• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.417-420
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• 1987

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

• The Journal of Korean Physical Therapy
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• 제22권6호
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• pp.59-63
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• 2010

Purpose: Driving a car is an essential component of daily life. For safe driving, each driver must perceive sensory information and respond rapidly and accurately. Brake response time (BRT) is a particularly important factor in the total stopping distance of a vehicle, and therefore is an important factor in traffic accident prevention research. The purpose of the current study was (1) to compare accelerometer. BRTs analyzed by three different methods and (2) to investigate possible correlations between accelerometer-BRTs and foot switch-BRTs, which are measured method using a foot switch. Methods: Eighteen healthy subjects participated in this study. BRT was measured with either a tri-axial accelerometer or a footswitch. BRT with a tri-axial accelerometer was analyzed using three methods: maximum acceleration time, geometrical center, and center of maximum and minimum acceleration values. Results: Both foot switch-BRTs and accelerometer-BRTs were delayed. ANOVA for accelerometer BRTs yielded significant main effects for axis and analysis, while the interaction effect between axis and analysis was not significant. Calculating the Pearson correlation between accelerometer-BRT and foot switch-BRT, we found that maximum acceleration time and center of maximum and minimum acceleration values were significantly correlated with foot switch-BRT (p<0.05). The X axis of the geometrical center was significantly correlated with foot switch-BRTs (p<0.05), but Y and Z axes were not (p>0.05). Conclusion: These findings suggest that the maximum acceleration time and the center of maximum and minimum acceleration value are significantly correlated with foot switch-BRTs.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1998년도 춘계학술대회 논문집
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• pp.415-418
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• 1998

The maleate copolyrner($C_{18}MA-VE_2$) is used as sensitive materials and deposited on the slide-glass substrates at room temperature using Langmuir-Blodgett(LB) method. The results of current-time(1-t) measurements are performed to investigate the gas-detection characteristics of the sensitive LB films in the presence of organic gases just as chloroform, acetone, ethanol, methanol using the apparatus for the gas-detection measurement. Several interesting responses are observed at room temperature, such as reversible response, sensitivity and response time. Response time and sensitivities are evaluated 160~220[sec], minimum 6[times], maximum 70[times] for each organic gas by adsorption and penetration of the organic gases in the relation concentration of 100[%], respectively.

• 한국정밀공학회지
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• 제25권10호
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• pp.137-143
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• 2008

The objective of this study was to characterize the role of synovial fluid and hyaluronan in the frictional response of bovine articular cartilage. Seven cylindrical cartilage specimens were harvested from three fresh bovine humoral heads (4-6 months old). Reciprocal sliding motion (1mm/s) was provided by a custom-made friction testing apparatus with a normal load of 22.3 N. From the measured time-dependent normal and frictional forces, the minimum and maximum frictional coefficients were calculated. Synovial fluid reduced the minimum frictional coefficient by ${\sim}75$ % and maximum frictional coefficient by ${\sim}11%$, while the reduction of the minimum and maximum frictional coefficients with hyaluronan was ${\sim}42%$ and ${\sim}24%$, respectively. To the best of our knowledge, this experimental study investigates the first such comparisons of frictional response of articular cartilage with and without synovial fluid and hyaluronan, and provides significant insights into their role in the articular cartilage friction and lubrication.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.71.2-71
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• 2001

This paper deals with nonlinear system modelling using neural network and genetic algorithm. Application of neural network to control and identification is actively studied because of their approximating ability of nonlinear function. It is important to design the neural network with optimal structure for minimum error and fast response time. Genetic algorithm is getting more popular nowadays because of their simplicity and robustness. In this paper, We optimize neural network structure using genetic algorithm. The genetic algorithm uses binary coding for neural network structure and search for optimal neural network structure of minimum error and response time. Through extensive simulation, Optimal neural network structure is shown to be effective for ...

