• Journal of Drive and Control
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• v.14 no.2
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• pp.9-15
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• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.270-275
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• 2005

This paper presents a fuzzy model-based adaptive approach for synchronization of chaotic systems which consist of the drive and response systems. Takagi-Sugeno (T-S) fuzzy model is employed to represent the chaotic drive and response systems. Since the parameters of the drive system are assumed unknown, we design the response system that estimates the parameters of the drive system by adaptive strategy. The adaptive law is derived to estimate the unknown parameters and its stability is guaranteed by Lyapunov stability theory. In addition, the controller in the response system contains two parts: one part that can stabilize the synchronization error dynamics and the other part that estimates the unknown parameters. Numerical examples, including Doffing oscillator and Lorenz attractor, are given to demonstrate the validity of the proposed adaptive synchronization approach.

• International Journal of Automotive Technology
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• v.8 no.2
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• pp.211-217
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• 2007

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS (Anti-lock Brake System) systems. In realizing the wheel slip control systems, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance and stability enhancement. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm is proposed for maximizing the braking force. An adaptive law is formulated to estimate the braking force in real-time. The wheel slip controller is designed based on the Lyapunov stability theory considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm searches for the optimal target slip value based on the estimated braking force. The performance of the proposed wheel slip control system is verified in HILS (Hardware-In-the-Loop Simulator) experiments and demonstrates the effectiveness of the wheel slip control in various road conditions.

• The Journal of Fisheries Business Administration
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• v.46 no.1
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• pp.93-107
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• 2015

This study aims to analyze causalities among Hairtail prices by distribution channel using a vector autoregressive model. This study applies unit-root test for stability of data, uses Granger causality test to know interaction among Hairtail Prices by distribution channel, and employes the vector autoregressive model to estimate statistical impacts among t-2 period variables used in model. Analyzing results of this study are as follows. First, ADF, PP, and KPSS tests show that the change rate of Hairtail price by distribution channel differentiated by logarithm is stable. Second, a Granger causality test presents that the producer price of Hairtail leads the wholesale price and then the wholesale price leads the consumer price. Third, the vector autoregressive model suggests that the change rate of Hairtail producer price of t-2 period variables statistically, significantly impacts change rates of own, wholesale, and consumer prices at current period. Fourth, the impulse response analysis indicates that impulse responses of the structural shocks with a respectively distribution channel of the Hairtail prices are relatively more powerful in own distribution channel than in other distribution channels. Fifth, a forecast error variance decomposition of the Hairtail prices points out that the own price has relatively more powerful influence than other prices.

• Progress in Medical Physics
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• v.13 no.3
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• pp.109-113
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• 2002

In recent years, the radiotherapy equipment has become much more sophisticated, and with the complication comes an increased set of quality assurance (QA) responsibilities. Today's computer controlled linear accelerator requiring QA of not only the radiation integrity, but also the mechanical accuracy of the linear accelerator. The existing QA sheets are adequate for acceptance testing and commissioning but those sheets are somewhat descriptive form for routine QA. establishing the QA sheets for a facility are more efficient if the sheets could estimate the long-term stability for the result of QA. We are going to develope new prototype of mechanical QA sheet to visualize and to verify long-term stability of mechanical QA for clinical linear accelerator. The items included in mechanical QA sheet were 1) gantry rotation, 2) collimator rotation, 3) couch rotation, 4) optical distance indicator (ODI), and 5) laser alignment. We compared new prototype sheet with conventional sheet for several hospitals in Korea for those items. The QA acceptance criteria in this study mainly followed published recommendations. The contents of test for mechanical QA are the following. Confirm that the digital and/or mechanical gantry angle readouts are correct. Verify that digital and/or mechanical readouts of collimator angle agree with the true angle, as determined with the protractor. Measure the light field using a graph paper and compare with the digital readouts. Confirm digital readout accuracy. Verify that the sagittal laser, the left and right lasers, and the ceiling laser intersect at the isocenter. In the design of new QA sheet, we emphasized the representation of the long-term stability of mechanical QA by using Excel program. By using the new prototype QA sheet, we simplified and visualized the mechanical QA process, and could estimate the long-term stability of mechanical error of linear accelerator.

• Journal of Integrative Natural Science
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• v.7 no.3
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• pp.193-199
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• 2014

As the requirement on the quality of the system has increased, the reliability is very important part in terms of enhance stability and to provide high quality services to customers. Many statistical models have been developed in the past years for the estimation of software reliability. We consider the functions for NHPP software reliability model and time series model in software failure data. We estimate parameters for the proposed models from three data sets. The values of SSE and MSE is presented from three data sets. We compare the predicted number of faults with the actual three data sets using the NHPP software reliability model and time series model.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.326-332
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• 2000

It should be essentially considered as important points that design of case in electronic product which simultaneously satisfied with structural stability and molding form in respect to developmental period and economical aspect. Especially, a shape of air vents grille, which is made to emit heat happen to be in the internal of product, must satisfy durability and strength but We have no quantitative data because to be done by experience of designer. So, in this study, We will propose that structure of optimal and method of design in air vents grille, which to reduce a lot of loss of time and cost due to trial and error of design and to stabilize in the BALLISTIC Impact test as to estimate strength with external appearance of product, using linear analysis.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.241-250
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• 2010

A recurrent adaptive model-free intelligent control with a friction estimation law is proposed to enhance the positioning performance of the mover in PMLSM system. For the PMLSM with nonlinear friction and uncertainty, an adaptive recurrent fuzzy neural network(ARFNN) and compensated control law in $H_{\infty}$ performance criterion are designed to mimic a perfect control law and compensate the approximated error between ideal controller and ARFNN. Combined with friction observer to estimate nonlinear friction parameters of the LuGre model, on-line adaptive laws of the controller and observer are derived based on the Lyapunov stability criterion. To analyze the effectiveness our control scheme, some simulations for the PMLSM with nonlinear friction and uncertainty were executed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.425-431
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• 1994

THe dynamic characteristics of car are determined by ride quality and control stability. These characteristics are maintained by suspension, which is composed of springs, dampers and links. The values of these parameters are very important factor to determine the dynamic characteristic. Until now, most of company depends on trial-and-error method and driving test to solve this problem. But these methods are consumed many costs and time in developing process. In this paper,to minimize these difficulties,the proper model will be developed and analyzed the sensitivity of suspension parameter in time domain. On this ground, find the design parameter that have a dominant infuence on system response and estimate the change of system response values.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1014-1021
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• 2008

This paper proposes an intelligent sliding mode control method for robotic systems with the unknown bound of model uncertainties. In our control structure, the unknown bound of model uncertainties is used as the gain of the sliding controller. Then, we employ the function approximation technique to estimate the unknown nonlinear function including the width of boundary layer and the uncertainty bound of robotic systems. The adaptation laws for all parameters of the self-recurrent wavelet neural network and those for the reconstruction error compensator are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with model uncertainties and external disturbances. Accordingly, the proposed method can not only overcome the chattering phenomenon in the control effort but also have the robustness regardless of model uncertainties and external disturbances. Finally, simulation results for the five-link biped robot are included to illustrate the effectiveness of the proposed method.