• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.2
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• pp.265-276
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• 2024

The future battlefield operation concept does not focus on advanced and complete weapon systems, but requires a new battlefield operation concept that can effectively demonstrate offensive power by combining a large number of low-cost, miniaturized weapons. Recently, research on the autonomous application of major technologies that make up the mission control system is actively underway. However, since the mission control system is still dependent on the operator's operating ability when operating multiple robots, there are limitations to simply applying the automation technology of the existing mission control system. Therefore, we understand how changes in operator capabilities affect multi-robot operation and propose an adaptive mission control architecture design method that supports multi-robot integrated operation by adjusting the level of autonomy of the mission control system according to changes in operator capability.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.6
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• pp.1431-1448
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• 2024

Complexity science is a new stage in the development of systems science that is the frontier areas of contemporary scientific development. Complexity science takes complex systems as the research object, which has attracted widespread attention from researchers in the fields of economy, control, management, and society. In recent years, with the rapid development of science and technology and people's deepening understanding for the theory of complex systems, the systems are no longer an object with a single function, but the systems are composed of multiple individuals with autonomous capabilities through cooperative and cooperation, namely multi-agent system (MAS). Currently, MAS is one of the main models for studying such complex systems. The intelligent control is to break the traditional multi-agent fault-tolerant control (FTC) concept and produce a new type of compensation mechanism. In this paper, the applications of fault-tolerant control methods for MASs are presented, and a discussion is given about development and challenges in this field.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.1
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• pp.20-27
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• 1987

The hierarchical approach method is proposed to sperate each different time scale sub-systems from linear time invariant multi-parameter singular perturbation systems. By means of this proposal, the original multi-parameter singular perturbation systems is completely separated into independent subsystems with each different time scale. It is also investigated that the controllability of the system is invariant. And this paper applies singular perturbation methods to the minimum control effort problem for linear time invariant systems with constrained controls. Also near-optimum control theory, which is based on dividing the total time interval with the time scales respectively, is proposed. As a result, the time scale separation method is show to be particularly useful in a near optimum design which can be otained through a decentralized control structure.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.04b
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• pp.271-276
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• 2000

Optimal neuro-control algorithm is extended to the control of a multi-degree-of-freedom structure. An active mass driver(AMD) system on the top roof used as a controller. The control signals are made by a multi-layer perceptron(MLP) which is trained by minimizing a sub-optimal performance index. The performance index is a function of both the output responses and the control signals. Structure having nonlinear hysteretic behavior is also trained and controlled by using proposed control algorithm. Bothe the time delay effect and the dynamics of hydraulic actuator are included in the simulation. Example shows that optimal neuro-control algorithm can be applicable to the multi-degree of freedom structures.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.271-274
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• 2001

The present paper deals with the development of digital contouring controller for multiaxial servosystem. Instead of coordinating the commands to the individual feed drives and implementing closed position loop control for each axis, this work is achieved by the evaluation of a optimal cross-couple compensator aimed specifically at improving contouring accuracy in multi-axial feed drives. The optimal control formulation explicitly includes the contour error in the performance index to be minimized. The contouring control is simulated for straight line. The results show that the proposed controller reduces contouring errors considerably, as compared to the conventional uncoupled control for biaxial systems.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.9
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• pp.503-509
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• 1999

This paper proposes a new speed and tension control algorithm for multi-span continuous strip processing line. In this algorithm the speed reference of each roll is adjusted to make the output force follow the load balance reference using an outer loop controller in cascade. Using the information of the output force of the adjacent roll, it is shown that the strip tension between two rolls can be controlled as the desired value without tension sensor. An experimental set-up which consists of 4 driven and 3 measuring rolls is designed and built for the multi-span speed and tension control. The experimental result reveals conspicuous improvement of tension control performance by the proposed algorithm comparing to the conventional tension feedback controller.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.55-61
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• 2009

Machining systems have been evolved to produce more detailed products of high added value. This has been possible, in large part, due to the development of highly accurate multi-axis CNC machine tools. The conventional CNC of machine tools has individual axis controllers to maximize tracking performance. On the other hand, cross-coupling controllers can be integrated into the conventional CNC to enhance contouring performance. For this multi-axis cross-coupling control system, it is necessary to automatically adjust the controller gains depending on operating conditions and/or other external conditions from an optimization perspective. This paper proposes automatic modeling of feed drive systems that minimizes the difference in behavior between the system model and the actual system. Based on the modeling, an integrated auto-tuning method is also proposed to improve both tracking and contouring accuracy of a 3-axis cross-coupling control system as well as users' convenience. The proposed methods are evaluated by both simulation and experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1061-1066
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• 2013

In the steel industry, the detection of tiny defects including its 3D characteristics on steel surfaces is very important from the point of view of quality control. A multi-spectral photometric stereo method is an attractive scheme because the shape of the defect can be obtained based on the images which are acquired at the same time by using a multi-channel camera. Moreover, the calculation time required for this scheme can be greatly reduced for real-time application with the aid of a GPU (Graphic Processing Unit). Although a more reliable shape reconstruction of defects can be possible when the numbers of available images are increased, it is not an easy task to construct a camera system which has more than 3 channels in the visible light range. In this paper, a new 6-channel camera system, which can distinguish the vertical/horizontal linearly polarized lights of RGB light sources, was developed by adopting two 3-CCD cameras and two polarized lenses based on the fact that the polarized light is preserved on the steel surface. The photometric stereo scheme with 6 images was accelerated by using a GPU, and the performance of the proposed system was validated through experiments.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.53-59
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• 2005

In this study, the isolation system for multi-mechanism HIF (high impulsive force) device has been investigated. For this purpose, parameter optimization process has been performed based on the simplified isolation system model under constraints of moving displacement and transmitted force. The design parameters for multi-mechanism HIF device have been derived with respect to HIF system I and HIF system II, respectively. In order to implement the dynamic absorbing system, the dual stage hydro-pneumatic damper and magnetorheological damper with semi-active control scheme are considered. Finally, the performance of the designed prototype isolation system has been evaluated by experimental works under actual operating conditions.