• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.57-65
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• 2000

In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1104-1106
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• 1996

In this paper, a hierarchical fuzzy controller is proposed for the stabilization control of the inverted pendulum system. The design of controller for that system is difficult because of its complicated nonlinear mathematical model with unknown parameters. Conventional fuzzy control strategy based only on dynamics of pendulum made have failed to stabilize. However, proposed control strategies are to swing pendulum from natural stable up equilibrium point to an unstable equilibrium point and are to transport a cart from an arbitrary position toward a center of rail. Thus, the proposed fuzzy stabilization controller have a hierarchical fuzzy inference structure; that is, the lower level is for inference interface for the virtual equilibrium point and the higher level one for the position control of cart according to the firstly inferred virtual equilibrium point.

• Journal of the korean society of oceanography
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• 제34권1호
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• pp.1-21
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• 1999

A two-layer quasi-geostrophic numerical model is used to investigate the temporal variability of the East Korea Warm Current (EKWC), especially the separation from the Korean coast and the generation of warm eddies. An attention is given on the active role of the nonlinear boundary layer process. For this, an idealized flat bottom model of the East Sea is forced with the annual mean wind curl and with the inflow-outflow specified at the Korea (Tsushima) and Tsugaru Straits. Two types of separation mechanisms are identified. The first one is influenced by the westward movement of the recirculating leg of the EKWC (externally driven separation),the second one is solely driven by the boundary layer dynamics (internally driven separation). However, these two processes are not independent, and usually coexist. It is hypothesized that 'internally driven separation' arises as the result of relative vorticity production at the wall, its subsequent advection via the EKWC, and its accumulation up to a critical level characterized by the separation of the boundary flow from the coast. It is found that the sharp southeastern corner of the Korean peninsula provides a favorable condition for the accumulation of relative vorticity. The separation of the EKWC usually accompanies the generation of a warm eddy with a diameter of about 120 km. The warm eddy has a typical layer-averaged velocity of 0.3 m/s and its lifespan is up to a year. In general, the characteristics of the simulated warm eddy are compatible with observations. A conclusion is therefore drawn that the variability of the EKWC is at least partially self-excited, not being influenced by any sources of perturbation in the forcing field, and that the likely source of the variability is the barotropic instability although the extent of contribution from the baroclinic instability remains unknown. The effects of the seasonal wind curl and inflow-outflow strength are also investigated.

• 생물정신의학
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• 제19권1호
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• pp.65-69
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• 2012

Objectives : Much is still unknown about the neurophysiological mechanisms or dynamics of the sleep onset process. Detrended fluctuation analysis (DFA) is a new tool for the analysis of electroencephalography (EEG) that may give us additional information about electrophysiological changes. The purpose of this study is to analyze long-range correlations of electroencephalographic signals by DFA and their changes in the sleep onset process. Methods : Thirty channel EEG was recorded in 61 healthy subjects (male:female=34:27, age=$27.2{\pm}3.0$ years). The scaling exponents, alpha, were calculated by DFA and compared between four kinds of 30s sleep-wakefulness states such as wakefulness, transition period, early sleep, and late sleep (stage 1). These four states were selected by the distribution of alpha and theta waves in O1 and O2 electrodes. Results : The scaling exponents, alpha, were significantly different in the four states during sleep onset periods, and also varied with the thirty leads. The interaction between the sleep states and the leads was significant. The means (${\pm}$ standard deviation) of alphas for the states were 0.94 (${\pm}0.12$), 0.98 (${\pm}0.12$), 1.10 (${\pm}0.10$), 1.07 (${\pm}0.07$) in the wakefulness, transitional period, early sleep and late sleep state respectively. The mean alpha of anterior fifteen leads was greater than that of posterior fifteen leads, and the two regions showed the different pattern of changes of the alpha during the sleep onset periods. Conclusions : The characteristic findings in the sleep onset period were the increasing pattern of scaling exponent of DFA, and the pattern was slightly but significantly different between fronto-temporal and parieto-occipital regions. It suggests that the long-range correlations of EEG have a tendency of increasing from wakefulness to early sleep, but anterior and posterior brain regions have different dynamical process. DFA, one of the nonlinear analytical methods for time series, may be a useful tool for the investigation of the sleep onset period.

• 한국지능시스템학회논문지
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• 제16권6호
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• pp.747-752
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• 2006

본 논문에서는 두 개의 시스템으로 구성된 적응 퍼지 슬라이딩 모드 제어기의 설계를 제안한다. 제안한 슬라이딩 모드 제어기는 두 개의 시스템입력으로 구성된다. 기존의 슬라이딩 모드 제어기는 $approximation{\^{u}}(t)$에 불연속항 sgn함수나 sat함수를 추가하여 상태궤적을 sliding surface로 보내는 제어 기법을 사용하고 있다. 본 논문에서는 이러한 기존의 제어기에 또 하나의 불연속항 제어기를 추가하여 불확실한 제어 이득에 의한 disturbance를 줄여주고, 불확실한 외란에 강인한 제어기설계와 알지 못하는 실제 비선형 시스템과 퍼지 시스템 간의 오차에 의한 불안정성도 해결할 수 있는 제어기를 제안하였다. 또한 본 논문에서는 Fuzzy tuning을 통해 슬라이딩 조건을 가변화함으로써 기존의 슬라이딩 모드 제어기에 비해 빠르고 정확하게 추종 가능하도록 제어기의 성능을 향상시킨다. 기존의 슬라이딩 모드 제어방식에서는 ${\eta}$값을 임의의 양의 상수로 두고 설계를 하였다. 하지만 이러한 방식은 높은 overshoot를 발생하게 하거나 늦은 정정시간을 갖게 하였다. 이를 해결하기 위하여 본 논문에서는 state의 각 상황에 맞는 ${\eta}$값을 fuzzy tuning을 통하여 유도해 내어 overshoot를 줄이며 동시에 정정시간도 줄여 제어성능을 높이는 방법을 제안한다.