• 센서학회지
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• 제28권4호
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• pp.216-220
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• 2019

In this paper, we propose a finite memory filter (estimator) for discrete-time stochastic linear systems with delays in state and measurement. A novel filtering algorithm is designed based on finite memory strategies, to achieve high estimation accuracy and stability under parametric uncertainties. The new finite memory filter uses a set of recent observations with appropriately chosen initial horizon conditions. The key contribution is the derivation of Lyapunov-like equations for finite memory mean and covariance of system state with an arbitrary number of time delays. A numerical example demonstrates that the proposed algorithm is more robust and accurate than the Kalman filter against dynamic model uncertainties.

• Journal of international Conference on Electrical Machines and Systems
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• 제1권4호
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• pp.509-516
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• 2012

This paper describes the testing and experimental characterization of a linear permanent magnet actuator, which is designed and developed for active vehicle suspension, under both static and dynamic conditions. Since the active suspension unit operates over a wide force-velocity range with varying duty ratios, it is essential to establish an effective thermal model which can be used for assessing temperature rise of the actuator under various operating conditions. The temperature rise of the actuator is measured and the results are compared with the prediction by the derived transient thermal model. It is shown that the measured actuator parameters and characteristics are closed to their predicted values. The linear actuator is controlled by a dSPACE system via a three phase inverter and its velocity tracking performance is presented.

• 전자공학회논문지SC
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• 제43권5호
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• pp.10-18
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• 2006

본 논문에서는 다중 로봇 시스템에서 물체와 로봇 팔끝 간에 접촉 마찰이 존재할 때 이 로봇 시스템의 조작도를 해석하는 새로운 방법을 제안한다. 로봇이 물체를 떨어뜨리지 않고 잡고 있으려면, 로봇이 물체에 가하는 힘 벡터가 friction cone 내부에 존재 해야만 한다. 이러한 friction cone 내부를 나타내는 식은 일반적으로 비선형 형태로 되어 있기 때문에 기존의 조작도 분석 방법에 이 식을 구속 조건으로 적용하기가 쉽지 않다. 따라서 본 논문에서는 이러한 friction cone 내부를 다각뿔로 근사함으로써 선형적인 구속 조건으로 표현하였다. 또한 선행 연구에서 찾지 못했던 부분을 새롭게 찾아내었다. 그리고 다중 로봇 시스템에 조작도를 나타내는 물체 중심의 가속도를 구하기 위해서, 먼저 선형계획법을 통해서 허용 가능한 토크의 영역을 구하였다. 이 토크의 영역을 선형 변환을 통해 최종적으로 물체의 최대 가속도의 영역을 구하였다. 본 방법의 타당성을 입증하기 위해서 두 대로 구성 된 다중 로봇 시스템과 PUMA560 로봇 시스템에 적용하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권2호
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• pp.731-763
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• 2017

In Underwater Linear Sensor Networks (UW-LSN) routing process, nodes without proper address make it difficult to determine relative sensor details specially the position of the node. In addition, it effects to determine the exact leakage position with minimized delay for long range underwater pipeline monitoring. Several studies have been made to overcome the mentioned issues. However, little attention has been given to minimize communication delay using dynamic addressing schemes. This paper presents the novel solution called Hop-by-Hop Dynamic Addressing based Routing Protocol for Pipeline Monitoring (H2-DARP-PM) to deal with nodes addressing and communication delay. H2-DARP-PM assigns a dynamic hop address to every participating node in an efficient manner. Dynamic addressing mechanism employed by H2-DARP-PM differentiates the heterogeneous types of sensor nodes thereby helping to control the traffic flows between the nodes. The proposed dynamic addressing mechanism provides support in the selection of an appropriate next hop neighbour. Simulation results and analytical model illustrate that H2-DARP-PM addressing support distribution of topology into different ranges of heterogeneous sensors and sinks to mitigate the higher delay issue. One of the distinguishing characteristics of H2-DARP-PM has the capability to operate with a fewer number of sensor nodes deployed for long-range underwater pipeline monitoring.

