• Journal of Information Processing Systems
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• v.15 no.1
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• pp.116-126
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• 2019

In this paper, an improved one-against-one support vector machine algorithm is used to classify multiple power quality disturbances. To solve the problem of parameter selection, an improved particle swarm optimization algorithm is proposed to optimize the parameters of the support vector machine. By proposing a new inertia weight expression, the particle swarm optimization algorithm can effectively conduct a global search at the outset and effectively search locally later in a study, which improves the overall classification accuracy. The experimental results show that the improved particle swarm optimization method is more accurate than a grid search algorithm optimization and other improved particle swarm optimizations with regard to its classification of multiple power quality disturbances. Furthermore, the number of support vectors is reduced.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.191-196
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• 1993

Since the welding process is complex and highly nonlinear, it is very difficult to accurately model the process for real-time control. In this paper, a discrete-time transfer function matrix model for gas metal arc welding process is proposed. Although this linearized model is valid only around the operating point of interest, the adaptation mechanism employed in the control system render this model useful over a wide operating range. A multivariable one-step-ahead adaptive control strategy combined with a recursive least-squares method for on-line parameter estimation is implemented in order to achieve the desired weld bead geometries. Command following and disturbance rejection properties of the adaptive control system for both SISO and MIMO cases are investigated by simulation and experiment.

• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.11
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• pp.2011-2020
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• 1992

This paper discusses about real time control applying sliding mode to robot manipulators whose nonlinear terms, which are inertia term, Corilis term and centrifugal force mterm, are regarded as disturbances. We could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that non-linear terms are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode. We proposed a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear elements are regarded as disturbances. We could take impulse response of linear elements of dynamic equations of a robot manipulator and servo system by Signal Compression Method. So then, we could obtain the unknown parametes of its linear lements, which are used to obtain switching parameter satisfying sliding mode, by Signal Compression Method. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a switching speed and to carry out real time control.

• Journal of the Korea Society for Simulation
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• v.23 no.4
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• pp.41-49
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• 2014

Detection and processing techniques for small objects on seabed by the active synthetic aperture sonar can be increased the detection performance because it can be used by short sensor array in small unmanned underwater systems that are spatially constrained. But the limited conditions on constant speed and straight movement of the platform cause a large error in the number of external environmental factors and exact phase synthesis process. In this study, analyzed the applicability of active synthetic aperture processing that is mounted on such a system, and compared detection resolution change in accordance with the phase difference mismatch caused by the along track disturbance. Various simulations were performed as a coherently focus processing model by adding along track disturbance mismatched parameter on the configuring simulator. As the result, detection performance of active synthetic processing for small objects on seabed was found a number of changes by the phase difference mismatch errors according to track disturbances and S/N ratio variations.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.28-40
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• 2015

This paper aims to address the intelligent active vibration control problem of a flexible rectangular plate vibration involving parameter variation and external disturbance. An adaptive sliding mode (ASM) MIMO control strategy and smart piezoelectric materials are proposed as a solution, where the controller design can deal with problems of an external disturbance and parametric uncertainty in system. Compared with the current 'classical' control design, the proposed ASM MIMO control strategy design has two advantages. First, unlike existing classical control algorithms, where only low intelligence of the vibration control system is achieved, this paper shows that high intelligent of the vibration control system can be realized by the ASM MIMO control strategy and smart piezoelectric materials. Second, the system performance is improved due to two additional terms obtained in the active vibration control system. Detailed design principle and rigorous stability analysis are provided. Finally, experiments and simulations were used to verify the effectiveness of the proposed strategy using a hardware prototype based on NI instruments, a MATLAB/SIMULINK platform, and smart piezoelectric materials.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.1
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• pp.94-100
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• 2015

Coronal mass ejection (CME) released due to solar flare explosion cause geomagnetic disturbance. The induced current by massive geomagnetic disturbance can cause damage to the transformer. The calculated geoelectric field is a major parameter of the geomagnetically induced current (GIC). The method applying a Fourier transform has a high accuracy but it needs all data measured for 24 hours. And the other method applying a integral equation can calculate in real time but it requires to check an accuracy. To reduce the gap between the calculated results of two methods, it adjusts the integration section. As a result, the correlation between two calculated geoelectric fields is high, and the event time and direction of the calculated current is the same as that of the measured current, and it's accuracy rate is above 92 percent.

