• 대한전기학회논문지:시스템및제어부문D
• /
• 제55권3호
• /
• pp.91-97
• /
• 2006

A major difficulty with the practical application of the multiple observer based IFDI schemes is the computational burden of the residual generation. In this paper, a new residual generator that employs function observers is proposed to reduce the computational burden, and the design methods of the IFDIS, equipped with the residual generator, are presented. The function observers employed in the residual generator can be considered as a dual of the unknown input (function) observer And it can be designed to estimate the measurement errors that are due to sensor faults. The error estimates are further processed to generate the residuals by which reliable fault detection/isolation result car be obtained. The proposed scheme is more useful, in real-time application, than any other multiple state observer based IFDISs. It can be effectively applied to fault tolerant control because the failure effects can be compensated by the use of the estimates of measurement errors. The proposed IFDI scheme is applied to an inverted pendulum control system for the IFDI of failed sensor and fault compensation.

• Imaging Science in Dentistry
• /
• 제51권2호
• /
• pp.129-136
• /
• 2021

Purpose: This study investigated the effects of 1 year of training on imaging diagnosis, using static ultrasonography (US) salivary gland images of Sjögren syndrome patients. Materials and Methods: This study involved 3 inexperienced radiologists with different levels of experience, who received training 1 or 2 days a week under the supervision of experienced radiologists. The training program included collecting patient histories and performing physical and imaging examinations for various maxillofacial diseases. The 3 radiologists (observers A, B, and C) evaluated 400 static US images of salivary glands twice at a 1-year interval. To compare their performance, 2 experienced radiologists evaluated the same images. Diagnostic performance was compared between the 2 evaluations using the area under the receiver operating characteristic curve (AUC). Results: Observer A, who was participating in the training program for the second year, exhibited no significant difference in AUC between the first and second evaluations, with results consistently comparable to those of experienced radiologists. After 1 year of training, observer B showed significantly higher AUCs than before training. The diagnostic performance of observer B reached the level of experienced radiologists for parotid gland assessment, but differed for submandibular gland assessment. For observer C, who did not complete the training, there was no significant difference in the AUC between the first and second evaluations, both of which showed significant differences from those of the experienced radiologists. Conclusion: These preliminary results suggest that the training program effectively helped inexperienced radiologists reach the level of experienced radiologists for US examinations.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2008년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.213-214
• /
• 2008

This paper considers design of a robust controller that alleviates disturbance effects and compensates performance degradation of plants with time-delay. Disturbance observer(DOB) approach as a tool of robust control has been widely employed in industry. However, since the time-delay makes the plant non-minimum phase, classical DOB cannot be applied directly to the time-delay system. By using a new DOB structure for non-minimum phase systems together with the Smith Predictor, we propose a new control algorithm for reducing the effects of disturbance and time-delay of the system.

• 전기학회논문지
• /
• 제59권6호
• /
• pp.1179-1185
• /
• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• Imaging Science in Dentistry
• /
• 제47권2호
• /
• pp.109-115
• /
• 2017

Purpose: The aim of this study was to assess the ex vivo diagnostic ability of 9 different cone-beam computed tomography (CBCT) settings in the detection of recurrent caries under amalgam restorations in primary teeth. Materials and Methods: Fifty-two primary teeth were used. Twenty-six teeth had dentine caries and 26 teeth did not have dentine caries. Black class II cavities were prepared and restored with amalgam. In the 26 carious teeth, recurrent caries were left under restorations. The other 26 intact teeth that did not have caries served as controls. Teeth were imaged using a $100{\times}90-mm$ field of view and a 0.2-mm voxel size with 9 different CBCT settings. Four observers assessed the images using a 5-point scale. Kappa values were calculated to assess observer agreement. CBCT settings were compared with the gold standard using a receiver operating characteristic analysis. The area under the curve (AUC) values for each setting were compared using the chi-square test, with a significance level of ${\alpha}=.05$. Results: Intraobserver kappa values ranged from 0.366 to 0.664 for observer 1, from 0.311 to 0.447 for observer 2, from 0.597 to 1.000 for observer 3, and from 0.869 to 1 for observer 4. Furthermore, interobserver kappa values among the observers ranged from 0.133 to 0.814 for the first reading and from 0.197 to 0.805 for the second reading. The highest AUC values were found for setting 5 (0.5916) and setting 3 (0.5886), and were not found to be statistically significant(P>.05). Conclusion: Variations in tube voltage and tube current did not affect the detection of recurrent caries under amalgam restorations in primary teeth.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1796-1799
• /
• 1997

