• Journal of the Korean Magnetics Society
• /
• v.24 no.1
• /
• pp.22-27
• /
• 2014

North indicating azimuth angle sensors have been used in airplanes, ships traditionally and nowadays employed in smart phones. For the azimuth and roll angle measurement of the sensor, 3-axis acceleration sensor was added to the 3-axis magnetic field sensor. In this work, we have constructed a measuring system for the measurement of the magnetic field and the angle uncertainty of the magnetic field sensors. Measuring system could be useful not only in non-magnetic laboratory but also in normal laboratory, we constructed small size of 3-axis Helmholtz coils for the compensation environment magnetic field (Earth magnetic field and magnetic field from building) and the generation of magnetic field for the test of magnetic field sensor. The constructed measuring system could compensate environment magnetic field below 10 nT level and generate 3-dimensional magnetic field with magnitude uncertainty of 0.2 % and angle error of $0.2^{\circ}$ within the volume of ${\pm}30mm$ diameter at center of Helmholtz coils. For the conformation of developed measuring system, We tested commercially available 3-axis magnetometer and heading sensor.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.7
• /
• pp.638-643
• /
• 2012

This paper presents an intelligent reduction method for external noise. The main idea comes from PSO-FCM (Particle Swam Optimization Fused fuzzy C-Means) clustering. The data of the target is transformed from the antenna coordinates to the vessel one and to the system coordinates. In the conversion, the overall noises hinder observer to get the exact position and velocity of the maneuvering target. While the filter is used for tracking system, unexpected acceleration becomes the main factor which makes the uncertainty. In this paper, the tracking efficiency is improved with the PSO-FCM and the compensation methodology. The acceleration is approximated from the external noise splitted by the proposed clustering method. After extracting the approximated acceleration, the rest in the noise is filtered by the filter and the compensation is added to after that. Proposed tracking method is applicable to the linear model and nonlinear one together. Also, it can do to the on-line system. Finally, some examples are provided to examine the reliability of the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.991-997
• /
• 2008

A new RMRAC scheme far the PMSM current regulation is proposed in a synchronous frame, which is completely free from the parameter's uncertainty. A current regulator of PMSM is the inner most loop of electromechanical driving systems and plays a foundation role in the control hierarchy. When the PMSM runs in high speed, the cross-coupling terms must be compensated precisely for large system BW. In the proposed RMRAC, the input signal is composed of a calculated voltage defined by MRAC law and an output of the disturbance compensator. The gains of feed forward and feedback controller are estimated by the proposed modified gradient method, where the system disturbances are assumed as filtered current regulation errors. After the compensation of the system disturbance from error information, the corresponding voltage is fed forward to control input to compensate for real disturbances. The proposed method robustly compensates the system disturbance and cross-coupling terms. It also shows a good realtime performance due to the simplicity of control structure. Through real experiments, the efficiency of the proposed method is verified.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.13 no.1
• /
• pp.41-47
• /
• 2013

A great number of people all over the world are using smart phones. Researchers develop innovative technology of App. It's make rapid progress now that the country's infrastructure is computerized, we expect IT Technological Convergence. In this paper, designs underground utilities management system based on mobile augmented reality technology, and architecture configuration, interface development. Proposal system minimizes overhead of smart devices belonging to engineer's representative using wireless personal area networks. Center Server technology manages transmitted data from engineer's representative, it monitors client data path. And it provies information processing capacity for event generation module. Such event has connotations of instability and uncertainty.

• The Journal of Korea Robotics Society
• /
• v.12 no.3
• /
• pp.339-349
• /
• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.8
• /
• pp.1985-1996
• /
• 1994

A new design method of sliding hyperplanes is proposed in the synthesis of a variable structure controller for robust tracking of general nonlinear multi-input-output(MIMO) uncertain systems of relative degree higher than two. Input/ output(I/O) linearzation is firstly undertaken by employing the concept of relative degree and minimum phase followed by the construction of sliding mode controllers. Sliding hyperplanes are then derived from the inherent properties of companion matrix and ideal sliding mode characterized in I/O linearized system. Subsequently, the gradient magnitudes of the sling hyperplanes are determined in an optimal manner by considering a quadratic performance index to be evaluated at two phases; a reaching phase and a sliding phase. The proposed design methodology is relatively straightforward and systematic compared with conventional strategies such as geometric approach or pole assignment technique. A nonlinear governor and exciter control problem for a power system is adopted herein in order to demonstrate the design efficiency and also favorable and robust control performances.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.58 no.2
• /
• pp.202-206
• /
• 2009

