• International Journal of Precision Engineering and Manufacturing
• /
• v.3 no.4
• /
• pp.94-100
• /
• 2002

The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.

• Proceedings of the KSME Conference
• /
• 2004.11a
• /
• pp.782-787
• /
• 2004

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. This work also proposes two effective actuating methods of the perturbation estimator: on-off condition and filtering condition. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.1
• /
• pp.165-171
• /
• 2002

The conventional sliding mode control(SMC) technique requires a priori knowledge of the upperbounds of disturbances or/and modeling uncertainties to assure robustness. This, however, may not to be easy to obtain in practical situation. This paper presents a new methodology, sliding mode control with disturbance estimator(SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system is adopted as an illustrative example, and a comparative work between the conventional technique and the present one is undertaken.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.4
• /
• pp.353-364
• /
• 2009

In this paper, a SLAM (Simultaneous Localization and Mapping) method using a single camera and planar fiducial markers is proposed. Fiducial markers are planar patterns that are mounted on the ceiling or wall. Each fiducial marker has a unique hi-tonal identification pattern with square outlines. It can be printed on paper to reduce cost or it can be painted using retro-reflective paint in order to make invisible and prevent undesirable visual effects. Existing localization methods using artificial landmarks have the disadvantage that landmark locations must be known a priori. In contrast, the proposed method can build a map and estimate robot location even if landmark locations are not known a priori. Hence, it reduces installation time and setup cost. The proposed method works good even when only one fiducial marker is seen at a scene. We perform computer simulation to evaluate proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.714-717
• /
• 1996

This paper presents a fault detection and diagnosis methodologies based on weighted symptom model and pattern matching between the coming fault propagation trend and the simulated one. At the first step, backward chaining is used to find the possible cause candidates for the faults. The weighted symptom model(WSM) is used to generate those candidates. The weight is determined from dynamic simulation. Using WSMs, the methodology can generate the cause candidates and rank them according to the probability. Secondly, the fault propagation trends identified from the partial or complete sequence of measurements are compared to the standard fault propagation trends stored a priori. A pattern matching algorithm based on a number of triangular episodes is used to effectively match those trends. The standard trends have been generated using dynamic simulation and stored a priori. The proposed methodology has been illustrated using two case studies and showed satisfactory diagnostic resolution.

• Journal of the Korean Society for Industrial and Applied Mathematics
• /
• v.13 no.3
• /
• pp.169-180
• /
• 2009

A discontinuous Galerkin method with interior penalty terms is presented for linear Sobolev equation. On appropriate finite element spaces, we apply a symmetric interior penalty Galerkin method to formulate semidiscrete approximate solutions. To deal with a damping term $\nabla{\cdot}({\nabla}u_t)$ included in Sobolev equations, which is the distinct character compared to parabolic differential equations, we choose special test functions. A priori error estimate for the semidiscrete time scheme is analyzed and an optimal $L^\infty(L^2)$ error estimation is derived.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.1068-1076
• /
• 2005

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.

• Journal of Mechanical Science and Technology
• /
• v.19 no.3
• /
• pp.913-923
• /
• 2005

The dynamic mixed model (DMM) combined with a box filter of Zang et. al. (1993) has been generalized for passive scalar transport and applied to large eddy simulation of turbulent channel flows with Prandtl number up to 10. Results from a priori test showed that DMM is capable of predicting both subgrid-scale (SGS) scalar flux and dissipation rather accurately for the Prandtl numbers considered. This would suggest that the favorable feature of DMM, originally developed for the velocity field, works equally well for scalar transport problem. The validity of the DMM has also been tested a posteriori. The results of the large eddy simulation showed that DMM is superior to the dynamic Smagorinsky model in the prediction of scalar field and the model performance of DMM depends to a lesser degree on the ratio of test to grid filter widths, unlike in the a priori test.

• Proceedings of the IEEK Conference
• /
• 1999.11a
• /
• pp.1085-1088
• /
• 1999

This paper presents a method for soccer scene analysis and coordinate transformation from scene to ground model using a priori knowledge. First, the ground and spectator regions are separated, and various objects are extracted from the separated ground region. Second, an affine model is used for mapping the object positions on the soccer image into the position on the ground model. Problems regarding holes arising from mapping processing are solved using inverse mapping instead of a usual interpolation method. Experiments are performed on a PC using about 100 RGB images acquired at 240＊640 resolution and 3∼5 frames per second.

• Communications of the Korean Mathematical Society
• /
• v.36 no.3
• /
• pp.447-463
• /
• 2021

In this paper we study the existence and long-time behavior of weak solutions to a class of quasilinear degenerate parabolic equations involving weighted p-Laplacian operators with a new class of nonlinearities. First, we prove the existence and uniqueness of weak solutions by combining the compactness and monotone methods and the weak convergence techniques in Orlicz spaces. Then, we prove the existence of global attractors by using the asymptotic a priori estimates method.