• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.1 s.307
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• pp.13-20
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• 2006

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.

• Journal of the Korean Society of Propulsion Engineers
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• v.21 no.5
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• pp.61-70
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• 2017

Robust thrust distribution method of solid DACS is researched. For the case of the system which has higher number of actuation nozzles than the degree of freedom of thrust to be controlled, the robust thrust allocation law which accommodate the abnormal operation is suggested. Assuming the situation that some nozzles are uncontrollable, the error between nozzle throat area command and response can be calculated. The error is used for realtime reshaping of weighting matrix. From the weighting effect, the nozzle which operated abnormally has low responsibility for the command then, the thrust error is reduced. The suggested algorithm is verified by the simulation of abnormal operation condition of DCS and ACS nozzle respectively.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.373-381
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• 2020

Quadrotor is simple to model because of the symmetric structure but it has the disadvantage of being relatively sensitive to the external disturbance and system uncertainty. The PID technique applied for the attitude control of quadrotor has been applied comprehensively, but it has a disadvantage that is hard to precise control in the nonlinear system. In this work, a quadrotor attitude control law using the super twisting algorithm is studied, which has robust characteristics against disturbance and system uncertainty. To evaluate the attitude performance by the proposed technique, simulation studies and actual flight tests are carried out, and compared with the conventional PID controller.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.03a
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• pp.435-442
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• 2002

본 연구에서는 사장교의 제어기법 개발을 위한 구조물로 제공되는 벤치마크(benchmark) 사장교에 대해 복합제어 기법을 적용하였다. 이 벤치마크 문제에서는 2003년 완공 예정으로 미국 Missouri 주에 건설 중인 Cape Girardeau 교를 대상 구조물로 고려하였다. Cape Girardeau 교는 New Madrid 지진구역에 위치하고, Mississippi 강을 횡단하는 주요 교량이라는 점 때문에 설계단계에서부터 내진 문제에 대하여 자세하게 고려되었다. 상세 설계도면을 기반으로 하여 교량의 전체적인 거동 특성을 정확하게 나타낼 수 있는 3차원 모델이 만들어졌고, 사장교의 제어 성능에 관련된 평가 기준이 수립되었다. 본 연구에서 사용한 복합제어 기법이란 지진하중으로 인해 구조물에 발생되는 하중을 줄이기 위한 수동제어 기법과 상판변위와 같은 구조물의 응답을 추가적으로 제어하기 위한 능동제어 기법이 결합된 제어방법이다. 수동제어 장치로는 현재 일반적으로 많이 사용되고 있는 납고무받침(lead rubber bearing)을 사용하였다. 능동제어 방법에는 $H_2$/LQG 제어 알고리듬(algorithm)을 사용하였다. 수치해석 결과 제안방법의 성능은 수동제어 방법에 비해 매우 효과적이며, 능동제어 방법에 비해서는 좀더 좋은 제어성능을 나타내었다. 또한, 복합제어 방법은 수동제어 부분 때문에 능동제어 방법에 비해 좀더 신뢰할 수 있는 제어 방법이다. 따라서 제안된 제어방법은 지진하중을 받는 사장교의 제어를 위해 효과적으로 사용될 수 있다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.706-707
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• 2010

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.03a
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• pp.443-450
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• 2002

본 논문에서는 미국토목학회(ASCE)의 사장교에 대한 첫번째 벤치마크 문제를 이용하여 제어-구조물 상호작용을 고려한 새로운 반능동 제어 기법을 제안하였다. 이 벤치마크 문제에서는 2003년 완공 예정으로 미국 Missouri 주에 건설 중인 Cape Girardeau 교를 대상 구조물로 고려하였다. Cape Girardeau 교는 New Madrid 지진구역에 위치하고, Mississippi 강을 횡단하는 주요 교량이라는 점 때문에 설계단계에서부터 내진 문제에 대하여 자세하게 고려되었다. 상세 설계 도면을 기반으로 하여 교량의 전체적인 거동 특성을 정확하게 나타낼 수 있는 3차원 모델이 만들어졌고, 사장교의 제어 성능에 관련된 평가 기준이 수립되었다. 본 연구에서는 제어 가능한 유체 감쇠기에 속하는 MR 유체 감쇠기를 제어 장치로 제안하였고, 기존 연구에서 MR 유체 감쇠기를 포함한 구조물의 제어에 효율적이라고 검증된 clipped-optimal 알고리듬을 제어 알고리듬으로 사용하였다. 또한, 실제 규모의 MR 유체 감쇠기 실험 결과를 이용하여 수치해석에 이용할 수 있는 동적 모델을 개발하였다. MR 유체 감쇠기는 제어 가능한 에너지 소산장치이며 구조물에 에너지를 가하지 않기 때문에 제안된 제어 기법은 한정입출력 안정성이 보장된다. 수치해석을 통해, MR 유체 감쇠기를 이용한 반능동 제어 기법이 사장교의 응답 감소에 효과적인 방법임을 증명하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.313-318
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• 2002

A robust attitude controller using Lyapunov redesign technique for spacecraft is proposed. In this controller, qua- ternion feedback is considered to have the attitude maneuver capability very close to the eigen-axis rotation. The controller consists of three parts: the nominal feedback parts which is a PD-type controller for the nominal system without uncertainties, the additional term compensating for the gyroscopic motion, and the third part for ensuring robustness to uncertainties. Lyapunov stability criteria is applied to stability analysis. The performance of the proposed controller is demonstrated via computer simulation.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.14 no.3
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• pp.68-76
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• 2000

