• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.131-134
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• 1995

We developed a visual system that is able to track the moving objects within a certain range of errors. The visual system is driven by two DC servo motors that are controlled by a computer based on the visual data obtained from a CCD video camera. The software to track the moving objects is developed based on the PWM of the DC motors. Also, the problems how to implement a fuzzy logic control method and a neural network in this system, are also considered in order to check the control performance of tracking. The fuzzy logic algorithm is a powerful control technique for nonlinear dynamical system and also the neural network could be implemented in this system. In this paper, we present configuration of tracking system developed in our laboratory, the control methods of the visual system and the experimental results are shown.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.227-233
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• 1996

The Inverted Pendulum has been one of most popular nonlinear dynamic systems for the exploration of control techniques. This paper presents a new linear optimal control techniques and nonlinear neural network learning methods. The multiayered neural networks are used to add nonlinear effects on the linear optimal regulator(LQR). The new regulator can compensate nonlinear system uncertainties that are not considered in the LQR design, and can tolerated a wider range of uncertainties than the LQR alone. The new regulator has two neural networks for modeling and control. The neural network for modeling is used to obtain a more accurate model than the given mathematical equations. The neural network for control is used to overcome deficiencies by adding corrections to the linear coefficients of the LQR and by adding nonlinear effects on the LQR. Computer simulations are performed to show the applicability and a more robust regulator than the LQR alone.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.209-216
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• 2014

The purpose of this study was to explore the effect of 8 weeks after school classes of track sports on students' start motion through kinematic variables. 30 students in D National university of education participated for this study. These students divided into two groups, 17 students for experimental group and 13 students for control group. The two groups participated in general athletic class as common class, and the experimental group participated in after school class additionally. The general class taught track and jump skill for 3 hours a week, and the after school class taught only athletic running skill for 30 minutes a week. Pre and post test assessed to assess students' kinematic changes. Findings indicated that velocity and step rate were increased, and contact time, step length, displacement of center of mass were decreased in the experimental group. In the control group, early velocity, knee/hip angle velocity were increased, and contact time, step length, displacement of center of mass were decreased. In conclusion, the students who only participated in general class, could not maintain athletic skills obtained from the class. However, students who participated in both general and after school class accomplish athletic start skill. This is because Continuous learning effect helped students keep the skill and did not lose the skill. Thus, in order for students to learn specific sport skills, joining after school class with general class together is recommended.

• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1702-1704
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• 2005

In solar power system, the height and azimuth of the sun are important parameters which control generated power magnitude. The way that controls the daily generation magnitude according to latitude and longitude and uses two axles is often used in the existing sunlight racing system now. In this two-axle sunlight track control system the self-load is concentrated on one FRAME. It is influenced of the regular load, snow load and the wind load, etc. It is difficult to set up the system in the building already built up. This research is a development about the small-scale economy track device of independent load-dispersing type solar generation system. The position track algorithm is through calculating the trail of height and azimuthal of the sun calculation to follow the sun.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.4
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• pp.472-480
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• 2014

The In solar power system, the height and azimuth of the sun are important parameters which control generated power magnitude. The tracking method that controls the daily generation magnitude according to latitude and longitude using the two axles is often used in the existing sunlight tracking system today. In this two-axle PV track control system, the self-load is concentrated on one FRAME. It is influenced of the regular load, snow load and the wind load, etc. It is difficult to set up the system in the conventional building. This research is a development about the small-scale economy track device of independent load-dispersing solar generation system. The position tracking algorithm is through new coordinates transformation calculating the height and azimuth of the sun.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.86-88
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• 2007

In solar power system, the height and azimuth of the sun are important parameters which control generated power magnitude. The tracking method that controls the daily generation magnitude according to latitude and longitude using the two axles is often used in the existing sunlight tracking system today. In this two-axle PV track control system, the self-load is concentrated on one FRAME. It is influenced of the regular load, snow load and the wind load, etc. It is difficult to set up the system in the conventional building. This research is a development about the small-scale economy track device of independent load-dispersing solar generation system. The position tracking algorithm is through the new coordinates transformation calculating the height and azimuth of the sun.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.2-151
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• 2001

In this paper, the design of a two-degree-of-freedom(TDF) controller is proposed to track the reference model, as well as to reject an influence of measurable disturbance for descrpitor system. The TDF controllers based on the Youla parametrization reveals that the design of the feedforward controller and the regulator can be done independently. First, to solve this problem, we will change descriptor system into regular state space system using a state feedback. And then, the feedforward controller is determined by solving a full information approach for augmented system with a nominal control constraint, and the regulator is designed by means of the loop-Shaping method.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.5
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• pp.498-509
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• 2015

The existing mobile antenna networks in the military use have been operated by the manual pointing between two antennas. The work presented here describes the study of ATPC(Automatic Tracking and Pointing Control) system between facing antennas and the related tracking and pointing performances. This system is able to automatically track the maximum RSSI(Received Signal Strength Indication) value from the source's RF(Radio Frequency) signal and then control for maintaining the LOS(Line of Sight) between two antennas. The system has three major units; the driving unit consisting of motors, harmonic drives and encoders, the sensor unit with a GPS(Global Positioning System) and AHRS(Attitude and Heading Reference System) and the control unit regulating all the tracking and pointing events. By using PI(Proportional and Integral) controller, this system is able to properly track and point the other antenna under the external disturbance like the wind load. Both the simulation and the experimental works have been successively carried out to prove the performances of the system.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.