• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.828-833
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• 2003

Rigid plate elastically supported at the edges is modeled and the performance of the optimal vibration control under sinusoidal excitation is tested. The controller based on the linear quadratic regulator with output feedback is designed to control the multi-degree of freedom vibration. Relative weighting parameters are considered as design constraints to determine the limitation of maximum control force and state parameters. Control force calculated by proportional output feedback of the displacement and velocity is used to suppress the vibration induced by the sinusoidal external force. The active vibration control of vibrating plate by the LQR controller is examined through the numerical simulations that show the effectiveness of optimal control scheme on the three degrees of freedom structure.

• Nuclear Engineering and Technology
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• v.51 no.1
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• pp.163-169
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• 2019

The robust controller synthesis and analysis of the water level process in the U-tube system generator (UTSG) is addressed in this paper. The parameter uncertainties of the steam generator (SG) are modeled as multiplicative perturbations which are normalized by designing suitable weighting functions. The relative errors of the nominal SG model with respect to the other operating power level models are employed to specify the weighting functions for normalizing the plant uncertainties. Then, a robust controller is designed based on ${\mu}$-synthesis and D-K iteration, and its stability robustness is verified over the whole range of power operations. A gain-scheduled controller with $H_{\infty}$-synthesis is also designed to compare its robustness with the proposed controller. The stability analysis is accomplished and compared with the previous QFT design. The ${\mu}$-analysis of the system shows that the proposed controller has a favorable stability robustness for the whole range of operating power conditions. The proposed controller response is simulated against the power level deviation in start-up and shutdown stages and compared with the other concerning controllers.

• Journal of Computing Science and Engineering
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• v.6 no.3
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• pp.219-226
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• 2012

Recently, shape analysis of human organs has achieved much attention, owing to its potential to localize structural abnormalities. For a group-wise shape analysis, it is important to accurately restore the shape of a target structure in each subject and to build the inter-subject shape correspondences. To accomplish this, we propose a shape modeling method based on the Laplacian deformation framework. We deform a template model of a target structure in the segmented images while restoring subject-specific shape features by using Laplacian surface representation. In order to build the inter-subject shape correspondences, we implemented the progressive weighting scheme for adaptively controlling the rigidity parameter of the deformable model. This weighting scheme helps to preserve the relative distance between each point in the template model as much as possible during model deformation. This area-preserving deformation allows each point of the template model to be located at an anatomically consistent position in the target structure. Another advantage of our method is its application to human organs of non-spherical topology. We present the experiments for evaluating the robustness of shape modeling against large variations in shape and size with the synthetic sets of the second cervical vertebrae (C2), which has a complex shape with holes.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.2
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• pp.71-78
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• 2008

New formation flight controller for unmanned aerial vehicles is proposed. A behavioral decentralized control approach called formation geometry center control is adopted. Trajectory tracking as well as formation geometry keeping are the purpose of the formation flight, and therefore two controllers are designed: a trajectory tracking controller for reference trajectory tracking, and a position controller for formation geometry keeping. Each controller is designed using Lyapunov stability theorem to guarantee the asymptotic stability. Formation flight controller is finally obtained by combining the trajectory tracking controller and the formation geometry keeping controller using a weighting parameter that depends on the relative distance error between unmanned aerial vehicles. Numerical simulations are performed to validate the performance of the proposed controller.

• Journal of the Korean association of regional geographers
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• v.13 no.2
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• pp.143-155
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• 2007

There are many conflicts or interests among various stakeholders on the development of the coastal area. The integrated methodology, which is reflective of physical conditions, socio-economic circumstances, and people's sense of values, is thus needed to solve the problems. In this study, geographical information systems(GIS) and analytic hierarchy process(AHP) that arc one of multi-criteria analysis methodologies are loosely coupled to develop better analytic procedures for coastal assessment. Socio-economic and environmental parameters of the study area, Hampyung Bay area, are converted to a GIS system-applicable format, while AHP is used to assess the relative importance level of each parameter by calculating weighting factors. After standardizing and rasterizing spatial data from various sources. the weighting factors are applied to produce the layers for each parameter. Map algebra and overlay analyses are used to create the final layer according to the decision making logic or model proposed here. Cell values of that layer could be considered as spatial alternatives. In addition to this finding, the flexibility with the weighing factors enable decision-makers to understand the procedures and alternatives in relevance with selective strategies for coastal management.

• Journal of Korea Soil Environment Society
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• v.2 no.3
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• pp.31-38
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• 1997

Temporal and spatial comparisons of acid mine drainage contaminated waters are difficult because of the complex physico-chemical nature of the pollutant. In the present study, an acid mine drainage index has been developed and evaluated for the assessment of surface waters. AMD index is calculated using a modified arithmetic weighted index using seven parameters which are most indicative of AMD contamination, i. e. pH value, sulphate, iron, zinc, aluminum, copper and manganese. Weighting is used to express the relative indicator value of each parameter. The proposed AMD index is used to quantify contamination from acid mine drainage over ten different old mine sites and assess the degree of impact on surface on surface waters. As a result of AMD evaluation, the Sukbong Mine located near the Moonkyung province showed lowest AMD value indicating the worst acid mine drainage quality. In overall, Youngdong mine sites showed higher contaimination compared to the other mine sites including Youngsuh, Choongbu, Suhbu and Nambu area.