• 한국지능시스템학회논문지
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• 제20권4호
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• pp.476-482
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• 2010

본 논문에서는 시간에 따라 종방향 속도가 변하는 무인 수중 잠수정의 경로 추적 제어기 설계 방법을 제안한다. 본 논문에서 제안한 경로 추적 제어기는 운동학적 제어기와 동역학적 제어기로 구성된다. 운동학적 제어기는 무인 수중 잠수정이 시간에 따라 속도가 변하는 기준 경로를 따라 가기 위해 종방향 속도와 yaw 각속도를 계산하고, 계산된 값이 동역학적 제어기의 기준 입력 값이 된다. 즉, 동역학적 제어기는 추진력과 회전력을 제어하여 무인 수중 잠수정의 종방향 속도와 yaw 각속도가 운동학적 제어기에서 계산한 값과 일치하도록 설계한다. 이 때 사용한 동역학적 제어기는 무인 잠수정의 옆 미끄럼 속도를 외란으로 가정하고, 종방향 속도와 yaw 각속도를 슬라이딩 모드 제어 기법을 이용하여 설계한다. 한편 설계된 제어기의 안정도 판별을 위해 Lyapunov 방법을 이용하여 제어기의 안정성을 보인다. 마지막으로, 컴퓨터 시뮬레이션을 이용하여 설계된 제어기의 성능을 검증한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.640-645
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• 2004

This paper proposes a direct adaptive control method using self-recurrent wavelet neural network (SRWNN) for stable path tracking of mobile robots. The architecture of the SRWNN is a modified model of the wavelet neural network (WNN). Unlike the WNN, since a mother wavelet layer of the SRWNN is composed of self-feedback neurons, the SRWNN has the ability to store the past information of the wavelet. For this ability of the SRWNN, the SRWNN is used as a controller with simpler structure than the WNN in our on-line control process. The gradient-descent method with adaptive learning rates (ALR) is applied to train the parameters of the SRWNN. The ALR are derived from discrete Lyapunov stability theorem, which are used to guarantee the stable path tracking of mobile robots. Finally, through computer simulations, we demonstrate the effectiveness and stability of the proposed controller.

• 수산해양기술연구
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• 제32권4호
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• pp.411-420
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• 1996

The structure of the scale formed on the surface of Fe - Cr - X alloys exposed to 1143K high sulfidation($Ps_2$ = 1.11$\times$$10^-7$ atm, $Po_2$ = 3.11$\times$$10^-20$ atm) or sulfidation/oxidation(($Ps_2$= 1.06$\times$$10^-7$ atm, ($Po_2$ = 3.11$\times$$10^-18$ atm) environment has been observed and analysed using XRD, SEM/EDS. To investigate the possibility of protective film formed on the surface of the alloys, Aluminium, Nickel were selected as alloying elements. Thermodynamic phase stability diagram was used to predict the reaction path of scale formed on Fe - Cr - X alloys. Parabolic rate constant($K_p$) value with 6wt% Al in Fe - 25Cr alloy decreased significantly compared with the Fe - 25Cr alloy without 6wt% Al. Since thin layer of defect free sulfide film, (Al, Cr)Sx, was formed at the alloy/scale interface. Fe - rich sulfide scale at outer layer and Cr - rich sulfide scale containing porosity at inner layer of Fe - 25Cr alloy have been observed. The reaction path for these scales could be predicted by the thermodynamic stability diagram.

• 대한인간공학회지
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• 제25권3호
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• pp.1-15
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• 2006

Loss of postural balance can possibly lead to increased risk of slips and falls in work places. Present study was performed to investigate the effects of noisy environments on postural stability during standing. It is known that a sound is characterized by the frequency and pressure level of the sound. Therefore, effects of the frequency and pressure level on postural stability were of primary concern. Ten male subjects participated in the experiment. Subject's center of pressure(COP) position was collected on a force plate while they were exposed to different frequency and pressure levels of the sound. Measured COP was then converted into the length of postural sway path in both anterior-posterior(AP) and medio-lateral(ML) axis. Results showed that the length of sway path in AP axis was significantly affected by the frequency of sound. The length of sway path was lowest at frequency level of 2000Hz and increased below and above this frequency range. The sound pressure level, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that industrial workers in noisy environments should be aware that their abilities of postural balance can be disturbed significantly.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.69-74
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• 1999

Adaptive algorithms based on gradient adaptation have been extensively investigated and successfully joined with active noise/vibration control applications. The Filtered-X LMS algorithm became one of the basic feedforward algorithms in such applications, but is not fully understood yet. Effects of cancellation path model on the Filtered-X LMS algorithm have investigated and some useful properties related to stability were discovered. Most of the results stated that the error in the cancellation path model is undesirable to the Filtered X LMS. However, we started convergence analysis of Filtered-X LMS based on the assumption that erroneous model does not always degrade its performance. In this paper, we present a way of optimizing the cancellation path modern in order to enhance the convergence speed by introducing intentional phase error. Carefully designed intentional phase error enhances the convergence speed of the Filtered X LMS algorithm for pure tone noise suppression application without any performance loss at steady state.

• 한국정보처리학회논문지
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• 제6권3호
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• pp.681-691
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• 1999

It was already proved that ATM stability and flexibility of service application, but because of the various characteristics of traffics and the QoS on user demand caused by them, there are a lot of researches for traffic management method. However, there are a few of researches for ATM routing method acting on traffic management practically. In this paper, we focus on multi-path routing method transporting cells with multiple paths and compare this method with existing single path routing method and analyze multi-path routing method into three elements with simple formula and propose anew methods improving the performance of ATM routing and simulate these methods.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.35-42
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• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• 제어로봇시스템학회논문지
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• 제9권6호
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• pp.478-488
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• 2003

A guidance scheme that is suitable for controlling the aircraft flight path is proposed. The concept of miss distance which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the aircraft's trajectory-tracking guidance law. Guidance commands are given in terms of speed and flight path angles, but they perfectly reflect any position and velocity errors between real aircraft trajectory and reference one. The proposed guidance law is easily integrated into the existing flight control system. The new guidance law was extensively tested with various mission scenarios and the fully nonlinear 6-DOF aircraft model. Furthermore, the new guidance law was compared with previous guidance schemes in nonlinear simulation. Results from the numerical simulation show that the proposed guidance law yields better performance than previous ones.