• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.351-361
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• 2001

In this paper, a generalized framework called as robust internal-loop compensator(RIC) is presented, and by using this, a structural design method of sliding of sliding mode controller is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, RIC is proposed. Next, using the structural characteristics of the proposed RIC, disturbance attenuation characteristics are analyzed and the performance of the closed-loop system is predicted. Through this analysis, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. the proposed method is verified through experiments using a high-precision positioning system and the performance is evaluated.

• Journal of the Korean Geotechnical Society
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• v.39 no.10
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• pp.5-18
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• 2023

The construction timeline for earthworks can be significantly reduced by substituting the conventional layer-by-layer compaction using a vibratory roller with single-layer compaction through the rapid impact compaction (RIC) method. Dynamic load compaction is well-suited for coarse-grained soils like sand. However, as the supply of sand, the primary reclamation material, becomes scarcer, the utilization of soil with fines is on the rise. To implement the dynamic load compaction, such as RIC, with reclaimed materials containing fines, it's imperative to determine the effective improvement depth. In this study, we assess the impact of the RIC method on the effective improvement depth for clean sand and public fill with fines, comparing field test results before and after RIC application. Our focus is on the cone resistance (q_c) as it pertains to compaction quality control criteria. In conclusion, it becomes evident that standardizing the cone resistance is vital for the quality control of various reclaimed soils with fines. We have evaluated the compaction quality control criteria corresponding to a relative density (Dr) of 70% for clean sand as Q_tn,cs = 110. As a result of this analysis, we propose new quality control criteria for q_c, taking into account the fines content of reclaimed soils, which can be applied to RIC quality control.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.95.2-95
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• 2001

Disturbance observer(DOB) based controller design is one of the most popular methods in the field of motion control. In this paper, a generalized disturbance compensation framework, called as robust internal-loop compensator(RIC) is introduced and an advanced design method of DOB is proposed based on the RIC. Mixed sensitivity optimization problem, which is the main issue of DOB design, is solved through the parameterization of DOB in the RIC framework. Different from conventional methods, Q-filter is separated in the mixed sensitivity optimization problem and the systematic design law for the DOB is proposed. This guarantees the robustness and optimality of the DOB and also enables the design for unstable plants.

• Geomechanics and Engineering
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• v.6 no.5
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• pp.487-502
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• 2014

A three dimensional finite element model was used to simulate rapid impact compaction (RIC) in loose granular soils using ABAQUS software for one impact point. The behavior of soil under impact loading was expressed using a cap-plasticity model. Numerical modeling was done for a site in Assalouyeh petrochemical complex in southern Iran to verify the results. In-situ settlements per blow were compared to those in the numerical model. Measurements of improvement by depth were obtained from the in-situ standard penetration, plate loading, and large density tests and were compared with the numerical model results. Contours of the equal relative density clearly showed the efficiency of RIC laterally and at depth. Plastic volumetric strains below the anvil and the effect of RIC set indicated that a set of 10 mm can be considered to be a threshold value for soil improvement using this method. The results showed that RIC strongly improved the soil up to 2 m in depth and commonly influenced the soil up to depths of 4 m.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.239-241
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• 2007

최근에 지능형 로봇분야에서 주위 카메라를 기반으로 실시간으로 환경인식 및 물체 추적 등 다양한 분야에서 연구가 활발히 진행되고 있다. 환경인식 및 물체 추적은 결국 배경과 관심물체를 분리하는 것이라고 볼 수 있는 데, 차 연산을 이용하여 물체의 움직임만을 배경으로 분리하는 방법과 물체인식을 통해 배경으로부터 분리하여 추적하는 방법에 대한 연구가 지속적으로 이루어지고 있다. 본 논문에서는 배경과 물체 사이에서 변화하는 색상의 변화를 퍼지기법을 이용하여 물체를 배경과 분리하여 실시간으로 물체를 추적하고자 한다. 실시간 물체 추적을 위해 전체영상에 대한 전역적 탐색을 통해 여러 후보 물체 중 관심물체를 배경에서 추출 후, 추출된 물체의 크기에 따른 지역탐색을 통하여 물체를 추적하는 방법이다. 그리고 본 논문에서는 ARM프로세서를 이용한 카메라시스템을 제작하여 실시간으로 영상분활을 실험하였다.

• Korean Journal of Materials Research
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• v.23 no.10
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• pp.543-549
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• 2013

The purpose of this paper was to investigate the effect of a high-energy milling (HEM) process on the particle morphology and the correlation between a thermal treatment and tetragonal/monoclinic nanostructured zirconia powders obtained by a precipitation process. To eliminate chloride residue ions from hydrous zirconia, a modified washing method was used. It was found that the used washing method was effective in removing the chloride from the precipitated gel. In order to investigate the effect of a pre-milling process on the particle morphology of the precipitate, dried $Zr(OH)_4$ was milled using a HEM machine with distilled water. The particle size of the $Zr(OH)_4$ powder exposed to HEM reduced to 100~150 nm, whereas that of fresh $Zr(OH)_4$ powder without a pre-milling process had a large and irregular size of 100 nm~1.5 ${\mu}m$. Additionally, modified heat treatment process was proposed to achieve nano-sized zirconia having a pure monoclinic phase. It was evident that two-step calcining process was effective in perfectly eliminating the tetragonal phase, having a small average particle of ~100 nm with good uniformity compared to the sample calcined by a single-step process, showing a large average particle size of ~300 nm with an irregular particle shape and a broad particle size distribution. The modified method is considered to be a promising process for nano-sized zirconia having a fully monoclinic phase.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.10
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• pp.1501-1513
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• 2001

Disturbance observer, adaptive robust control, and enhanced internal model control are model based disturbance attenuation methods famous for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are shown to be the same scheme with different parameterizations. To do this, a generalized framework, called as RIC(robust internal-loop compensator) is proposed and the conventional schemes are analyzed in the RIC framework. Through this analysis, it can be shown that there are inherent similarities between the schemes and advantages of the RIC in the viewpoint of controller design. This is verified through simulations and experiments.

• Proceedings of the KIEE Conference
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• 2006.10d
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• pp.139-142
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• 2006

This paper describes a new method using random modulated strategies for switched reluctance machines. The proposed method is combined random turn-on, turn-off angle technique and random pulse width modulation technique. The purpose of this proposed method is to decrease harmonic spectrum, and thus reduce the emitted acoustical noise. A random generator is generated by linear congruential generator (LCG) using random pulse position (RPP) scheme. Simulation results show that the harmonic intensity of proposed method is better than that of conventional method.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.3
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• pp.225-231
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• 2004

Disturbance observer (DOB) has been studied extensively and applied to many motion control fields during the last decades, but relatively few studies have been devoted to the development of analytic, systematic design methods for DOB itself, This paper thus aims to provide an analytic, systematic design method for DOB. To do this, DOB is structurally analyzed and the generalized disturbance compensation framework named robust internal-loop compensator (RIC) is introduced. Through this, the inherent equivalence between DOB and RIC is found, and the mixed sensitivity optimization problem of DOB is solved. Q-filter design is completely separated from the mixed sensitivity optimization problems of DOB although the proposed method has implicit .elation with Q-filter. Also, although the Q-fille. is separately designed with sensitivity function, the proposed DOB framework has the exactly same characteristic as the original DOB.