The stabilization control of Inverted Pendulum(IP) system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of conventional techniques such as the pole placement and the optimal control based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Thus, in this paper, an Evolving Neural Network Controller(ENNC) which its structure and its connection weights are optimized simultaneously by Real Variable Elitist Genetic Algorithm(RVEGA) was presented for stabilization of an IP system with nonlinearity. This proposed ENNC was described by a simple genetic chromosome. And the deletion of neuron, the according to the various flag types. Therefore, the connection weights, its structure and the neuron types in the given ENNC can be optimized by the proposed evolution strategy. And the proposed ENNC was implemented successfully on the ADA-2310 data acquisition board and the 80586 microprocessor in order to stabilize the IP system. Through the simulation and experimental results, we showed that the finally acquired optimal ENNC was very useful in the stabilization control of IP system.

• Radiation Oncology Journal
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• v.23 no.3
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• pp.143-156
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• 2005

Background: The best dose-fractionation regimen of the definitive radiotherapy for cervix cancer remains to be clearly determined. It seems to be partially attributed to the complexity of the affecting factors and the lack of detailed information on external and intra-cavitary fractionation. To find optimal practice guidelines, our experiences of the combination of external beam radiotherapy (EBRT) and high-dose-rate intracavitary brachytherapy (HDR-ICBT) were reviewed with detailed information of the various treatment parameters obtained from a large cohort of women treated homogeneously at a single institute. Materials and Methods: The subjects were 743 cervical cancer patients (Stage IB 198, IIA 77, IIB 364, IIIA 7, IIIB 89 and IVA 8) treated by radiotherapy alone, between 1990 and 1996. A total external beam radiotherapy (EBRT) dose of $23.4\~59.4$ Gy (Median 45.0) was delivered to the whole pelvis. High-dose-rate intracavitary brachytherapy (HDR-IBT) was also peformed using various fractionation schemes. A Midline block (MLB) was initiated after the delivery of $14.4\~43.2$ Gy (Median 36.0) of EBRT in 495 patients, while In the other 248 patients EBRT could not be used due to slow tumor regression or the huge initial bulk of tumor. The point A, actual bladder & rectal doses were individually assessed in all patients. The biologically effective dose (BED) to the tumor ($\alpha/\beta$=10) and late-responding tissues ($\alpha/\beta$=3) for both EBRT and HDR-ICBT were calculated. The total BED values to point A, the actual bladder and rectal reference points were the summation of the EBRT and HDR-ICBT. In addition to all the details on dose-fractionation, the other factors (i.e. the overall treatment time, physicians preference) that can affect the schedule of the definitive radiotherapy were also thoroughly analyzed. The association between MD-BED $Gy_3$ and the risk of complication was assessed using serial multiple logistic regression models. The associations between R-BED $Gy_3$ and rectal complications and between V-BED $Gy_3$ and bladder complications were assessed using multiple logistic regression models after adjustment for age, stage, tumor size and treatment duration. Serial Coxs proportional hazard regression models were used to estimate the relative risks of recurrence due to MD-BED $Gy_{10}$, and the treatment duration. Results: The overall complication rate for RTOG Grades $1\~4$ toxicities was $33.1\%$. The 5-year actuarial pelvic control rate for ail 743 patients was $83\%$. The midline cumulative BED dose, which is the sum of external midline BED and HDR-ICBT point A BED, ranged from 62.0 to 121.9 $Gy_{10}$ (median 93.0) for tumors and from 93.6 to 187.3 $Gy_3$ (median 137.6) for late responding tissues. The median cumulative values of actual rectal (R-BED $Gy_3$) and bladder Point BED (V-BED $Gy_3$) were 118.7 $Gy_3$ (range $48.8\~265.2$) and 126.1 $Gy_3$ (range: $54.9\~267.5$), respectively. MD-BED $Gy_3$ showed a good correlation with rectal (p=0.003), but not with bladder complications (p=0.095). R-BED $Gy_3$ had a very strong association (p=<0.0001), and was more predictive of rectal complications than A-BED $Gy_3$. B-BED $Gy_3$ also showed significance in the prediction of bladder complications in a trend test (p=0.0298). No statistically significant dose-response relationship for pelvic control was observed. The Sandwich and Continuous techniques, which differ according to when the ICR was inserted during the EBRT and due to the physicians preference, showed no differences in the local control and complication rates; there were also no differences in the 3 vs. 5 Gy fraction size of HDR-ICBT. Conclusion: The main reasons optimal dose-fractionation guidelines are not easily established is due to the absence of a dose-response relationship for tumor control as a result of the high-dose gradient of HDR-ICBT, individual differences In tumor responses to radiation therapy and the complexity of affecting factors. Therefore, in our opinion, there is a necessity for individualized tailored therapy, along with general guidelines, in the definitive radiation treatment for cervix cancer. This study also demonstrated the strong predictive value of actual rectal and bladder reference dosing therefore, vaginal gauze packing might be very Important. To maintain the BED dose to less than the threshold resulting in complication, early midline shielding, the HDR-ICBT total dose and fractional dose reduction should be considered.