• 제어로봇시스템학회:학술대회논문집
• /
• 1994.10a
• /
• pp.428-433
• /
• 1994

This investigates the feasibility of applying fuzzy ogic controllers to the motion tracking control of a direct drive robot manipulator to deal with highly nonlinear and time-varying dynamics associated with robot motion. A fuzzy logic controller with narrow shape of membership functions near zero and wide shape far away zero is analyzed. Simulation and experimental studies have been conducted for a 2 degree of freedom direct drive SCARA robot to evaluate control performances, Fuzzy logic controllers have shown control performances that are often better, or at least, as good as those of conventional PID controllers. Furthermore, the control performance of fuzzy logic controllers can be improved by selecting membership functions of narrow shapes near zero and wide shapes far away zero.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2260-2265
• /
• 2005

In this paper, an active vibration control of a tensioned elastic axially moving string is investigated. The dynamics of the translating string are described by a non-linear partial differential equation coupled with an ordinary differential equation. A time varying control in the form of right boundary transverse motions is proposed in stabilizing the transverse vibrations of the translating continuum. A control law based on Lyapunov's second method is derived. Exponential stability of the closed-loop system is verified. The effectiveness of the proposed controller is shown through simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.132.4-132
• /
• 2001

Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation, and the performance results of trajectory tracking were compared with that of PID control system.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.496-499
• /
• 1997

Field robot represented by excavator can be applied for various kinds of working in manufacturing, construction, agriculture etc. because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. In general, the dynamics of field robot have strong coupling, various kinds of non-linearity, and time-varying parameters according to working conditions. Therefore, it is very difficult to describe the system well, and design controller systematically based on its model. This paper established the mathematical model of field robot driven by electro-hydraulic servomechanism and constructed the adaptive control system robust to external load variations. The proposed control system for the field robot was evaluated by the computer simulation and the performance results of trajectory tracking were compared with that of PID control system.

• Journal of Industrial Technology
• /
• v.16
• /
• pp.113-121
• /
• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• Journal of Welding and Joining
• /
• v.21 no.6
• /
• pp.33-39
• /
• 2003

Wavelet transform analysis results show a spectrum energy distribution of CWT along scale factors distinguish the partial, full and over penetration in a electron beam welding by analyzing the curve of spectrum energy at small scale, middle and large scale range, respectively. Two types of signals collected by Ion collector and x-ray sensors and analyzed. The acquired signals from sensors are very complicated since these signals are very closely related the dynamics of keyhole which interact the very high density energy with materials during welding. The results show the wavelet transform is more effective to diagnosis than Fourier Transform, further for the general welding defects which are not a periodic based, but a transient, non-stationary and time-varying phenomena.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.8 no.2
• /
• pp.49-55
• /
• 2008

To address the convergence issue of power control algorithms, a number of algorithms have been developed hat shape the dynamics of up-link power control for cellular network. Power algorithms based on fixed point iterations can be accelerated by the use of various methods, one of the simplest being the use of Newton iterations, however, this method has the disadvantage which not only needs derivatives of the cost function but also may be weak to noisy environment. we showed performance of the power control schemes to solve the fixed point problem under static or stationary channel. They proved goof performance to solve the fixed point problem due to their predictor based optimal control and quadratic convergence rate. Here, we apply the proposed power control schemes to the problem of the dynamic channel or to dynamic time varying link gains. The rigorous simulation results demonstrated the validity of our approach.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.3
• /
• pp.1212-1220
• /
• 2015

This article presents a new nonlinear joint (state and parameter) estimation algorithm based on fusion of Kalman filter and randomized unscented Kalman filter (UKF), called Kalman randomized joint UKF (KR-JUKF). It is assumed that the measurement equation is linear. The KRJUKF is suitable for time varying and severe nonlinear dynamics and does not have any systematic error. Finally, joint-EKF, dual-EKF, joint-UKF and KR-JUKF are applied to a CSTR with cooling jacket, in which production of propylene glycol happens and performance of KR-JUKF is evaluated.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.796-797
• /
• 2008

This paper presents a coupling scheme of LSM(Level Set Method) and Poisson's equation to analyze the dynamic performance of electromagnetic system with moving parts. Remeshing process is necessary to analyze the dynamics of moving object using finite element method. LSM is useful for analysis of moving objects or propagating models in time varying system. In this paper, we proposed the material setting technique of mover using level set function. To validate the algorithm, we adopted the simple hinged electromagnet model with moving arm. The results of simulation are reasonable as expect.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.22 no.12
• /
• pp.1669-1680
• /
• 1998

A method is developed to include the effect of volume expansion in the description of the flame dynamics using G-equation. Line volume-source is used to represent the effect of the exothermic process of combustion with source strength assigned by the density difference between the burned and the unburned region. The present model provides good agreement with the experimental results. Including volume expansion, the flow field is adjusted to accommodate the increased volume flow rate which crossing the flame front and the result predicts the same behavior of measured velocity field qualitatively. The effect of increasing volume expansion does not change the initial growth rate of flame area but increase the residence time. Consequently this effect increases the maximum area of flame front. The flame propagation in varying flow field due to volume expansion provides a promising way to represent the wrinkled turbulent premixed flames in a numerically efficient manner.