• Smart Structures and Systems
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• v.17 no.2
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• pp.167-194
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• 2016

This paper investigates the Synergetics based Damage Detection Method (SDDM) for frame structures by using surface-bonded PZT (Lead Zirconate Titanate) patches. After analyzing the mechanism of pattern recognition from Synergetics, the operating framework with cooperation-competition-update process of SDDM was proposed. First, the dynamic identification equation of structural conditions was established and the adjoint vector (AV) set of original vector (OV) set was obtained by Generalized Inverse Matrix (GIM).Then, the order parameter equation and its evolution process were deduced through the strict mathematics ratiocination. Moreover, in order to complete online structural condition update feature, the iterative update algorithm was presented. Subsequently, the pathway in which SDDM was realized through the modified Synergetic Neural Network (SNN) was introduced and its assessment indices were confirmed. Finally, the experimental platform with a two-story frame structure was set up. The performances of the proposed methodology were tested for damage identifications by loosening various screw nuts group scenarios. The experiments were conducted in different damage degrees, the disturbance environment and the noisy environment, respectively. The results show the feasibility of SDDM using piezoceramic sensors and actuators, and demonstrate a strong ability of anti-disturbance and anti-noise in frame structure applications. This proposed approach can be extended to the similar structures for damage identification.

• Wind and Structures
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• v.24 no.3
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• pp.205-221
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• 2017

The unsteady flow field disturbance between the blades and tower is one of the primary factors affecting the aerodynamic performance of wind turbine. Based on the research object of a 3MW horizontal axis wind turbine which was developed independently by Nanjing University of Aeronautics and Astronautics, numerical simulation on the aerodynamic performance of wind turbine system in halt state with blades in different position was conducted using large eddy simulation (LES) method. Based on the 3D unsteady numerical simulation results in a total of eight conditions (determined by the relative position with the tower during the complete rotation process of the blade), the characteristics of wind pressure distributions of the wind turbine system and action mechanism of surrounding flow field were analysed. The effect of different position of blades on the aerodynamic performance of wind turbine in halt state as well as the disturbance effect was evaluated. Results of the study showed that the halt position of blades had significant effect on the wind pressure distribution of the wind turbine system as well as the characteristics of flow around. Relevant conclusions from this study provided reference for the wind-resistant design of large scale wind turbine system in different halt states.

• Journal of Power Electronics
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• v.5 no.2
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• pp.129-141
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• 2005

A high-performance robust hybrid speed controller for a permanent-magnet synchronous motor (PMSM) drive with an on-line trained neural-network model-following controller (NNMFC) is proposed. The robust hybrid controller is a two-degrees-of-freedom (2DOF) integral plus proportional & rate feedback (I-PD) with neural-network model-following (NNMF) speed controller (2DOF I-PD NNMFC). The robust controller combines the merits of the 2DOF I-PD controller and the NNMF controller to regulate the speed of a PMSM drive. First, a systematic mathematical procedure is derived to calculate the parameters of the synchronous d-q axes PI current controllers and the 2DOF I-PD speed controller according to the required specifications for the PMSM drive system. Then, the resulting closed loop transfer function of the PMSM drive system including the current control loop is used as the reference model. In addition to the 200F I-PD controller, a neural-network model-following controller whose weights are trained on-line is designed to realize high dynamic performance in disturbance rejection and tracking characteristics. According to the model-following error between the outputs of the reference model and the PMSM drive system, the NNMFC generates an adaptive control signal which is added to the 2DOF I-PD speed controller output to attain robust model-following characteristics under different operating conditions regardless of parameter variations and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed 200F I-PD NNMF controller. The results confirm that the proposed 2DOF I-PO NNMF speed controller produces rapid, robust performance and accurate response to the reference model regardless of load disturbances or PMSM parameter variations.