• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1729-1734
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• 2005

The use of gantry crane systems for transporting payload is very common in industrial application. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronic design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated. The result shows that the intelligent gantry crane system designed based on the mechatronic design approach has better performance compared with the automatic gantry crane system controlled by classical PID controllers. Moreover simulation result shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.299-305
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• 2015

Global environmental concerns and the ever increasing need of energy, coupled with steady progress in renewable energy technologies, are opening up new opportunities for utilization of renewable energy resources. Distributed electricity generation is a suitable option for sustainable development thanks to the load management benefits and the opportunity to provide electricity to remote areas. Solar energy being easy to harness, non-polluting and never ending is one of the best renewable energy sources for electricity generation in present and future time. Due to the random and intermittent nature of solar source, PV plants require the adoption of an energy storage and management system to compensate fluctuations and to meet the energy demand during night hours. This paper presents an efficient, economic and technical model for the design of a MPPT based grid connected PV with battery storage and management system. This system satisfies the energy demand through the PV based battery energy storage system. The aim is to present PV-BES system design and management strategy to maximize the system performance and economic profitability. PV-BES (photovoltaic based battery energy storage) system is operated in different modes to verify the system feasibility. In case of excess energy (mode 1), Li-ion batteries are charged using CC-CV mechanism effectively controlled by fuzzy logic based PID control system whereas during the time of insufficient power from PV system (mode 2), batteries are used as backup to compensate the power shortage at load and likewise other modes for different scenarios. This operational mode change in PV-BES system is implemented by State flow chart technique based on SOC, DC bus voltages and solar Irradiance. Performance of the proposed PV-BES system is verified by some simulations study. Simulation results showed that proposed system can overcome the disturbance of external environmental changes, and controls the energy flow in efficient and economical way.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.