Evaluation system for calibrating Rogowski coiI(RC) up to primary current of 40,000 A have been established. The system consists of 40,000 A AC high current source, current transformer(CT) comparator, standard CT, RC under test, voltage to current convertor(VCC), buffer and CT burden. An AC high current is applied to the primary windings of both the standard CT and the RC under test, and then the CT comparator measures the ratio error and the phase displacement by comparing the secondary current of the standard CT with output current of VCC. For testing of RC, we have evaluated two RCs under test of primary current ranges of 0 A ${\sim}$ 2,000 A and 0 A ${\sim}$ 40,000 A with the accuracy class of 1 %. The extended uncertainty is 0.02 % ${\sim}$ 0.23 % for ratio error and 0.29 min ${\sim}$ 1.93 min for phase displacement in the primary current ranges of 10 ${\sim}$ 40,000 A.

• Journal of Korean Institute of Industrial Engineers
• /
• v.37 no.2
• /
• pp.96-104
• /
• 2011

Modeling and simulation of human-involved complex systems pose challenges to representing human decision makings into logical systems because of the nondeterministic and dynamic nature of human behaviors. In modeling perspectives, human's activities in systems can increase uncertainty and complexity, because he or she can potentially access all other resources within the system and change the system states. To address all of these human involvements in the system, this research suggests applying the Finite State Automata (FSA)-based formal modeling of human-involved systems that incorporates the ecological concept of affordances to an evacuation simulation, so that human behavioral patterns under urgent and dynamic emergency situations can be considered in the real-time simulation. The proposed simulation methodologies were interpreted using the warehouse fire evacuation simulation to clarify the applicability of the proposed methodology. This research is expected to merge system engineering technologies and human factors, and come out to the new predictive modeling methodology for disaster simulations. This research can be applied to a variety of applications such as building layout designs and building access control systems for emergency situations.

• Journal of Power Electronics
• /
• v.10 no.5
• /
• pp.505-517
• /
• 2010

In this paper, an intelligent sliding-mode speed controller for achieving favorable decoupling control and high precision speed tracking performance of permanent-magnet synchronous motor (PMSM) drives is proposed. The intelligent controller consists of a sliding-mode controller (SMC) in the speed feed-back loop in addition to an on-line trained wavelet-neural-network controller (WNNC) connected in parallel with the SMC to construct a robust wavelet-neural-network controller (RWNNC). The RWNNC combines the merits of a SMC with the robust characteristics and a WNNC, which combines artificial neural networks for their online learning ability and wavelet decomposition for its identification ability. Theoretical analyses of both SMC and WNNC speed controllers are developed. The WNN is utilized to predict the uncertain system dynamics to relax the requirement of uncertainty bound in the design of a SMC. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode speed controller. An experimental system is established to verify the effectiveness of the proposed control system. All of the control algorithms are implemented on a TMS320C31 DSP-based control computer. The simulated and experimental results confirm that the proposed RWNNC grants robust performance and precise response regardless of load disturbances and PMSM parameter uncertainties.

• Journal of Advanced Marine Engineering and Technology
• /
• v.32 no.2
• /
• pp.365-373
• /
• 2008

When the wind power system is planned to construct, it is important to understand the physical, chemical and mechanical properties of sediment. Especially, If it is the seabed unconsolidated sediment, we need to experiment on sediment through seabed unconsolidated sediment test and sediment survey. Because the sediment's properties are different as its formation, accumulation and load, unconsolidated sediment is difficult to be expected to its behavior. So we can estimate suitability for mechanical material and decrease the uncertainty through seabed unconsolidated sediment test. Seabed unconsolidated sediment test can be experimented in laboratory or in-situ as purpose, in-situ condition, economic problem. In this study, we sampled the seabed unconsolidated sediment at offshore around Korea Maritime University and measured properties of sediment through the laboratory test, showed the effect on physical properties of seabed unconsolidated sediment when the wind power system is planned to construction.