• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.492-492
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• 2000

This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

• Journal of the Optical Society of Korea
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• v.16 no.2
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• pp.107-114
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• 2012

In this paper, we propose a new modulation scheme called multi-coded variable pulse position modulation (MC-VPPM) for visible light communication systems. Two groups of signals (Pulse Width Modulation (PWM) and Pulse Position Modulation (PPM) groups) are multi-coded by orthogonal codes for transmitting data simultaneously. Then, each multi-level value of the multi-coded signal is converted to pulse width and position which results in not only an improved data rate, but also a processing gain in reception. In addition, we introduce average duty ratio and cyclic shift concepts in PWM through which dimming control for light illumination can be supported without any degradation in communication performance. Through simulation, we confirm that the proposed MC-VPPM shows a comparable BER curve and much greater achievable data rate than the conventional VPPM scheme using a visible light optical channel environment.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.6
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• pp.569-575
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• 1997

모델 불확실성이 있고 n축 자유도(degree of freedom)를 갖고 있는 로봇 동작부(manipulator)에 대해서 위치 정보만을 이용하여 가변 구조 제어기(variable structure controller)를 설계하였다. 모델의 불확실성이 존재하는 경우에도 제어기에 사용되는 속도를 잘예측하기 위해 고이득 관찰기를 사용 하였으며 고이득 관찰기를 사용할때 발생할 수 있는 상태변수의 피킹현상(peak phenomenon)를 적게 하게 하기위하여 제어기의 값을 제한 (globally bounded)하여 제어기를 설계하였다. 부하(payload)의 범위만 알고 있는 2축 자유도를 갖는 로봇 동작부에 대해서 제안된 제어 방법에 따라 제어기를 설계하여 그 성능를 확인 하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.198-202
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• 2009

Urban Search and Rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.3 no.3
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• pp.517-531
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• 1999

This paper presents the development of the 2-mode variable gain high power amplifier for a transmitter of INMARSAT-M operating at L-band(1626.5-1646.5 MHz). This SSPA(Solid State Power Amplifier) is amplified 42 dBm in high power mode and 36 dBm in low power mode for INMARSAT-M. The allowable error sets +1 dBm of an upper limit and -2 dBm of a lower limit, respectively. To simplify the fabrication process, the whole system is designed by two parts composed of a driving amplifier and a high power amplifier, The HP's MGA-64135 and Motorola's MRF-6401 are used for driving amplifier, and the ERICSSON's PTE-10114 and PTF-10021 are used the high power amplifier. The SSPA was fabricated by the circuits of RF, temperature compensation and 2-mode gain control circuit in aluminum housing. The gain control method was proposed by controlling the voltage for the 2-mode. In addition, It has been experimentally verified that the gain is controlled for single tone signal as well as two tone signals. The realized SSPA has 42 dB and 36 dB for small signal gain within 20 MHz bandwidth, and the VSWR of input and output port is less than 1.5:1 The minimum value of the 1 dB compression point gets 5 dBm for 2-mode variable gain high power amplifier. A typical two tone intermodulation point has 32.5 dBc maximum which is single carrier backed off 3 dB from 1 dB compression point. The maximum output power of 43 dBm was achieved at the 1636.5 MHz. These results reveal a high power of 20 Watt, which was the design target.the design target.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.10
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• pp.59-64
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• 2008

In this paper an adjustable linear gain equalizer which is operated from 6GHz to 18GHz in order to apply wideband RF circuit System is proposed and fabricated on $Al_2O_3$ substrate using thin film process. An adjustable linear gain equalizer is proposed to T type circuit and designed to aim on variable slope $-7dB{\sim}-13dB$ using the PIN Diode

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.839-845
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• 2013

A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• Asian-Australasian Journal of Animal Sciences
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• v.9 no.2
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• pp.127-132
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• 1996

Effects on feed intake, liveweight gain and economic benefits of supplementing lambs with urea molasses blocks, were studied. Forty eight crossbred lambs were divided into 6 groups and assigned randomly to grazing on native pasture (CONT) or along with supplements of Commercial ration (COM) and urea molasses blocks (UMBs) containing two levels of cement and calcium oxide as a binding agent. Analysis of variance revealed highly significant (p<0.01) differences in dry matter (DMI, g/day), crude protein (CPI, g/day) and metabolizable energy (MEI, MJ/day) intakes. Differences in liveweight gain (LWG, g/day), feed conversion ratio (FCR) and net economic benefit of supplementation were also highly variable. The intake of DM, CP and ME varied from 974 to 1002, 66-70 and 7.6-8.4 in lambs supplemented with UMBs, significantly (p<0.01) greater than 848, 52.5 and 5.6 in lambs supplemented with COM or FCR and net economic benefits (54.3; 57.8; 17.1 and 1.96; 2.4) in lambs supplemented with COM and UMB-2, were CONT or supplemented with UMB-1, UMB-3 and UMB-4 respectively. Factors responsible for differences in feed intake, liveweight gain and economic benefits, are discussed.

• Proceedings of the KIEE Conference
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• 2005.04a
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• pp.221-225
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• 2005

This paper proposes a gain scheduled control technique using time-delay for the nonlinear system with plant uncertainties and unexpected disturbances. The time delay-based gain scheduled control depends on a direct estimation of a function representing the effect of uncertainties. The information from the estimation is used to cancel the unknown dynamics and the unexpected disturbances simultaneously. The proposed estimation scheme with a finite convergence time is formulated in order to estimate the unborn scheduling variable variation. In other words, the time delay-based gain scheduled control uses the past observation of the system's response and the control input to directly modify the control actions rather than to adjust the controller gains or to identify system parameters. It has a simple structure so as to minimize the computational burden. The benefits of this proposed scheme are demonstrated in the simulation of an electromagnetic suspension system with plant uncertainties and external disturbances, and the proposed controller is compared with the conventional state feedback controller.