• Journal of Intelligence and Information Systems
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• v.3 no.1
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• pp.47-68
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• 1997

This paper discusses a method of modified Elman network(1990) for nonlinear predictions and its a, pp.ication to forecasting daily exchange rate returns. The method consists of two stages that take advantages of both time domain filter and modified feedback networks. The first stage straightforwardly employs the filtering technique to remove extreme noise. In the second stage neural networks are designed to take the feedback from both hidden-layer units and the deviation of outputs from target values during learning. This combined feedback can be exploited to transfer unconsidered information on errors into the network system and, consequently, would improve predictions. The method a, pp.ars to dominate linear ARMA models and standard dynamic neural networks in one-step-ahead forecasting exchange rate returns.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1559-1566
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• 2015

The brushless DC motor (BLDCM) has many advantages. As a result, it is widely used in electric vehicle (EV) drive systems. To improve the reliability of the motor control system, a position sensorless control strategy based on a sliding mode observer (SMO) is proposed. The global fast terminal sliding mode observer (GFTSMO) is proposed to enhance the control performance of the SMO control system. The advantages of the linear sliding mode and the nonsingular terminal sliding mode (NTSM) are combined in the control strategy. The convergence speed of the system state is enhanced. The motor commutation point is obtained with the observation of the back EMF, and the instantaneous torque value of the motor is calculated. Therefore, the position sensorless control of the BLDCM is realized. Experimental results show that the proposed control strategy can improve the convergence speed, dynamic characteristics and robustness of the system.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.113-122
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• 2014

The objective of the paper is to clarify a methodology based on the use of the existing component mode synthesis methods for the case of two damped substructures which are coupled through a linking viscoelastic flexible substructure and for which the structural modes with free geometrical interface are used for each main substructure. The proposed methodology corresponds to a convenient alternative to the direct use either of the Craig-Bampton method applied to the three substructures (using the fixed geometric interface modes) or of the flexibility residual approaches initiated by MacNeal (using the free geometric interface modes). In opposite to a geometrical interface which is a topological interface on which there is a direct linkage between the degrees of freedom of substructures, we consider a physical flexible interface which exists in certain present technologies and for which the general framework linear viscoelasticity is used and yields a frequency-dependent damping and stiffness matrices of the physical flexible interface.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.552-558
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• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.516-521
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• 1993

In order to hold a underwater vehicle at a depth, we can modulate buoyancy that acts on the underwater vehicle. In this research, by using a ballon, we was able to generate buoyancy that could control depth in which vehicle was operate. And in order to control flux of air that was flowed in balloon, we used solenoid valve, relief valve and so on. We derived differential equations of volume of balloon, pressure of inside of balloon, dynamic of underwater vehicle, and air flux for the simulation and linearized these differential equation. So we designed LQG/LTR controller, and applied the controller to nonlinear system. Through the simulation, we compares the nonlinear system with the linear system and investigated the operation of solenoid valve.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.148.2-148
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• 2001

The most important difference of an airship from conventional vehicle is that it has the apparent mass and inertia provided from the existence of Helium gas inside the airship. To acquire To acquire the exact response of the airship, the longitudinal responses of airship with respect to the vertical gust, which is the non-linear system, have been studied. An Airship has neutral buoyancy in equilibrium state. When it moves, its motion shows much difference comparing with conventional aircraft. Here, we compare two cases, the one has the apparent mass and the other hasn´t. With the apparent mass, the magnitude of the former response is smaller than the latter, while the frequency is higher. However, the apparent mass delay ...

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.143-148
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• 2003

In recent years, as the optical Communication systems are developed, the demands of essential parts such as splitter, coupler, WDM, and AWG filter are grow rapidly. The fabrication process for them is not, however, automatic. On that reason, the automation is needed for the grow of productivity. The optical alignment and attach ment is the core process in fabrication. In this paper, the 6-axis rotary stage for multi-channel optical alignment system is developed and the dynamic characteristic of this system is studied.

• Smart Structures and Systems
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• v.11 no.2
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• pp.135-161
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• 2013

This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.647-651
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• 1992

This paper presents a model-based control scheme for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the trajectory. Then a discrete-time PID regulator is designed based on the linearized dynamic model and Linear Quadratic(LQ) method, which generates the variational control that regulates perturbations in the vicinity of the desired trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.