• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.265-270
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• 1998

In this paper we introduce a modeling of wheeled mobile robot with a differential drive derived by R.M. DeSantis and using the dynamics model-ing with some disturbance term we control the wheeled mobile robot using fuzzy sliding mode control(FSMC) method. In a fuzzy control approach it is very difficult to prove the stability of the fuzzy controller. Therefore, to overcome that difficult proof of the stability in a fuzzy control method, we first propose a sliding mode controller and prove the stability of the proposed controller. Next, transforming the proposed sliding mode controller into a fuzzy sliding mode controller without changing the basic structure of the sliding mode con-troller, we easily obtain a fuzzy sliding mode con-troller(FSMC) whose stability is guaranteed with-out difficult stability proof procedure of the proposed FSMC.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.141-146
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• 1998

This paper presents a scheme to actively control the vertical vibration of aerial vehicles due to the disturbances such as the sudden change of derricking angle and the external forces by using a small plunger attached to the derricking cylinder. Simulations show that the 1st mode vibration is suppressed efficiently by the proposed method without exciting the higher modes' vibration. Detailed mathematical model of the aerial vehicle, its vibration characteristics, detection method of the 1st mode vibration and the controller design based on the lag-element and the disturbance observer are described.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.151-156
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• 1998

In this paper, we present new control method for robot manipulators. The design objective can be the implementation of minimax controller with H$_{\infty}$ performance via LMI approach to guarantee the robustness and to obtain the exact tracking performance for robot manipulators with system parameter uncertainty and exogenous disturbance. We show that the Algebraic Riccati equation (ARE) which is needed for the construction of H$_{\infty}$ controller can be recast into the Algebraic Riccati Inequality (ARI) and the optimal control gain can be obtained by convex optimization method. Then, we will apply the proposed controller to rigid robot manipulators for verifying the performance of our controller.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.395-400
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• 1998

A design of PIDA (Proportional-Integral-Derivative-Acceleration) controller for the third-order plant using the CDM (Coefficient Diagram Method) is presented. Using CDM, the closed-loop system with the designed PIDA controller can be made stable and satisfied both transient and steady state response specifications without any adjustment. The effect of output step disturbance can also be lastly rejected. The fast step response of the controlled system can be achieved by reducing the equivalent time constant. The MATLAB's simulation results show that the performances of the designed controlled system using CDM is better than the performances of the controlled system using PIDA controller designed by its own technique.

• Journal of the Korean Geophysical Society
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• v.6 no.2
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• pp.79-87
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• 2003

An in-situ four-electrode contact resistivity probe system was designed, and field-tested in submarine sediments. Seismic survey was also performed to support and compare the results of electric survey. The probe was designed to be driven to selected depths below the seafloor using a Vibracore system. The four insulated electrodes were, spaced equidistant across the wedge, were extended beyond the probe tip to minimize effects of sediment disturbance by the wedge insertion. In-situ measurements of resistivity were recorded on board by precision electronic equipment consisting of signal generators and processors, and by temperature- monitoring systems. Overall limits of uncertainty at respective depths below the seafloor are up to ±10% of the measured values. Best estimates of conductivity are considered to be ±3 percent of the reported values. Resistivity measurements were made at six sites in carbonate sediments to a maximum depth of penetration of about 5 m. Average values of conductivity range between 0.88 and 1.21 mho/m. The results show the seabed is composed of alternating layers of relatively high-conductivity material (0.8 to 1.4 mho/m) in thicknesses of more or less one meter and layers about 30 cm thick having relatively low conductivities (0.4 to 0.8 mho/m).

• Journal of the Korea Safety Management & Science
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• v.7 no.2
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• pp.141-151
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• 2005

EPC seeks to minimize variability by transferring the output variable to a related process input(controllable) variable, while SPC seeks to reduce variability by detecting and eliminating assignable causes of variation. In the case of product control, a very reasonable objective is to try to minimize the variance of the output deviations from the target or set point. We consider an alternative EPC model with second-order autoregressive disturbance. We compare three control systems; EPC, EPC combined with EWMA. This paper shows through simulation that tlhe performance of the integrated model of EPC and EWMA is more preferable than that of EPC.

• Animal cells and systems
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• v.2 no.2
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• pp.209-216
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• 1998

The invasion of Ambrosia artemisiifolia in the Ukrainian Carpathians Mts. and the Transcarpathian Plain in Central Europe was reconstructed on the basis of floristic records. The first spontaneous occurrence was dated from the beginning of the 1940s. Within the next 55 year period, the distributional spread speed of the species was of 67.6 $km^2/y$ (by the average data). The occupied area by A. artemisiifolia in the range of the studied areas is about $3716.5km^2$ now. The features of behavior of the invader and the habitat preference were determined. The frequency of occurrence by sociologic-ecological classification was carried out. The generalized model of correlations among the gravitation, the active temperature sum and the disturbance gradients and the frequency of occurrence of the species was presented. The scheme of the invasion stages of A. artemisiifolia is reflected in the population status changes of the species during the areal dynamics.

• Journal of Ocean Engineering and Technology
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• v.14 no.2
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• pp.7-12
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• 2000

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.5
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• pp.657-663
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• 2012

Recently, by increasing of devices which are sensitive to power quality, the deterioration of power quality has been accelerated. For this reason, the social and economic losses are increased. So not only correct measurement and evaluation, but also countermeasure for improvement of power quality is surely necessary for both electric power supplier and consumer. In this paper, the discrimination algorithm for events and variation occurred in distribution systems using S-transform is proposed. Firstly, we review for events and variations that occur in distribution system. Next, we simulate events and variations on various conditions using ElectroMagnetic Transient Program(EMTP). For the simulation, the IEEE 13 Node Test Feeder and KEPCO's distribution system is modeled. Finally, for the analysis, a modified wavelet transform known as S-transform is adopted to find out the characteristics of each events and variations.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1037-1041
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• 1996

Input-output linearization technique in nonlinear control does not guarantee the robustness in the presence of parameter uncertainty or unmodeled dynamics, etc. However, it has been used as an important preliminary step in achieving additional control objectives, for instance, robustness to parameter uncertainty and disturbance attenuation. An indirect adaptive control scheme based on input-output linearization is proposed in this paper. The scheme consists of a Hopfield network for process parameter identification and an adaptive sliding mode controller based on input-output linearization, which steers the system response into a desired configuration. A numerical example is presented for the trajectory tracking of uncertain nonlinear dynamic systems with slowly time-varying parameters.