• Smart Structures and Systems
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• v.32 no.6
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• pp.359-369
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• 2023

Servo-motor driven uniaxial shake tables have been widely used for education and research purposes in earthquake engineering. These shake tables are mostly displacement-controlled by a digital proportional-integral-derivative (PID) controller; however, accurate reproduction of acceleration time histories is not guaranteed. In this study, a control strategy is proposed and verified for uniaxial shake tables driven by a servo-motor. This strategy incorporates a deep-learning algorithm named Long Short-Term Memory (LSTM) network into a displacement PID feedback controller. The LSTM controller is trained by using a large number of experimental data of a self-made servo-motor driven uniaxial shake table. After the training is completed, the LSTM controller is implemented for directly generating the command voltage for the servo motor to drive the shake table. Meanwhile, a displacement PID controller is tuned and implemented close to the LSTM controller to prevent the shake table from permanent drift. The control strategy is named the LSTM-PID control scheme. Experimental results demonstrate that the proposed LSTM-PID improves the acceleration tracking performance of the uniaxial shake table for both bare condition and loaded condition with a slender specimen.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.49-55
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• 2012

Asynchronous counters, where the counter value is changed not by a synchronizing clock but by outer inputs, are used in various modern digital systems such as spaceborne electronics. In this paper, we propose a scheme of fault tolerance for asynchronous counters with critical races caused by total ionizing dose (TID) in space. As a typical design flaw of asynchronous digital circuits, critical races cause an asynchronous circuit to show non-deterministic behavior, i.e., the next stable state of a state transition is not a fixed value but may be any value of a state set. Using the corrective control scheme for asynchronous sequential machines, this paper provides an existence condition and design procedure for a state feedback controller that can invalidate the effect of critical races. We implement the proposed control system in VHDL code and conduct experiments to demonstrate that the proposed control system can overcome critical races.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.746-753
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• 2008

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.2
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• pp.186-193
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• 2002

A new integrated torque and speed control algorithm has been proposed for the load balancing of rollers in continuous strip processing line(CSPL). Using the proposed method, the output torque and speed can be controlled to follow the reference in spite of nonideal effects such as the speed reference error and/or the controller gain difference between rolls. This new algorithm can be easily implemented in a motor drive system of each roll as it does not require the torque feedback of the others. Through the simulation and experiments for a simple CSPL consists of four driven rolls, the load balancing performance of the proposed scheme is presented and compared with that of conventional method.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1223-1229
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• 2007

Flow traveling over a cavity opening forms a vortex due to unstable shear layer and induces an aerodynamic pressure excitation from the diffusion of the vortex convecting out of the trailing edge of the opening. The interaction between the excitation force and the cavity response sustains resonance in the resonator(cavity) and locked-in vortex shedding at the leading edge of the opening. The aerodynamic excitation force can be described from the diffusion of the vortex over the trailing edge and the level of its diffusivity is related to the strength of vorticity seeded at the leading edge. In this study, the control scheme of the internal pressure oscillation was proposed from regulating the vorticity at the leading edge by use of an oscillating spoiler. It was found that the relative motion between the spoiler and the air mass at the cavity opening influenced vorticity strength and the control was achieved by direct feedback of the cavity pressure fluctuation to the actuator.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.68-73
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• 2000

This paper addresses the analysis and design of fuzzy control systems for a class of complex nonlinear systems. Firstly, the nonlinear system is represented by Takagi-Sugeno(TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller is composed of two processes. One is to determine the static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative methods for the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method, the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. A numerical simulation example is given to show the effectiveness and feasibiltiy of the proposed fuzzy controller design method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.2
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• pp.387-393
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• 2017

This paper focuses on a horizontal waypoint tracking and a speed control of large diameter unmanned underwater vehicles (LDUUVs) with X-stern configuration plane. The concerned design problem is converted into an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. It is proved that the error dynamics under the proposed control scheme based on the linear control and the feedback linearization can be considered as a cascade system; the cascade system is asymptotically stable if its nominal systems are so. This stability connection enables to separately deal with the waypoint tracking problem and the speed control one. By using the sector nonlinearity, the nominal system with nonlinearities is modeled as a polytopic linear parameter varying (LPV) system with parametric uncertainties. Then, sufficient linear matrix inequality (LMI) conditions for its asymptotic stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to show the validity of the proposed methodology.

• Journal of Communications and Networks
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• v.18 no.5
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• pp.846-856
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• 2016

Wireless sensor networks (WSNs) are widely applied in monitoring and control of environment parameters. It is sometimes necessary to disseminate data through wireless links after they are deployed in order to adjust configuration parameters of sensors or distribute management commands and queries to sensors. Several approaches have been proposed recently for data dissemination in WSNs. However, none of these approaches achieves both high efficiency and low complexity simultaneously. To address this problem, cluster-tree based network architecture, which divides a WSN into hierarchies and clusters is proposed. Upon this architecture, data is delivered from base station to all sensors in clusters hierarchy by hierarchy. In each cluster, father broadcasts data to all his children with instantly decodable network coding (IDNC), and a novel scheme targeting to maximize total transmission gain (MTTG) is proposed. This scheme employs a new packet scheduling algorithm to select IDNC packets, which uses weight status feedback matrix (WSFM) directly. Analysis and simulation results indicate that the transmission efficiency approximate to the best existing approach maximum weight clique, but with much lower computational overhead. Hence, the energy efficiency achieves both in data transmission and processing.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.4
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• pp.891-898
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• 2014

The DVC (Distributed Video Coding) provides a theoretical basis for the implementation of light video encoder. Conventionally, lots of studies have been focused on the codec scheme of Stanford University that has a feedback channel to control the bit rate finely. However, the codec scheme can not evaluate the qualities of the frames reconstructed by the received parity bits at the decoder side. This paper presents an efficient method of estimating distortion by correcting the virtual channel noises in side information and then facilitating the measurements of the visual qualities. Through several simulations, it is shown that the proposed method is very efficient in estimating the visual qualities of the reconstructed WZ frames.