• Smart Structures and Systems
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• 제18권6호
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• pp.1169-1188
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• 2016

Real-time substructuring techniques are currently an advanced experimental method for testing large size specimens in the laboratory. In dynamic substructuring, the whole tested system is split into two linked parts, the part of particular interest or nonlinearity, which is tested physically, and the remanding part which is tested numerically. To achieve near-perfect synchronization of the interface response between the physical specimen and the numerical model, a good controller is needed to compensate for transfer system dynamics, nonlinearities, uncertainties and time-varying parameters within the physical substructures. This paper presents the substructuring approach and control performance of the linear and the adaptive controllers for testing the dynamic characteristics of soil-structure-interaction system (SSI). This is difficult to emulate as an entire system in the laboratory because of the size and power supply limitations of the experimental facilities. A modified linear substructuring controller (MLSC) is proposed to replace the linear substructuring controller (LSC).The MLSC doesn't require the accurate mathematical model of the physical structure that is required by the LSC. The effects of parameter identification errors of physical structure and the shaking table on the control performance of the MLSC are analysed. An adaptive controller was designed to compensate for the errors from the simplification of the physical model in the MLSC, and from parameter identification errors. Comparative simulation and experimental tests were then performed to evaluate the performance of the MLSC and the adaptive controller.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.1-6
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• 2010

Direct Drive Valves (DDV) with electric closed loop spool position control are suitable for electrohydraulic position, velocity, pressure or force control systems including those with high dynamic response requirements. The spool drive device is a permanent magnet linear force motor which can actively stroke the spool from its spring centered position in both directions. This basic study is carried out to drive the design parameters for developing a domestic DDV. The static and dynamic characteristics of DDV are examined. The simulation results are compared with data of manufacture's catalog to show the validity of the modelling.

• 한국해양공학회지
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• 제12권3호통권29호
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• pp.19-30
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• 1998

In this paper, the dynamic analysis of a dolphin system for mooring a floating structure such as barge mounted plant is studied. The characteristics of the soil-pile system are simplified by a set of equivalent spring elements at the mudline. To evaluate the equivalent spring constants, the finite difference method is used. Since the characteristics of the soil-pile system are nonlinear in case of soft foundation, the nonlinear dynamic analysis technique is needed. The Newmark $beta$ method incorporating the modified Newton-Raphson method(initial stiffness method) is used. A numerical analysis is performed on two mooring dolphin systems on soft foundation and rock foundation. In case of the rock foundation, the characteristics are found to be nearly linear, so the linear dynamic analysis may be sufficient to consider the foundation effect. But in case of soft foundation, the non-linearity of the foundation appears to be very signigicant, so the nonlinear dynamic analysis si needed.

• 전기학회논문지
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• 제59권3호
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• pp.630-635
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• 2010

In this paper, a new discrete static output feedback variable structure controller based on a new dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed dynamic-type sliding surface. The output feedback discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined dynamic-type sliding surface for guaranteeing the designed output in the dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• Journal of Electrical Engineering and Technology
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• 제3권3호
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• pp.320-330
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• 2008

This paper presents an improved dynamic programming (IDP) approach to solve the economic power dispatch problem including transmission losses in power systems. A detailed mathematical derivation of recursive dynamic programming approach for the economic power dispatch problem with transmission losses is presented. The transmission losses are augmented with the objective function using price factor. The generalized expression for optimal scheduling of thermal generating units derived in this article can be implemented for the solution of the economic power dispatch problem of a large-scale system. Six-unit, fifteen-unit, and forty-unit sample systems with non-linear characteristics of the generator, such as ramp-rate limits and prohibited operating zones are considered to illustrate the effectiveness of the proposed method. The proposed method results have been compared with the results of genetic algorithm and particle swarm optimization methods reported in the literature. Test results show that the proposed IDP approach can obtain a higher quality solution with better performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.309-309
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• 2000

The main objective of this study is to understand the regeneration step of the PTSA(Pressure and thermal swing adsorption) process below the atmospheric pressure by rigorous dynamic simulation. This target process is to recover toluene using activated carbon as an adsorbent. To do this, the dynamic simulations for the regeneration step are performed at 360, 490, 590mmHg and at high temperature after the simulation of the adsorption step at latm and 298K. A mathematical model was developed to simulate the column dynamics of the adsorption systems. This model is based on non-equilibrium, non-isothermal and non-adiabatic conditions, and axial dispersion and heat conduction are also considered. Heat transfer resistances are considered in gas-solid, gas-column wall and column wall-outside air. The LDF(Linear Driving Force) approximation model describes the mass transfer rate between the gas and solid phase. This study shows that the recovery of toluene by PTSA is more preferable than that by general TSA.