• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1002-1010
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• 2005

We study on the implementation of reconfigurable position control system which is based on Open Control Platform(OCP) for Unmanned Expedition Vehicles(UEV) in ubiquitous environment. The control system uses hierarchical control structure and OCP structure which contains three layers such as core OCP, reconfigurable control API(Application Programmer Interface), generic hybrid control API. The goal of our research is to implement an UEV control system using advanced software technology. As a specific control problem, we study a transition management problem between PID control and neural network control depending on fault or parameter change of the plant, i.e., UEV. The concept of the OCP-based software-enabled control can provide synergy effect by the integration of software component, middleware, network communication, and control, and thus can be applied to various systems in ubiquitous environment.

• 한국전자파학회논문지
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• 제21권4호
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• pp.381-391
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• 2010

본 논문에서는 상용 초고주파 MEMS 스위치를 이용하여 세 개의 주파수 대역에서 재구성 동작이 가능한 주파수 재구성 능동 배열 안테나 시스템(Reconfigurable Active Array Antenna System: RAA System)을 제안하였다. MEMS 스위치는 삽입 손실 및 선형성 특성이 우수하고 격리도가 높아 주파수 재구성 시스템 구현 시, 재구성을 위한 스위치로 인한 성능 열화가 거의 없다는 장점이 있다. 제안된 주파수 재구성 능동 배열 안테나 시스템은 간단한 구조의 임피던스 매칭 회로(Reconfigurable impedance Matching Circuit: RMC)를 갖는 주파수 재구성 증폭기(Reconfigurable Front-end Amplifier: RFA)가 집적화 되어 있으며, 안테나 방사체(Reconfigurable Antenna Element: RAE)와 재구성 제어 보드(Reconfiguration Control Board: RCB)로 구성되어 있다. 본 논문에서 제안한 RAA 시스템은 850 MHz, 1.9 GHz, 3.4 GHz의 세 개 주파수로 재구성되어 동작하며, 안테나 방사체는 $2{\times}2$ 배열을 가지고 각각의 방사체는 광대역 다이폴 형태를 갖는다. 제작된 RAA 시스템은 실험을 통하여 그 타당성을 확인하였다.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.99-106
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• 2003

A new reconfigurable model following flight control method based on direct adaptive scheme is presented. Using the timescale separation principle, both the inner-loop and the outer-loop states are controlled simultaneously. For the timescale separation assumption to be satisfied, the inner-loop model dynamics is set to be fast whereas the outer-loop model dynamics is set to be relatively slow. The stability and convergence of the proposed control law is proved by Lyapunov theorem. One of the merits of the proposed reconfigurable controller is that the FDI process and the persistent input excitation are not necessary, which is suitable for the flight control system. To evaluate the reconfiguration performance of the proposed control method, numerical simulation is performed using six degree-of-freedom nonlinear dynamics.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.422-428
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• 2007

This paper presents a neural network based adaptive control approach to a reconfigurable flight control law that keeps handling qualities in the presence of faults or failures to the control surfaces of an aircraft. This approach removes the need for system identification for control reallocation after a failure and the need for an accurate aerodynamic database for flight control design, thereby reducing the cost and time required to develope a reconfigurable flight controller. Neural networks address the problem caused by uncertainties in modeling an aircraft and pseudo control hedging deals with the nonlinearity in actuators and the reconfiguration of a flight controller. The effect of the reconfigurable flight control law is illustrated in results of a nonlinear simulation of an unmanned aerial vehicle Durumi-II.

• Journal of Electrical Engineering and Technology
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• 제10권6호
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.40.2-40
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• 2002

This paper presents the reconfigurable flight controller in the presence of jammed actuator fault using the adaptive sliding mode control scheme. It is developed under the assumption that the control surface fault cannot be detected and the positions of stuck control surfaces are unknown. It is well known that sliding mode controller shows good performance for the systems with various uncertainties. None-operating stuck actuator makes the system behave like bias which degrades the system performance and sometimes destabilizes the system. Therefore, the bias term generated by actuator faults has to be compensated by the control system. To the objective, we adopt the adaptive sliding mode cont...

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.261-266
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• 2004

Recently, a variety of intelligent robots are developed for the personal purpose beyond the industrial application. These intelligent robots have ranges of sensors, actuators, and control algorithms to their application. In this paper we propose a reconfigurable robot controller, $SR^2$c (The SOPC-based Reconfigurable Robot Controller), based on SOPC (System on a Programmable Chip), that can be reconfigurable easily by software. The proposed robot controller contains not only a processing module but also robot-specific IP's. To show a feasibility of the proposed robot controller, a small entertainment robot, Wizard-4 is implemented with a single chip controller as proposed in this paper.

• International Journal of Safety
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• 제10권2호
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• pp.10-15
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• 2011

The reconfigurable control systems based on feedback controls are utilized to compensate for damages of actuators in control systems. Such systems have multiple feedback controls and switch them in accordance with the degrees of the failures of the actuators. In order to be able to assess those systems, this paper develops a method to obtain reliabilities of reconfigurable dynamical systems which are interconnected in parallel / series configuration. By calculating reliabilities of interconnected dynamical systems, it is possible to assess many dynamical systems by comparing their reliabilities. Firstly, reliabilities of subsystems are obtained according to the definitions of the failures in terms of robust reliability for each subsystem. Then, the reliability of overall system is calculated from reliabilities of subsystems, using the methodology employed for probabilistic safety assessment. Failure rates of subsystems with feedbacks for reconfiguration change in certain time periods because of the switching of feedback controls. In order to deal with this, combinations of subsystems which compose overall system for each time period are derived by the methodology mentioned above and then integrated to calculate the reliability of overall system for a specific time. An illustrative example shows the validity and details of the proposed method.

• 한국통신학회논문지
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• 제41권7호
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• pp.775-782
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• 2016

본 논문에서는 실내 전파 환경에서 5GHz 대역 무선LAN 신호를 투과 또는 차단하기 위한 종이기반 재구성 FSS를 설계하였다. 5GHz 대역에서 핀 다이오드의 ON/OFF 상태에 따라 통과 또는 차단이 가능한 재구성 FSS를 잉크젯 프린팅기법과 전도성 접착제를 이용하여 종이 위에 설계하였으며, 실내 환경을 가정한 공간 벽면에 적용하여 외부로부터 입사된 무선LAN 신호를 측정하여 신호의 세기에 따라 투과 또는 차단할 수 있는 제어 시스템을 설계하였다. 설계한 재구성 FSS 구조는 입사각과 편파에 대해 안정된 특성을 가지며, 설계결과를 검증하기 위하여 잉크젯 프린팅 방식으로 재구성 FSS를 제작하였다. 제작된 FSS 구조의 재구성동작을 측정을 통해 확인하고, 실내공간에 부착하여 실내공간에 유입되는 5GHz 대역 무선LAN 신호세기에 따라 FSS 구조가 재구성동작이 되는 시스템을 구현하고 측정을 통하여 확인하였다. 측정을 통하여 제작된 재구성 FSS 구조가 IEEE 802.11n의 5GHz 무선LAN 대역 중 5.745GHz~5.805GHz 대역의 신호를 약 20dB 차단하는 성능을 가짐을 확인하였다.