• 대한전기학회:학술대회논문집
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• 대한전기학회 1979년도 하계 전자.전기연합학술발표회논문집
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• pp.119-120
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• 1979

A linear state equation of the first order differential form relating the load-frequency dynamic characteristics of interconnected power systems was derived for use in computer simulation. A now solution of the algebraic matrix riccati equation for application in quadratic optimal controllor and least-square state estimator dermination was developed. The program for a dynamic state equation for two interconnected control areas was developed. The optimized load-frequency deviation was analysed and a numerical analysis was tried based on the computer simulation. It was shown that the dynamic response of th loed-frequency could be optimized with weighting factors IR and Q. The result was that the load-frequency and the tie-line deviation were visibly reduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1769-1775
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• 2004

In presence of collision between two rigid bodies, they exhibit impulsive behavior to generate physically feasible state. When the frictional impulse is involved, collision resolution can not be easily made based on a simple Newton's law or Poisson's law, mainly due to possible change of collision mode during collision, For example, sliding may change to sticking, and then sliding resumes. We first examine two conventional methods: the method of mode evolution by differential equation, and the other by linear complementarity programming. Then, we propose a new method for mode evolution by solving only algebraic equations defining mode changes. Further, our method attains the original nonlinear impulse cone constraint. The numerical simulation will elucidate the advantage of the proposed method as an alternative to conventional ones.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.197-201
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• 1993

A method for the closedloop control of the torsional tip motion of a piezo-polymer actuator is presented. The application of Lyapunov's direct, method to the problem is explored. A feedback control of the torsional tip motion of tile piezopolymer actuator is derived by considering tile time rate of change of the total energy of the system. If the angular velocity of the tip of the actuator is known, all the modes of tile actuator can be controlled simultaneously. This approach has tile advantage over the conventional methods in the respect that it allows one to directly with tile system's partial differential equations without resorting to approximations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.132-137
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• 1993

In this paper, a fish drying process control system is proposed, which predicts the proper change with time in weight of the material fish and the drying conditions in advance, based on the performance of skilled worker. In order to implement a human expertise into an automated fish drying process control system, an experimental analysis is made and a model for the process is built. The proposed system divided into two procedures: The procedure before drying and the one during drying. The procedure before drying is for the prediction of necessary drying time. To estimate the necessary drying time, first, the proper change in weight for the product is obtained by using fuzzy reasoning. The condition part of the production rule consists of the factors of fish body and the expected degree of dryness. Kext, the necessary drying time is obtained by regression models. The variables employed in the models are the factors, inferred change in weight and drying conditions. The model for the procedure during drying is also proposed for more accurate estimation, which is described by a system of linear-differential equations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.113-118
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• 1993

This paper represents mechanical compliance & ZMP(Zero Moment Point) control algorithm for IWR(Inha Walking Robot) system. In case of walking in different environments, a biped walking robot must vary its gait(walking period or step length, etc.) according to the environments. However, most of biped walking robots do not have the capability to change their gaits or need more complex control algorithm, because ZMP cannot be defined in their control algorithm. Therefore new linear type with balancing joint is proposed which is used as an aid in balancing & ZMP control itself. In IWR system, ZMP can be defined by solving differential equations and it does not need to be predefined ZMP trajectory. Furthermore we can input the desired ZMP position. In parallel with the development, we also considered a mechanical compliance for reducing the inverse kinematics, dynamics and the control complexity. It will figure out some powerful adaptation with 3D irregular terrains.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.379-384
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• 1994

In this paper, a fish-drying control method is proposed, which utilizes prediction of proper change in- weight of material fish based on skilled worker's performance. The function of the proposed system is largely broken down into two procedures: The procedure before drying and the one during drying. The procedure before drying is the determination of necessary drying conditions and the required drying time. Required drying time and proper changes in weight for a specific product are obtained by using fuzzy inference and regression models. The procedure during drying is the prediction of the state of material at the end of drying, or the state of product and regulation of drying conditions to attain the prescribed goal before drying. The prediction of product is obtained by using a set of linear-differential equations obtained by the authors' previous work. Drying conditions are regulated by using fuzzy inference. A good agreement between the results of simulation and experiments is obtained, which implies the usefulness of the present control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.95-99
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• 1994

Robot engineering is developed mainly in the field of intelligibility such as a manipulation. Considering the popularization of robots in the future, however, a robot should be studied from a viewpoint of saving energy because a robot is a kind of machine with a energy conversion. This paper deals with minimizing an energy consumption of a manipulator which is driven in a point-to-point control method. When a manipulator carries a heavy payload toward gravitation or the links are de-accelerated for positioning, the motors at joints generate electric energy. Since this energy can be regenerated to the source by using a chopper, the energy consumption of a manipulator is only heat loss by an electric and a frictional resistance of the motors. The minimization of the sum of these losses is reduced Lo a two-points boundary-value problem of an non-linear differential equation. The solutions are obtained by the generalized Newton-Raphson method in this paper. The energy consumption due to the optimum angular velocity patterns of two joints of a two-links manipulator is compared with conventional velocity patterns such as quadratic and trapezoid.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1185-1188
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• 1996

In this paper we present a genetic approach for trajectory control algorithm of balancing weight for IWR biped walking robot. The biped walking robot, IWR that was made by Automatic Control Lab. of Inha University has a trunk which stabilizes its walking by generating compensation moment. Trunk is composed of a revolute and a prismatic joint which roles balancing weight. The motion of balancing weight is determined by the gait of legs and represented by two linear second order ordinary differential equations. The solution of this equation must satisfy some constraints simultaneously to have a physical meaning. Genetic algorithm search for this feasible motion of balancing weight under some constraints. Simulation results show that feasible motion of balancing weight can be obtained by genetic algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.444-447
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• 1995

The satellite in a circular orbit about a planet with disturbances and a three-degree-of-freedom (3DOF) structure under seismic excitations are modeled by the linear stochastic differential equations. Then the risk-sensitive optimal control method is applied to those equations. The mean and the variance of the cost function varies with respect to the risk-sensitivity parameter, .gamma.$_{RS}$ . For a particular risk-sensitivity parameter value, risk-sensitive control reduces to LQG control. Furthermore, the derivation of the mean square value of the state and control action are given for a finite-horizon full-state-feedback risk-sensitive control system. The risk-sensitive controller outperforms a classical LQG controller in the mean square sense of the state and the control action.

• 대한수학회지
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• 제47권1호
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• pp.165-187
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• 2010

We introduce two numerical schemes for solving a system of ordinary differential equations which characterizes several kinds of linear reactions and diffusion from biochemistry, physiology, etc. The methods consist of sequential applications of the simple exact solver for a reversible reaction. We prove absolute stability and convergence of the proposed explicit methods. One is of first order and the other is of second order. Numerical results are included.