• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.348-353
• /
• 2003

This paper considers the optimal control problem in real-time control systems with random time-delays. It proposes an algorithm which uses the linear quadratic (LQ) control method and a dedicated technique to compensate for the time-delay effects. Since it is assumed that the time-delays are unknown but the probability distribution of the delays are known a priori, the algorithm considers the mean value of the time-delays as a nominal value for random delay compensation. An example is given to show the performance of the proposed algorithm, where an inverted pendulum system is controlled over a controller-area network (CAN). Simulation results show that the proposed algorithm provides good performance results. It is shown that our algorithm is comparable to existing algorithms in both computation cost and performance.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.20 no.3
• /
• pp.290-295
• /
• 2015

Analysis and verification of reactive power compensator (RPC) for ITER pulsed power electric network (PPEN) are described in this paper. The RPC system is rated for a nominal power of 250 Mvar necessary to comply with the allowable reactive power limit value from the grid 200 Mvar. This system is currently under construction and is based on static var compensation technology with a thyristor-controlled reactor and a harmonic filter. The RPC minimizes reactive power from grid using prediction of reactive power consumption of AC-DC converters. The feasibility of the reactive power compensation was verified by assembling a real controller and implementing ITER PPEN in the real time digital simulator for the hardware-in-loop facility. When maximum reactive power is reached, grid voltage is stabilized and maximum reactive power decreased from 120 Mvar to 40 Mvar via the reactive power prediction method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.9
• /
• pp.883-890
• /
• 2006

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.136-138
• /
• 2006

Recently, network systems are widely used in several areas, and some considerable attentions have been directed to the Networked Control System(NCS). In NCS, network-induced delays are inevitable, and they sometimes degrade the performance of networked control systems to be a source of potential instability. In this paper, We proposes a compensation method for networked control system subject to network-induced delays by using a simple method, which is based on a sort of predictive strategy. To evaluate its feasibility and effectiveness, a real-time NCS for a rotary inverted pendulum is implemented via an Ethernet. Based on the experimental results. we show that the proposed simple method can be a practical and feasible solution to NCS design.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.5
• /
• pp.367-375
• /
• 2000

It is proposed that the rotor time constant and inductance are compensated at the same time in the indirect vector control method of an induction motor. The proposed scheme compensates the rotor time constant using the difference between the Q-axis real stator current and estimated current that is calculated from the terminal voltage and current, and compensates inductance by using the difference between the D-axis real stator flux and estimated stator flux in the synchronous rotating reference frame. Although the rotor time constant and inductance vary at once, the proposed method compensates the rotor time constant and inductance with accuracy. In addition to, two variables can be compensated not only at the steady state condition, but also at the transient state, where the torque varies in a rectangular pulse waveform. Therefore, the performance of vector control is greatly improved as verified by experiment.

• Journal of the Optical Society of Korea
• /
• v.15 no.4
• /
• pp.386-393
• /
• 2011

In this study, we report an effective k-domain linearization method with a pre-calibrated indexed look-up table. The method minimizes k-domain nonlinear characteristics of a swept source optical coherence tomography (SS-OCT) system by using two arrays, a sample position shift index and an intensity compensation array. Two arrays are generated from an interference pattern acquired by connecting a Fabry-Perot interferometer (FPI) and an optical spectrum analyzer (OSA) to the system. At real time imaging, the sample position is modified by location movement and intensity compensation with two arrays for linearity of wavenumber. As a result of evaluating point spread functions (PSFs), the signal to noise ratio (SNR) is increased by 9.7 dB. When applied to infrared (IR) sensing card imaging, the SNR is increased by 1.29 dB and the contrast noise ratio (CNR) value is increased by 1.44. The time required for the linearization and intensity compensation is 30 ms for a multi thread method using a central processing unit (CPU) compared to 0.8 ms for compute unified device architecture (CUDA) processing using a graphics processing unit (GPU). We verified that our linearization method is appropriate for applying real time imaging of SS-OCT.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.3
• /
• pp.2192-2200
• /
• 2015

In this paper, we propose an efficient vehicle image compensation algorithm based on Histogram Equalization. The proposed a vehicle image compensation algorithm was elimination to the vehicle image shake using motion compensation and motion estimation. And, algorithm was calculated the histogram of pixel values from each sub-image by dividing the image as the constant size areas in order to image enhancement. Also, it had enhancement to the image by adjusting the gradient. The proposed algorithm was evaluate the difference between of performance and time, image by applied to the IP, and were confirmed the image enhancement with removing of vehicle camera image shake. In this paper, the proposed vehicle image enhancement algorithm was demonstrated effectiveness when compared to existing vehicle image stabilization, because the elimination of shake for the vehicle images used real-time processing without using a memory. And it was obtained the reduction effect of the computation time by the calculated through block matching, and obtained the better restoration result for naturalness of the image with the lowest noise.

• Journal of Biomedical Engineering Research
• /
• v.18 no.4
• /
• pp.477-484
• /
• 1997

In this paper, we proposed the compensation method to evaluate arousal level in different initial arousal states. Arousal level was measured by the relationship between IRI and Nz. Since Nz is affected by BI which is directly proportional to initial arousal state of subjects, the arousal level is underestimated To overcome this problem, we proposed the compensation method using modified Karolinska sleepiness scale, and determined compensation coefficients derived from this scale with five arousal levels. Applying these coefficients to portable arousal monitoring system, the proposed method in this paper could be useful for real-time evaluation and control of arousal level. As a result the developed system can detect and control the arousal state from initial drowsing sate.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.46 no.4
• /
• pp.102-110
• /
• 2009

In this paper, we propose an object detection method for real-time in infrared (IR) images and PowerPC (PPC) and H/W design based on field programmable gate array (FPGA). An open H/W architecture has the advantages, such as easy transplantation of HW and S/W, support of compatibility and scalability for specification of current and previous versions, common module design using standardized design, and convenience of management and maintenance. Proposed background modeling for an open H/W architecture design decreases size of search area to construct a sparse block template of search area in IR images. We also apply to compensate for motion compensation when image moves in previous and current frames of IR sensor. Separation method of background and objects apply to adaptive values through time analysis of pixel intensity. Method of clutter reduction to appear near separated objects applies to median filter. Methods of background modeling, object detection, median filter, labeling, merge in the design embedded system execute in PFC processor. Based on experimental results, proposed method showed real-time object detection through global motion compensation and background modeling in the proposed embedded system.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.2
• /
• pp.541-551
• /
• 1996

This study develops the real time ULTC(Under Load Tap Changer) control strategy with LDC setting values moved dynamically using artificial neural networks. The suggested strategy can improve the ULTC voltage compensation capability by building 2 types of neural networks, ANNs and ANNg. ANNs recognizes the uncompensated MTr sending voltage change caused by the receiving voltage variation. And ANNg dynamically determines the most appropriate ULTC setting valtage chanbe caused by the receiving voltage variation. And ANNg dynamically determines the most appropriate ULTC setting values by recognizing the voltage level obtained from ANNs, and the section load pattern for each time period. In order to evaluate the suggested approach, the ULTC voltage compensation strategy are simulated on a 8 feeder distribution system. Artificial neural networks developed in this study are implemented in FORTRAN language on PC 386.