• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.1
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• pp.100-111
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• 1999

This paper resents a discrete-time model of an edge-following with accommodation force control. Since an irregular workpiece shape causes disturbances to the system while following an edge, the use of preview control is proposed to improve the system performance. The preview control employs future information of the workpiece contour shape, and it can be developed by LQ-optimal control principles. This study provides a general method how to utilize the local future information obtained by the finite preview to minimize an optimality criterion evaluated over a problem duration. The force controller is designed based on the preview control scheme, and then implemented on a VME-based computer. Experimental results using an industrial robot show that the preview control system achieves faster tracking speed and better force regulation than the conventional nonpreview control system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.44-47
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• 1996

An optimal preview controller based on the discrete-time $H_{.inf}$ control is presented. The preview controller is synthesized by considering the bounded unknwon disturbances as well as previewable commands and disturbances. The controller derivation procedure is analogous to the LQ-based scheme. The designed preview gain matrix has a similar structure as the LQ-based one. As the infinity norm .gamma. of the transfer function matrix tends to .inf., the preview gains obtained by $H_{\infty}$ control method approach to the gains by the LQR. The LQ-based preview gains are verified to be subsets of the $H_{.inf}$ -based preview gains..

• Journal of the Korean Society of Safety
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• v.32 no.1
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• pp.1-8
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• 2017

In industry AGV's(automated guided vehicles) that can detect and follow guidelines drawn on the factory floor using magnetic or optical sensors are widely used. However, such AGV's without preview capability cannot effectively avoid collision with obstacles that may occasionally pass through the guideline. Furthermore, without preview information, they consume much energy at the right angle corners as they have to make sudden directional change. Also, the risk of dropping payloads increases in such situations. In this study, infrared preview sensors were adopted to a mobile robot for detecting not only the current position but also the forward position of the guideline and the preview control technique was applied to optimally control the mobile robot's motion using the information from the infrared preview sensors. Then the effectiveness of this approach was investigated through a series of experiments. The experimental result shows that the proposed approach is effective for safety enhancement as well as for better efficiency.

• Annual Conference on Human and Language Technology
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• 1992.10a
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• pp.405-412
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• 1992

The present study examined the effects of preview sentences and paragraphing in expository text on subjects' recall of the text. College students who participated in this study were randomly assigned to one of four text version groups: the no preview sentences and no paragraphing group, the no preview sentences and paragraphing group, the preview sentences and no paragraphing group, and the preview sentences and no paragraphing group. The result showed no significant effects of preview sentences and paragraphing. However, students' learning ability being considered, significant interaction effects were found. Although subjects with high learning ability recalled well regardless of whether or not passage was paragraphed, subjects with low learning ability recalled more in paragraphing condition than no paragraphing condition. The implication of these results is discussed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.9
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• pp.2142-2153
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• 1995

A digital preview controller using optimal LQ control theory is suggested for tandem cold mills to achieve a remarkable improvement of the thickness accuracy. Optimal preview control system is constructed for each rolling stand of tandem cold mills for which the blocked noninteracting control is carried out, and it is compared with the optimal LQ control system which has only feedback control. And in the cases that all/some of disturbance inputs are previewable, full and partial preview controllers are designed, and their performance effects are compared and discussed. The simulation results show that the performance of tandem cold mills can be improved largely through partial preview control.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.892-895
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• 1996

An unknown input observer is proposed that can be used in wheelbase preview control of commercial vehicles. The preview and state information, required to calculate actuator force, are reconstructed from the measurement variables such as heave and pitch acceleration. Gain matrix of observer is optimally selected so that influence of system and measurement noises on the estimation error can be minimized. Estimated preview information requires low pass filtering to eliminate high frequency components resulting from differentiation of noisy output signals. Effectiveness of the proposed method is demonstrated by numerical simulation of half car model.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.115.3-115
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• 2002

To improve the performance of the tracked vehicle system, we examined the feasibility of using the preview control for the tracked vehicles suspension system. We proposed a method to apply a linear optimal preview control to the tracked vehicle system. To avoid the complexity of modeling the track subsystem and kinematical nonlinearity in the trailing arm suspension, we classified these as unknown dynamics and disturbances. We used the Time Delay Control(TDC) method to make sprung mass dynamics follow that of linear preview controlled tracked vehicle model by compensating the uncertainties and disturbances. We have verified by the computer simulation that the proposed method shows good robus...

• International Journal of Automotive Technology
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• v.7 no.4
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• pp.469-475
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• 2006

In this paper, an optimal suspension system with preview of the road input is synthesized for a half tracked vehicle. The main goal of this research is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain the driver's driving capability. Several different kinds of preview control algorithms are evaluated with active or semi-active suspension systems. The road information estimated from the motion of the 1st road-wheel is adequate to make the best use of the preview control algorithm for tracked vehicles. The ride-comfort characteristics of the tracked vehicle are more dependent on pitching angular acceleration than heaving acceleration. The pitching motion is reduced by the suspension system with hard outer suspensions and soft inner suspensions. Simulation results show that the performance of sky-hook algorithms for ride comfort nearly follow that of full state feedback algorithms.

• Annual Conference on Human and Language Technology
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• 1989.10a
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• pp.178-182
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• 1989

본 논문용 preview 기능을 갖는 한글 전자출판 시스템에 관한 것이다. 논리구조와 레이아웃 구조로 구조화된 문서를 작성 할 수 있는 문서작성 전용 에디터를 설계하였다. 이는 문서내용의 논리적 특성에 맞게 문서를 작성할 수 있는 내용 중심의 문서작성 에디터로, high level 적으로 문서를 만들 수 있게 한다. 아울러 문서내에서 context sensitive 한 성질을 갖는 그림 및 도표의 영역은 시스템이 자동으로 할당하도록 하는 알고리즘을 구현하였다. 이렇게 자동 할당된 그림 및 도표의 위치와 크기를 페이지 단위로 이동, 조정 할 수 있게 하므로서 이에 따른 텍스트도 적응적으로 처리되게 하였다. 또한 레이아웃 처리된 출력결과를 하드카피 하기 전에 디스플레이상에서 확인할 수 있는 preview 기능을 설계하였다. 본 시스템은 크게 압력부, 레이아웃 처리부, preview부, 출력부로 구성된다. 본 논문에서는 압력부와 레이아웃 처리부, preview부에 중점을 두어 설명하고 처리된 문서의 출력 결과를 보인다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.115-119
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• 2007

In this paper, practical problems will be covered in applying preview control to real tracked vehicle systems. Previous researches about the preview control assume that the vehicle speed is constant and the actuators have full frequency bandwidth. However, in order to apply it to real systems, those should be taken into account. Therefore this paper show the algorithm to apply the preview control to speed changing vehicles and performance variation according to a restricted frequency bandwidth.