• 한국멀티미디어학회논문지
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• 제9권11호
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• pp.1503-1514
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• 2006

오늘날 대부분의 고객들이 어디에서든지 인터넷을 사용할 수 있게 됨에 따라, 대부분의 기업들이 자신들의 서비스를 인터넷상에서 제출하게 되었다. 그 결과 무수히 많은 웹 서비스 시스템이 이미 인터넷상에서 서비스를 하고 있으며 더 많은 시스템들이 구축 중이다. 그래서 구축 중인 시스템이 교착상태와 같은 문제점이 없이 성공적으로 실행될 것이라는 것을 설계 초기 단계에 검증하는 방법에 대한 연구가 많이 수행되어 왔다. 페트리 넷을 이용하는 방법들도 몇 가지 소개되었는데, 이들은 웹 서비스 시스템을 페트리 넷으로 표현하는 방법에 주안점을 두고 있으며, 효율적인 분석 방법에 대한 연구는 부족한 실정이다. '최소 순회 시간' 방법은 '시간 넷'(Timed Net)에서 모든 트랜지션(transition)들을 최소한 한번 이상 격발하고 초기 마킹으로 되돌아오는데 걸리는 최소 시간을 찾아주는 수학적 방법으로, 컴퓨터 시스템 분석에 널리 사용된다. 시간 넷은 트랜지션에 지연 시간이 연합된 변형된 페트리 넷으로. 실세계에서의 지연시간은 확률적임에도 불구하고 기존의 시간 넷에서는 상수가 사용된다. 본 논문은 사건의 실행 시간이 화률 분포를 이루는 '혼합 분포 확률 시간 넷'을 제안하고 '혼합 분포 확률 시간 넷'의 최소 순회 시간 분석 방법을 소개한다. 또한 '혼합 분포 확률 시간 넷'의 최소순회시간 분석을 이용하여 웹 서비스 시스템의 응답 시간을 분석하는 방법을 보인다.

• 한국소음진동공학회논문집
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• 제22권9호
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• pp.861-869
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• 2012

This paper presents a high performance position controller in a driving system using a time optimal control which is widely used to control driving systems to a desired reference position or velocity in minimum response time. The main purpose of this study is an improvement of transient response performance rather than steady-state response comparing with another various control strategies. In order to improve the performance of time optimal control, we tried to find the cause of the steady-state error in the driving system we have already made up and also suggest the newly modified type of time optimal control method in this paper.

• 수산해양기술연구
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• 제28권1호
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• pp.39-44
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• 1992

Analog PID controllers have been designed to make good use of position control in industries. Recently, the importance of digital position control is emphasized for the requirements of controller which are not only to control the objects but to include various aspects such as easiness of design and implementation, simple exchange of control program and convenient communications of data between various controllers and a host computer. This study proposes a combined control method which is mixed the vaiable structure control (VSC) with the PI control for minimum time position control of DC servo motor by microcomputer. The results of test by this method show offset-free and minimum time optimal position control which is not affected by the disturbance and the system parameter variations. The validity of the proposed method comparing with the conventional PID control is proved by the response experiments.

• Journal of Power Electronics
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• 제12권5호
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• pp.769-777
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• 2012

In this paper, a new development in the time optimal control theory in sliding mode control systems for multi-quadrant buck converters with a variable load is presented. In general, the closed-loop time optimal control system is applied to multi-quadrant buck converters for output regulation, so that an optimal switching surface is obtained. Moreover, an adjusted optimal sliding mode controller is suggested which adjusts the controller parameters to give an optimal switching surface. In addition, a description of the transient response of the closed-loop system is proposed and used to damp any output or input disturbances in minimum time. Numerical simulations and experimental results are employed to demonstrate that the output regulation time and transient performances of dc/dc converters using the proposed technique are improved effectively when compared to the classical sliding mode control method.

• 전기학회논문지P
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• 제51권4호
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• pp.175-185
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• 2002

In this paper, a new fully digital current control method of UPS inverter, which is based on an internal model control, is proposed. In the proposed control system, overshoots and oscillations due to the computation time-delay are compensated by explicit incorporation of the time-delay in the current control loop transfer function. The internal model controller is adopted to a second order deadbeat reference-to-output response which means that its response reaches the reference in two sampling time including computational time-delays. That is, the average current of filter capacitor is been exactly equal to the reference current with a time lag of two sampling intervals. Therefore, this method has an essentially overshoot free reference-to-output response with a minimum possible rise time. The effectiveness of the proposed control system has been verified by the simulation and experimental respectively. From the simulation and experimental results, the proposed system is achieved the robust characteristics to the calculation time delay and parameter variation as well as very fast dynamic performance, thus it can be effectively applied to the power supply for the critical load.