• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.2
• /
• pp.215-221
• /
• 2006

This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.2 s.314
• /
• pp.39-45
• /
• 2007

This paper presents a novel scheme that quickly searches for the sweet spot of multiple array antennas, and locks on to it for high-speed millimeter wavelength transmissions, when communications to another antenna array are disconnected. The proposed method utilizes a modified genetic algorithm, which selects a superior initial group through preprocessing in order to solve the local solution in agenetic algorithm. TDD (Time Division Duplex) is utilized as the transfer method and data controller for the antenna. Once the initial communication is completed for the specific number of individuals, no longer antenna's data will be transmitted until each station processes GA in order to produce the next generation. After reproduction, individuals of the next generation become the data, and communication between each station is made again. Simulation results of 1:1, 1:2, 1:5 array antennas confirmed the efficiency of the proposed method. The 16bit split is 8bit, but it has similar performance as 16bit gene.

• Proceedings of the KSR Conference
• /
• 2009.05a
• /
• pp.1229-1234
• /
• 2009

The rolling stocks of KORAIL are KTX, Saemaulho Multiple Unit(PP), New Electrical Locomotive(DL), Electrical Locomotive(EL), Diesel Locomotive, Metropolitan Commuter Train(CDC), VVVF and Resistance Controlled Multiple Unit, etc. EMU with the maximum speed of 150km/h is under the test run at the moment. Electrical Multiple Units for mainlines with 180km/h speed are supposed to be introduced as a substitute for Saemaulho Multiple Unit which is scheduled to be out of service. But the specification standard for the control board design of train driver's cab does not exist and there is no a study for layout and type of controlling device with driver's ergonomical approach. That's why the types of controller and operating are different from rolling stocks, which has high possibility of driver's human error and needs education whenever a new car comes in. Based on the opinion poll of drivers, design specification of safety engineering and ergonomics for controlling devices and safety facilities can improve exact control for devices and deal quickly with an emergency so as to improve rolling stock safety and operational efficiency.

• Journal of KIISE
• /
• v.42 no.1
• /
• pp.1-6
• /
• 2015

Smart electronics are now widely used in everyday life, but the size of the screen of such devices is still too small to fully enjoy multimedia content. Therefore, if the display is comprised of multiple views produced by multiple smart devices, then the screen output size can increase. However, a time delay between the devices can generate a discordance in the video and sound. This paper compares two synchronization techniques that can be used to minimize such a time delay, and proposes a synchronization technique in which, the timing of the screen for each device is calculated by synchronizing the playback time, using the timing information transferred from the control device, and periodically adjusting the playback timing forward or backward. When multimedia content is reproduced using multiple views from multiple smart devices, we can minimize the time delay, regardless of the network quality or the differences in the devices used for this technique.

• The Journal of the Convergence on Culture Technology
• /
• v.9 no.1
• /
• pp.619-625
• /
• 2023

In this paper, the remote care of medical beds with multiple body pressure sensors is described. Falling is one of the factors that seriously threaten the safety of patients and harm their health. In this study, a new bed was developed to overcome this. The bed system consists of a keyboard that can operate, a keyboard controller that manages the movement of the keyboard, a sensor that measures body pressure, a sensor controller that transmits and receives sensor values, a main controller that checks it and operates automatically or manually according to the algorithm, and a server that oversees all these information. The bed system checks the patient's location through a sensor and wirelessly alerts the server through the main controller when the patient determines that there is a risk of falling, so that the nurse or nurse can recognize the patient's dangerous condition. The server may receive state data transmitted from the wired/wireless terminal to monitor whether the bed system is operating normally. The controller of the keyboard operates a keyboard-type mechanism and automatically controls the prevention of bedsores connected by body pressure sensors to physically separate the area to which the patient's pressure is applied to prevent bedsores. The main controller checks the presence of the patient's bed and transmits it to the server. In conclusion, the proposed system can smart monitor the user's state and perform remote care.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.983-990
• /
• 2008

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.32 no.3
• /
• pp.280-289
• /
• 2008

This paper presents design of the quantitative feedback control system of the three axes hydraulic road simulator with respect to the dummy wheel for uncertain multiple input-output(MIMO) feedback systems. This simulator has the uncertain parameters such as fluid compressibility, fluid leakage, electrical servo components and nonlinear mechanical connections. This works have reproduced the random input signal to implement the real road vibration's data in the lab. The replaced $m^2$ MISO equivalent control systems satisfied the design specifications of the original $m^*m$ MIMO control system and developed the mathematical method using quantitative feedback theory based on schauder's fixed point theorem. This control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for parameters of uncertain plant. The efficacy of the designed controller is verified through the dynamic simulation with combined hydraulic model and Adams simulator model. The Matlab simulation results to connect with Adams simulator model show that the proposed control technique works well under uncertain hydraulic plant system. The designed control system has satisfied robust performance with stability bounds, tracking bounds and disturbance. The Hydraulic road simulator consists of the specimen, hydraulic pump, servo valve, hydraulic actuator and its control equipments

• Journal of the Institute of Electronics Engineers of Korea TE
• /
• v.42 no.3
• /
• pp.13-18
• /
• 2005

This paper presents a design of a multi-objective $H_2/H_{\infty}$ controller of an inverted pendulum with polytopic model by the stabilizing regulator and tracking performances. Multi-objective controllers are designed for polytopic models by the LMI design technique with convex algorithms. It is observed that the inverted pendulum controlled by any controller designed for each polytopic model is stably restored to the vertical angle position for initial values of larger tilt angles.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2006.04a
• /
• pp.451-458
• /
• 2006

The goal of many researchers in the field of structural engineering is to reduce both damage to building structures and discomfort of their inhabitants during strong motion seismic events. The present paper reports on analytical work conducted with this aim in mind as a prior research of experimental study. A four-story, 6.4 m tall, laboratory model of a building is employed as a example structure. The laboratory structure has graphite epoxy columns and each floor is equipped with a chevron brace that serves to resist inter-story drift with the installation of a magnetorheological (MR) damper. An artificial excitation has been generated with a robust range of seismic characteristics. A series of numerical simulations demonstrates that an optimized fuzzy controller is capable of robust performance for a variety of seismic base motions. Optimization of the fuzzy controller is achieved using multi-objective genetic algorithm(MOGA), i.e. NSGA-II. Multiple objective functions are used in order to reduce both peak and root-means-squared displacement and accelerations at the floor levels of the building.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.1
• /
• pp.25-32
• /
• 2007

In this paper, a new method for first order plus dead time(FOPDT) model identification is proposed, which can identity multiple points on a process step response in terms of classification of time response. The process input and output to the test are decomposed into the transient part and the steady-state part. The steady-state part express one FOPDT model and the transient part express variously FOPDT model using least square estimation method. The optimum parameter tuning algorithm for PID controller of the Smith Predictor is proposed through ITAE as performance index. The Simulation results show the validity and improvement of performance for various processes.