• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.431-431
• /
• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Journal of Biomedical Engineering Research
• /
• v.11 no.1
• /
• pp.1-4
• /
• 1990

An implementation scheme of the magnetic nerve stimulator using a switching mode power supply is proposed. By using a switching mode power supply rather than a conventional linear power supply for charging high voltage capacitors, the weight and size of the magnetic nerve stimulator can be considerably reduced. Maximum output voltage of the developed magnetic nerve stimulator using the switching mode power supply is 3,000 volts and switching time is about 100 msec. Experimental results or human nerve stimulations using the developed stimulator are presented.

• Journal of the Korean Society of Industry Convergence
• /
• v.2 no.2
• /
• pp.165-172
• /
• 1999

Crane operation for transporting heavy loads causes swinging motion at the loads. This sway causes the suspension ropes to leave their grooves and leads to possibility of serious damages. Generally crane is operated by expert's knowledge. Therefore, a satisfactory control method to supress object sway during transport is indispensible. The dynamic behavior of the crane shows nonlinear characteristics. when the length of the rope is changed the crane is time varying system and the design of anti-sway controller is very difficult. In this paper, the nonlinear dynamic model for the industrial overhead crane is derived. and the feedback gain matrix based on the pole-placement method is proposed to supress the swing motion and control the position of the crane. The performance of the controller for the crane model is simulated on the personal computer.

• Agribusiness and Information Management
• /
• v.4 no.2
• /
• pp.32-41
• /
• 2012

Studies have shown that the future of the wine market rests on the effective and efficient changes in technology to the supply chain used by most of the major global players. In today's wine industry, companies are faced with the ever-shifting demand for their products, strict regulation and increasing price competition. Even at that, mature companies in the wine industry are succeeding by scaling up production, streamlining their supply chains, expanding into new geographic areas, implementing more efficient processes, cleverly marketing products, and focusing on ever closer relationships with suppliers, partners and customers. However, this paper looks at supply chain challenges in the wine industry from a global perspective presented in the inbound, manufacturing and outbound processes as well as offer effective solutions in order for companies to gain a competitive advantage and succeed on a global level.

• 한국정보디스플레이학회:학술대회논문집
• /
• 2005.07a
• /
• pp.289-292
• /
• 2005

New poly-Si TFTs have been proposed and fabricated in order to increases the output channel resistance ($r_o$). The counter-doped($p^+$) source is tied to the $n^+$ source and is extended into the channel region so that it employs the reverse bias depletion in the channel. As $V_{DS}$ is increased, the depletion width is increased and the effective channel width is reduced. Therefore, the output current saturates well and the $r_o$ is increased successfully. The proposed CMOS devices may improve the amplifier gain of data driver in active-matrix displays

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.3
• /
• pp.753-762
• /
• 1996

In this paper, aperture coupled stacked microstrip array antennas are proposed and their operating characteristics are analyzed based on analytical. In order to evaluate mutual coupling between slot-coupled microstrip patches in finite array, analysis uses the reciprocity theorem and the spectral domain Green's functions for dielectric slab in a moment method solution for the unknown patches and solts current distrbution. By introducing an N-port equivalent network, the impedance matrix of an affay of N-element slot-coupled patches is evaluated directly from its network current matix of order N$^{2}$, and it can be programmed to be run on a PC. Numerical results show mutual coupling, radiation pattern, active reflection coefficient versus scan angle, radiation efficiency and active element gain pattern.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.7
• /
• pp.557-568
• /
• 1989

Using Power Spectrum Analysis, conditions of parameter convergence for a Model Reference Adaptive Control (MRAC) system are described. The general Persistent Excitation (PE) condition given in time domain can be transformed to the positiveness of auto-correlation matrix which is represented in frequency domain by the spectra of reference input signal. For an MRAC system designed with relative degree one, the existence and the uniqueness of parameter nominal values due to the variation of input spectra can be analyzed by the PE condition in frequency domain. If the input signal has 2n spectra or more, it can be shown that the nominal values exist independent of adaptive gain, input amplitudes, and magnitudes or numbers of their spectra.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.9 no.1
• /
• pp.95-102
• /
• 2013

This paper covers nulling algorithm. In this algorithm, we assume that nulling points are already known. In general, nulling algorithm using matrix equation was utilized. But, this algorithm is pointed out that computational complexity is disadvantage. So, we choose gradient method to reduce the computational complexity. In order to further reduce the computational complexity, we propose approximate gradient method using characteristic of trigonometric functions. The proposed method has same performance compared with conventional method while having half the amount of computation when the number of antenna and nulling point are 20 and 1, respectively. In addition, we could virtually eliminate the trigonometric functions arithmetic. Trigonometric functions arithmetic cause a big problem in actual implementation like FPGA processor(Field Programmable gate array). By utilizing the above algorithm in a multi-cell environment, beamforming gain can be obtained and interference can be reduced at same time. By the above results, the algorithm can show excellent performance in the cell boundary.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.232-235
• /
• 2008

This paper presents an LMI-based method to design reduced order observers by which we can substitute full order sliding mode observers for a class of uncertain time-delay systems. We show that a reduced order observer can be constructed as long as the uncertain system satisfies the previous LMI existence conditions of a full order sliding mode observer. And we give explicit formulas of the reduced order observer gain matrices. Finally, we give a simple LMI-based design algorithm, together with a numerical design example.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.4
• /
• pp.191-200
• /
• 2000

In practical applications, we frequently encounter the actuator nonlinearity in control systems, and its representative nonlinearity is saturation. A controller designed without considering this saturation nonlinearity is often a source of degradation of performance. To treat the saturation nonlinearity more efficiently, we adopt the multiplicative decomposition and the additive decomposition. Based on these decompositions, we present two controller design methods in the LMI(Linear Matrix Inequality) form that guarantee the L2 gain, from the disturbance to the measured output, is less than or equal to a given value. Finally, we give two examples to show the applicability and usefulness of our results.