• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• Smart Structures and Systems
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• 제31권2호
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• pp.199-212
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• 2023

Nowadays fuzzy logic in control applications is a well-recognized alternative, and this is thanks to its inherent advantages. Generalized type-2 fuzzy sets allow for a third dimension to capture higher order uncertainty and therefore offer a very powerful model for uncertainty handling in real world applications. With the recent advances that allowed the performance of general type-2 fuzzy logic controllers to increase, it is now expected to see the widespread of type-2 fuzzy logic controllers to many challenging applications in particular in problems of structural control, that is the case study in this paper. It should be highlighted that this is the first application of general type-2 fuzzy approach in civil structures. In the following, general type-2 fuzzy logic controller (GT2FLC) will be used for active control of a 9-story nonlinear benchmark building. The design of type-1 and interval type-2 fuzzy logic controllers is also considered for the purpose of comparison with the GT2FLC. The performance of the controller is validated through the computer simulation on MATLAB. It is demonstrated that extra design degrees of freedom achieved by GT2FLC, allow a greater potential to better model and handle the uncertainties involved in the nature of earthquakes and control systems. GT2FLC outperforms successfully a control system that uses T1 and IT2 FLCs.

• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Food Science and Biotechnology
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• 제17권3호
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• pp.564-568
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• 2008

The effects of sodium copper chlorophyllin (SCC) on bioaccessibility and uptake of mercury from fish were investigated using an in vitro digestion coupled with a Caco-2 cell. Fish along with SCC was subjected to a simulated in vitro digestion, which simulates both the gastric and small intestinal phase in vivo. Mercury bioaccessibility, the amount of mercury released from fish to aqueous phase following a digestion, was measured. Various amounts of SCC (0.1-25 mg) significantly reduced mercury bioaccessibility in a dose dependent manner by 49-89% compared to the negative control (fish without SCC) (p<0.05). Mercury bioaccessibility in varying molar ratios of mercury to positive control, 2,3-dimercapto-1-propane sulfonate (DMPS) was between 24 and 52%. Mercury uptake by Caco-2 cells from test media containing aqueous phase following in vitro digestion was measured after 6 hr incubation at $37^{\circ}C$. Cellular mercury uptake with increasing amount of SCC ranged from 0.352 to $0.052\;{\mu}g$ mercury/mg protein, while those in DMPS treatment were between 0.14 and $0.27\;{\mu}g$ mercury/mg protein. Our study suggests that SCC can reduce mercury absorption following fish consumption and may be efficient as a synthetic chelating agent for long term chronic mercury exposure in fish eating populations.

• Journal of information and communication convergence engineering
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• 제10권3호
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• pp.315-320
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• 2012

In H.264/AVC, the first frame of a group of pictures (GOP) is encoded in intra mode which generates a large number of bits. The number of bits for the I-frame affects the qualities of the following frames of a GOP since they are encoded using the bits remaining among the bits allocated to the GOP. In addition, the first frame is used for the inter mode encoding of the following frames. Thus, the initial quantization parameter (QP) affects the following frames as well as the first frame. In this paper, an adaptive peak signal to noise ratio (PSNR)-based initial QP determination algorithm is presented. In the proposed algorithm, a novel linear model is established based on the observation of the relation between the initial QPs and PSNRs of frames. Using the linear model and PSNR results of the encoded GOPs, the proposed algorithm accurately estimates the optimal initial QP which maximizes the PSNR of the current GOP. It is shown by experimental results that the proposed algorithm predicts the optimal initial QP accurately and thus achieves better PSNR performance than that of the existing algorithm.

• 대한기계학회논문집A
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• 제34권10호
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• pp.1359-1366
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• 2010

최근 많은 전자제어기술이 개발되고 있으며 또한 차량에 적용되고 있다. 이러한 기술들 중 throttle-by-wire, brake-by-wire, steer-by-wire 와 같은 X-by-wire 가 대표적이며 이는 기계적으로 연결된 부분이 전기적인 신호나 액추에이터로 대체된 것이다. 본 논문에서는 스쿨존에서의 차량의 속도 제어를 위하여 throttle-by-wire, brake-by-wire 가 고려되었으며 특히 스쿨 존에서는 다른 지역에 비해 사고가능성이 높다. 그 이유는 보행자가 횡단 시에 다수의 운전자들이 규정속도를 지키지 않기 때문이다. 따라서 본 논문에서는 스쿨 존에서 규정속도 내로 주행하도록 throttle-by-wire, brake-by-wire 를 이용하여 차량을 감속 제어하였으며 이를 위하여 양산차량의 엔진과 변속기의 제원을 사용하였다. 둘째, 차량의 감속에 있어서 운전자와 승객이 불쾌감을 느낄 수 있는 급격한 감속을 줄이기 위하여 제안된 3 차 궤적 추종법을 적용시켰으며 궤적 추종을 위하여 퍼지-PID 제어를 사용하였다. 마지막으로 시뮬레이션을 통하여 제안된 차량의 감속 제어 시스템의 성능을 확인하였다.

• International Journal of Oral Biology
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• 제34권3호
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• pp.157-164
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• 2009

We recently described a novel animal model of trigeminal neuropathic pain following compression of the trigeminal ganglion (Ahn et al., 2009). In our present study, we adapted this model using male Sprague-Dawley rats weighing between 250-260 g and then analyzed the behavioral responses of these animals following modified chronic compression of the trigeminal ganglion. Under anesthesia, the rats were mounted onto a stereotaxic frame and a 4% agar solution ($10{\mu}L$) was injected in each case on the dorsal surface of the trigeminal ganglion to achieve compression without causing injury. In the control group, the rats received a sham operation without agar injection. Air-puff, acetone, and heat tests were performed at 3 days before and at 3, 7, 10, 14, 17, 21, 24, 30, 40, 55, and 70 days after surgery. Compression of the trigeminal ganglion produced nociceptive behavior in the trigeminal territory. Mechanical allodynia was established within 3 days and recovered to preoperative levels at approximately 60 days following compression. Mechanical hyperalgesia was also observed at 7 days after compression and persisted until the postoperative day 40. Cold hypersensitivity was established within 3 days after compression and lasted beyond postoperative day 55. In contrast, compression of the trigeminal ganglion did not produce any significant thermal hypersensitivity when compared with the sham operated group. These findings suggest that compression of the trigeminal ganglion without any injury produces prolonged nociceptive behavior and that our rat model is a useful system for further analysis of trigeminal neuralgia.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.106-109
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• 1995

First, in this paper we propose a new dead best control system design technique by which we can specify a transient response before the settling time. Though the resultant system has the same system configuration as Reference[1], that is realized by adapting the performance index which includes the term of the square of difference between specified and pracitical responses. Next, we state a technique which gives the dead beat control system robustness and construct a robust dead beat control system. Simulations of the proposed dead beat control and robust dead beat control systems show expected results.

• 한국정밀공학회지
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• 제3권1호
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• pp.50-59
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• 1986

Adaptive Model Following Control (AMFC) technique is applied to develop a robot manipulator control system, which can deal successfully with the complex dvnamics of the manipulator. Main concerns of this study are put on the problem reducing the chatter amplitude of control signal yielded by the unit vector control law that was proposed [10] previously for AMFC of the manipulatro, and the effect- iveness of the algorithm when implemented practically. To see the effectiveness of modified method, computer simulations using new and old control law are carried out and compared, and the modified one id implemented in RHINO XR-II robot system recon- structed partially to enable torque control.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.289-295
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• 2002

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.