• International Journal of Advanced Culture Technology
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• v.8 no.4
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• pp.51-57
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• 2020

A propeller-based seesaw system is a system that can represent one of axis of four propeller drones and its stabilization has been replaced by intelligent control system instead of often used control methods such as PID and state space. Today, robots are increasingly use machine learning methods to adapt to their environment and learn to perform the right actions. In this article, we propose a Q-learning-based approach to control the stability of a seesaw system with a propeller. From the experimental results that it is possible to fully learn the balance control of a seesaw system by correctly defining the state of the system, the actions to be performed, and the reward functions. Our proposed method solves the seesaw stabilization.

• Advances in Energy Research
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• v.8 no.3
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• pp.145-153
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• 2022

Recent concerns about rising fuel prices and greenhouse gas emissions have focused attention on alternative energy sources, particularly in the transport sector. Transportation consumes 40% of overall fuel usage. As a result, a growing majority of researches on Electric Vehicles (EVs) and their Energy Management Systems (EMS) have been done. In order to enhance the performance and to meet the needs of drivers, more information regarding the EMS is needed. A new Energy Management System is proposed using a FOPID controller. To put the concept into practice, state equations are utilised. The fifth-order state-space model under study is a linked model with several inputs and outputs and the transfer matrices are calculated for decoupling the system. Utilizing these transfer matrices to decouple the system and FOPID controller is used to tune the system. The tuned parameters are minimized using a Particle Swarm Optimization (PSO) approach with Integral Time Absolute Error (ITAE) as the goal. When the suggested FOPID system's results are compared to those of PID-controlled systems, a sizable improvement is observed, which is explained by the results.

• Journal of the Korean association of regional geographers
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• v.15 no.5
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• pp.635-654
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• 2009

Recently, concepts of multicultural society and/or multiculturalism have been not only widely discussed across several disciplines, but also actively promoted in government's policy, as the in-flow of foreign immigrants has increased rapidly. This paper suggests the term 'multicultural space' instead of multicultural society in a sense that both international migration of immigrants and their accommodation to a certain locality presuppose a spatial dimension. This paper also points out that the term multiculturalsim should be used very carefully, because this term includes a normative character implied in a sense of recognition of ethnic and cultural diversity and difference on the one hand, and an ideological one reflected on strategic policies of capital and the state on the other. On the basis of recognition of these problems, this paper tries to reformulate spatially the concept of muticultural society which has been supposed to be constructed due to rapidly increasing foreign immigrants, emphasizing some usefulness of multi-scalar approach. It then analyzes economic and political contexts of transnational migration, providing a criticism of multiculturalism as an ideological logic of capital and the state in transnational captialism. Finally it put a stress upon importance of struggle for spaces of recognition as a new glocal ethics in the age of post-globalization.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1125-1131
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• 2011

This paper presents a control theoretic approach to realizing fault tolerance in asynchronous sequential circuits. The considered asynchronous circuit is assumed to work in space environment and is subject to faults caused by total ionizing dose (TID) effects. In our setting, TID effects cause permanent changes in state transition characteristics of the asynchronous circuit. Under a certain condition of reachability redundancy, it is possible to design a corrective controller so that the closed-loop system can maintain the normal behavior despite occurrences of TID faults. As a case study, the proposed control scheme is applied to an asynchronous arbiter implemented in FPGA.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.264-277
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• 2015

This article investigates various transcription techniques for the Legendre pseudospectral (PS) method to compare the pros and cons of each approach. Eight combinations from four different types of collocation points and two discretization methods for dynamic constraints, which differentiate Legendre PS transcription techniques, are implemented to solve a carefully selected test set of nonlinear optimal control problems (NOCPs). The convergence property and prediction accuracy are compared to provide a useful guideline for selecting the best combination. The tested NOCPs consist of the minimum time, minimum energy, and problems with state and control constraints. Therefore, the results drawn from this comparative study apply to the solution of similar types of NOCPs and can mitigate much debate about the best combinations. Additionally, important findings from this study can be used to improve the numerical efficiency of the Legendre PS methods. Three PS applications to the aerospace engineering problems are demonstrated to prove this point.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.112-121
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• 2009

This paper deals with supersonic air-breathing missile system. A supersonic air-breathing missile system has very complicated and incoherent thrust characteristics with respect to outer and inner environment during operation. For this reason, the missile system has many maneuver constraints and is allowed to operate within narrow flight envelope. In this paper, trajectory optimization of the missile is accomplished. The trajectory optimization problem is formulated as a discrete parameter optimization problem. For this formulation, Legendre Pseudo-Spectral method is introduced. This method is based on calculating the state and control variables on Legendre-Gauss-Lobatto (LGL) points. This approach helps to find approximated derivative and integration quantities simply. It is shown that, for this trajectory optimization, trend analysis is performed from thrust characteristics on various conditions so that the trajectory optimization is accomplished with fine initial guess with these results.

• Journal of KSNVE
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• v.8 no.2
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• pp.251-259
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• 1998

The motion of an aircraft landing gear over rough runway at variable speed is nonstationary. In this paper, a method for the computation of nonstationary response variance is presented which uses a state space form for the combination of landing gear and runway excitation. The dynamic characteristics of the landing gear under nonstationary random excitations has also been analyzed using the proposed method. The formulation is for linear systems of arbitrary order and allows any deterministic velocity history. It has been found by a series of simulation that correlation parameter, damping coefficients of landing gear and tire, and velocity profiles play a prominent role on the dynamic characteristics.

• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.16-23
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• 2011

In this paper, nonlinear model predictive control (NMPC) is addressed to develop formation guidance for multiple unmanned aerial vehicles. An NMPC algorithm predicts the behavior of a system over a receding time horizon, and the NMPC generates the optimal control commands for the horizon. The first input command is, then, applied to the system and this procedure repeats at each time step. The input constraint and state constraint for formation flight and inter-collision avoidance are considered in the proposed NMPC framework. The performance of NMPC for formation guidance critically degrades when there exists a communication failure. In order to address this problem, the modified optimal guidance law using only line-of-sight, relative distance, and own motion information is presented. If this information can be measured or estimated, the proposed formation guidance is sustainable with the communication failure. The performance of this approach is validated by numerical simulations.