times}200mm^2$. The gantry angle was $0^{\circ}$ when using film and $0^{\circ}\;and\;270^{\circ}$ when using the BIS. The devices adopted to test coincidence between the two fields were a ruler and film scanner when using film. With the BIS, the width of the scanned light and radiation fields was measured for errors with setting the X and Y axis. Results : The visual measurements of the observer with film resulted that the radiation field was bigger than the light field and that their maximum error was 1.9mm. The results were the same with the measurements using the film scanner except for the average error, which was less than 1.9mm. On the contrary, the measurements using the BIS showed that the light field was bigger than the radiation field at the gantry angle of $0^{\circ}\;and\;270^{\circ}$. The maximum error was 0.96mm, and the error range was $<{\pm}2mm$ both in the X and Y axis. The average error of ${\Delta}X$, Y was the smallest in the order of the visual film measurements, film scanner measurements, and BIS measurements Conclusion . This requires a careful measurement for accurate quality assurance since errors are much different according to each observer that tests coincidence between visual fields with film. And an observer needs to use another image device or develop a measuring device of his own if it seems necessary for accurate measurements.

• Journal of The Korean Astronomical Society
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• v.40 no.1
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• pp.1-7
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• 2007

About 10 percent of quasars are known to exhibit deep broad absorption troughs blueward of prominent permitted emission lines, which are usually attributed to the existence of outflows slightly above he accretion disk around the supermassive black hole. Typical widths up to 0.2c of these absorption roughs indicate the velocity scales in which special relativistic effects may not be negligible. Under he assumption of the ubiquity of the broad absorption line region in quasars, the broad emission line flux will exhibit Thomson scattered components from these fast outflows. In this paper, we provide our Monte Carlo calculation of linear polarization of singly Thomson scattered line radiation with the careful considerations of special relativistic effects. The scattering region is approximated by a collection of rings that are moving outward with speeds ${\upsilon}=c{\beta}<0.2c$ near the equatorial plane, and the scattered line photons are collected according to its direction and wavelength in the observer's rest frame. We find that the significantly extended red tail appears in the scattered radiation. We also find that the linear degree of polarization of singly Thomson scattered line radiation is wavelength-dependent and hat there are significant differences in the linear degree of polarization from that computed from classical physics in the far red tail. We propose that the semi-forbidden broad emission line C III]1909 may be significantly contributed from Thomson scattering because this line has small resonance scattering optical depth in the broad absorption line region, which leads to distinct and significant polarized flux in this broad emission line.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.