This thersis presents precise position control emthods of a 3-PRPS in-parallel manipulator for industrial applications such as assembly of highly integrated semiconductors and microsurgery. Since real-time ontrol is one of the most important issues required for industrial application, the experimental hardware is set up with a VME based DSP controller. In the 3-PRPS parallel mainpulator, structurally existing frictiion at three horizontal links considerably degrades the precise position control. In order to compensate the friction of the horizontal links in the joint space, a disturbance compensation usign disturbance and velocity observers has been proposed and investigated. We analyzed the decision method of eigenvalues of the disturbance observer and the effects of the control resulted form tehsystem model errors. Through a series of simulations and experiments, we see that the methods is capable of compensating variations of the robot parameters such as inertia and damping as well as the joint friction. Experiments show that the disturbance compensation method usign disturbance and velocity observer is very effective to compensate the friction. Compared with conventional PID position control, it decreased position errors ina circular motion by approximately 70%.

• 한국정밀공학회지
• /
• 제19권6호
• /
• pp.51-61
• /
• 2002

A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

• 한국안전학회지
• /
• 제21권4호
• /
• pp.25-32
• /
• 2006

LonWorks over IP(LonWorks-IP) virtual device network(VDN) is an integrated form of LonWorks device network and IP data network. In especially real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. The time delay in servo control on LonWorks-IP based VDN has highly stochastic nature. LonWorks-IP based VDN induced transmission delay deteriorates the performance and stability of the real-time distributed control system and can't give an effective preventive and predictive maintenance. In order to guarantee the stability and performance of the system, and give an effective preventive and predictive maintenance, LonWorks-IP based VDN induced time-varying uncertain time delay needs to be predicted and compensated. In this paper new Pill control scheme based on Smith predictor, disturbance observer and band pass filter is proposed and tested through computer simulation about position control of DC servo motor. It is shown that how can the proposed control scheme be designed to minimize the effects of uncertain varying time delay and model uncertainties. The validity of the proposed control scheme is compared and demonstrated with the comparison of internal model controllers(IMC) based on Smith predictor with and without disturbance observer.

• 제어로봇시스템학회논문지
• /
• 제14권1호
• /
• pp.88-94
• /
• 2008

In this paper, a design method of a missile guidance command is presented considering the dynamics of missile control systems. The design of a new guidance command is based on the well-known PNG(propotional navigation guidance) laws. The missile control system dynamics cause the time-delays of the PN guidance command and degrade the performance of original guidance laws which are designed under the assumption of the ideal missile control systems. Using a backstepping method, these time-delay effects can be compensated. In order to implement the guidance command developed by the backstepping procedure, it is required to measure or calculate the successive time-derivatives of the original guidance command, PNG and other kinematic variables such as the relative distance. Instead of directly using the measurements of these variables and their successive derivatives, a simple disturbance observer technique is employed to estimate a guidance command described by them. Using Lyapunov method, the performance of a newly developed guidance command is analyzed against a target maneuvering with a bounded and time-varying acceleration.

• 한국산학기술학회논문지
• /
• 제6권1호
• /
• pp.37-47
• /
• 2005

본 논문은 외란 제거 제어기의 실제적인 설계와 구현방법을 제안한다. 2 DOF 구조에서는 외란 제거의 성능은 순 방향 루프 제어기의 고 이득 없이 개선될 수 있다. 그러나, 2 DOF의 설계 방법이 2 DOF 수학적인 이론에 근거하기 때문에 다양한 응용 분야의 사용이 쉽지 않았다. 외란 관측기(Disturbance Observer, DOB)는 간단하지만, 매우 효과적인 2 DOF 제어기이다. 이 논문에서 기본적인 DOB 특성부터 설계와 구현의 기술적인 방법까지 실제적인 문제를 다룬다. 또한 실질적인 방법에 의하여 모델링하는 방법과 그 예를 설명하였다. 제안한 방법은 두 가지의 선형 모터 시스템으로 유용함을 증명하였다.