• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.265-276
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• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.717-722
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• 2001

This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.84-91
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• 2005

For long time, the takeoff and landing control of airship was worked by human handling. With the development of the autonomous control system, the exact controls during the takeoff and landing were required and lots of methods and algorithms were suggested. This paper presents the result of airship take-off and landing by buoyancy control using air ballonet volume change and performance control of pitch angle for stable flight within the desired altitude. For the complexity of airship's dynamics, firstly, simple PID controller was applied. Due to the various atmospheric conditions, this controller didn't give satisfactory results. Therefore, new control method was designed to reduce rapidly the error between designed trajectory and actual trajectory by learning algorithm using an artificial neural network. Generally, ANN has various weaknesses such as large training time, selection of neuron and hidden layer numbers required to deal with complex problem. To overcome these drawbacks, in this paper, the RBFN (radial basis function network) controller developed. The weight value of RBFN is acquired by learning which to reduce the error between desired input output through and airship dynamics to impress the disturbance. As a result of simulation, the controller using the RBFN is superior to PID controller which maximum error is 15M.

• Radiation Oncology Journal
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• v.17 no.2
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• pp.91-99
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• 1999

Propose : This study was performed to find out the prognostic factors affecting local control, survival and disease free survival rate in nasopharyngeal carcinomas treated with chemotherapy and radiation therapy. Materials and Methods : We analysed 47 patients of nasopharyngeal carcinomas, histologically confirmed and treated at Chonnam University Hospital between July 1986 and June 1996, retrospectively. Range of patients' age were from 16 to 80 years (median; 52 years). Thirty three (70$\%$) patients was male. Histological types were composed of 3 (6$\%$) keratinizing, 30 (64$\%$) nonkeratinizing squamous cell carcinoma and 13 (28$\%$) undifferentiated carcinoma. Histoiogicai type was not known in 1 patient (2$\%$). We restaged according to the staging system of 1997 American Joint Committee on Cancer Forty seven patients were recorded as follows: 71: 11 (23$\%$), T2a; 6 (13$\%$), T2b; 9 (19$\%$), 73; 7 (15$\%$), 74: 14 (30$\%$), and NO; 7 (15$\%$), Nl: 14 (30$\%$), N2; 21 (45%), N3: 5 (10%). Clinical staging was grouped as follows: Stage 1; 2 (4$\%$), IIA: 2 (4$\%$), IIB; 10 (21$\%$), III; 14 (30$\%$), IVA; 14 (30$\%$) and IVB; 5 (11$\%$). Radiation therapy was done using 6 MV and 10 MV X- ray of linear accelerator. Electron beam was used for the Iymph nodes of posterior neck after 4500 cGy. The range of total radiation dose delivered to the primary tumor was from 6120 to 7920 cGy (median; 7020 cGy). Neoadjuvant chemotherapy was performed with cisplatin +5-fluorouracil (25 patients) or cisplatin+pepleomycin (17 patients) with one to three cycles. Five patients did not received chemotherapy. Local control rate, survival and disease free suwival rate were calculated by Kaplan-Meier method. Generalized Wilcoxon test was used to evaluate the difference of survival rates between groups. multivariate analysis using Cox proportional hazard model was done for finding prognostic factors. Results: Local control rate was 81$\%$ in 5 year. Five year survival rate was 60$\%$ (median survival; 100 months). We included age, sex, cranial nerve deflicit, histologic type, stage group, chemotherapy, elapsed days between chemotherapy and radiotherapy, total radiation dose, period of radiotherapy as potential prognostic factors in multivariate analysis. As a result, cranial none deficit (P=0.004) had statistical significance in local control rate. Stage group and total radiation dose were significant prognostic factors in survival (P=0.000, P=0.012), and in disease free survival rates (P=0.003, P=0.008), respectively. Common complications were xerostomia, tooth and ear problems. Hypothyroidism was developed in 2 patients. Conclusion : In our study, cranial none deficit was a significant prognostic factor in local control rate, and stage group and total radiation dose were significant factors in both survival and disease free survival of nasopharyngeal carcinoma. We have concluded that chemotherapy and radiotherapy used in our patients were effective without any serious complication.