• 융합신호처리학회논문지
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• 제10권2호
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• pp.146-150
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• 2009

An Intelligent active roll angle controller design algorithm is discussed. The detailed mathematical formulation and analysis are discussed, and then modeling and design method for active roll angle controller are presented. This paper proposes a design method based upon intelligent robust controller design algorithm to control actively roll angle for improving cornering performance problems. The intelligent robust controller is designed for steady speed driving vehicle system model with representation of steering angle and yaw angular velocity parameters for cornering stability. And the detailed formulation and analysis for the objective vehicle system are investigated.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.667-672
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• 2000

This article presents a new acceleration/deceleration method for real-time control of autonomous mobile robots. In this method, a function which produces the table of acceleration/deceleration in real-time is proposed. This function, while satisfying the basic concept of mechanics, can choose both various ranges of velocity and distance ranges for the selected velocities. Moreover it can control motors with real time. This function is convenient to be realized by programming. and it is faster than other functions because it can be made by assembly language.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.701-702
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• 2006

A novel control strategy for the induction motor drive, based on the field acceleration method, is presented. The torque is controlled through variations of the stator flux angular velocity. The stator flux is controlled by using a feed forward control scheme, with the stator flux reference vector adjusted so as to obtain the fixed rotor flux amplitude.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.187-190
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• 1997

In the past few years, many researchers are interesting of control of mobile robot with nonholonomic constraints. And tracking problems is important as well as regulation in nonholonomic system control. Some researchers have investigated the stable tracking control law for mobile robot. But, few results showed the globally asymptotically stable control method simply. So, we address the design of globally asymptotically stable tracking control law for mobile robot with nonholonomic velocity constraints using simple method. The stabilizability of the controller is derived by Lyapunov direct method. And we analyze the system responses according to the variation of control parameters in line tracking problem. It is derived that the responses represent no overshoot property in line tracking. Examples are two-wheeled mobile robot and car-like mobile robot and the simulation results represent the effectiveness of our method.

• 한국산학기술학회논문지
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• 제8권6호
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• pp.1381-1387
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• 2007

현재까지 다양한 연속적인 공정시스템은 섬유, 제지 및 인쇄 등 많은 산업응용 분야에서 사용되고 있다. 이러한 응용분야에서 공정처리를 받고 있는 제품에 가해지는 장력은 원료의 공급속도와 생산되는 제품의 방출 속도간의 속도차에 의해 변화될 수 있다 특히, 섬유공정에서 공급속도와 방출 속도간의 속도차나 관성효과에 의해 발생되는 장력변동은 제품의 품질을 저하시킬 수 있다. 따라서 섬유공정에서 이러한 요인들에 의해 발생되는 장력 변동을 적절한 방법에 의해 보상하는 것은 매우 중요한 문제이다. 본 논문에서는 이러한 문제를 해결하기 위하여 섬유공정에서 많이 사용되고 있는 환편기 시스템에서의 장력제어 문제를 다루고자 한다. 먼저 일반적인 연속공정의 권취 메커니즘에 대한 장력 관계식을 모델링한다. 다음은 환편기 시스템에서 풀림롤과 감김롤을 효율적으로 구동하기 위하여 풀림롤과 감김롤간의 속도차와 관성특성을 고려한 새로운 장력제어 방법을 제시한다. 다양한 실험을 통하여 제안된 장력제어 방법이 주어진 환편기 시스템의 공정구간에서의 장력제어 성능을 향상시킬 수 있음을 보인다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2006년도 춘계 학술발표회 논문집
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• pp.607-616
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• 2006

More strict construction control of railway roadbeds is demanded in high speed railway system because of heavier repeated dynamic loading than conventional railways. The aim of this study is to propose a compaction control methodology of crushed-rock-soil-fills including as large particles as $200\sim300mm$ in diameter, which are easily encountered in high speed railway roadbed. Field tensity evaluation and in turn compaction control of such crushed-rock-soil-fills are almost impossible by conventional methods such as in-situ density measurements or plate loading tests. The proposed method consists of shear wave measurements of compaction specimens in laboratory and in-situ measurements of fills. In other words, compaction control can be carried out by comparing laboratory and field shear wave velocities using as a compaction control parameter. The proposed method was implemented at a soil site in the beginning and will be expanded to crushed-rock-soil-fills in future. One interesting result is that similar relationship of shear wave velocity and water content was obtained as that of density and water content with the maximum value at the optimum moisture content.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.349-352
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• 1997

In this paper, we propose a new longitudinal controller of automated vehicles. The controller is designed based on a sliding control method, which is known to be robust to disturbances and modelling errors. Contrary to currently available sliding controller, a switching controller gain method is suggested. It is shown throughout simulations that the proposed controller reduces the amount of overshoot, which may derive smoother velocity tracking in a platoon.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.121-126
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• 2000

This research proposes a new advanced control method and demonstrates its realization in part. By incorporating shape machining and cutting force control at a time, this integrated scheme makes it possible to machine a desired shape and avoid the trouble of programming feedrate and spindle speed before machining and also reduce the shape error. The main idea proposed to achieve those goals consists in giving commanded path and desired cutting force at the same time. which makes it possible for position and force controller to distribute the corresponding velocity of individual axes and main spindle by an appropriate interpolation. That indicates we can replace the built-in interpolator of commercial machine tools by the developed algorithm.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.56-61
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• 2002

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing. natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

• 대한전자공학회논문지
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• 제25권6호
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• pp.598-605
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• 1988

A kinematic control method for the redundant robot manipulator is proposed, where redundancy is utilized to avoid the limit of joint positions and velocities. For the given tadk, the joint positions are obtained in such a way that each joint is placed as close to its center point as possible by considering the velocity limit. The robot is, therefore, controlled so that the joints move with the acceptable velocities and lie within the reachable ranges. To show the validities of the proposed method, two examples are illustrated by computer simulations for the RHINO-XR robot with sliding base.