• 한국정밀공학회지
• /
• 제21권4호
• /
• pp.120-131
• /
• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• 생약학회지
• /
• 제36권3호통권142호
• /
• pp.209-219
• /
• 2005

In this study, we carried out the preparing standardization and regulation of processed Glycyrrhizae Radix (PGR) which have been widely used in oriental medicines. Glycyrrhizae Radix(GR) have been generally prepared by the stir-frying, or mix-frying with honey for the purpose of decreasing sweetness and augmenting vitality. Firstly, we tried to standardize PGR prepared by the stir-frying. We purchased 14 kinds of PGR and non-processed GR(NPGR) at oriental physician's offices and oriental pharmacies on a nation scale, respectively. The amounts of dry on loss, water extract, diluted ethanol extract, ether extract, total ash, acid insoluble ash, glycyrrhizin(GL), glycyrrhetic acid(GA) and liquiritin(LQ) of them were examined. The amounts of dry on loss, GL and LQ in commercial PGRs showed remarkable decrease, while GA showed increased as compared with NPGR. In order to standardize preparing method of PGR, the effect of heating time on physico-chemical parameters and biological activities were examined. Physico-chemical parameters such as dry on loss, extract amount, GL and LQ contents in PGRs showed decrease, however, GA was increased with heating time as compared with NPGR. Also, GA, obtained from heat-treated GR, was found as an artifact in PGRs. PGR was more effective than NPGA in vitro test of DPPH scavenging effect and TBA-Rs reducing effect. PGR and NPGR showed potent hepatoprotective effect on $CCl_4-intoxicated$ rats. Especially, PGR prepared by 80 min of heating was the most effective. Considering these results, the optimal condition for PGR preparation was $150^{\circ}C$ for 80 min.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
• /
• pp.488-492
• /
• 1986

This paper presents a design method for PID controller using optimal control theory. The procedures of the applied method consist of (1) sampling the system response to the test signal, (2) processing the sampled data using RPE method to identify the parameters of the plant, (3) calculating the optimal value of the PID controller parameters using LQ theory. This controller is implemented on the digital computer and applied to real servomechanism, yielding satisfactory result.

• 한국지능시스템학회논문지
• /
• 제12권3호
• /
• pp.239-245
• /
• 2002

본 논문에서는 입력에 제한이 있는 시간지연 비선형 시스템에 대한 퍼지 $H_2/H_{\infty}$ 제어기 설계 방법을 제시한다. 포화입력을 갖는 시간지연 비선형 시스템을 시간지연과 포화입력을 갖는 Takagi-Sugeno 퍼지 모델로 표현하고 병렬분산보상(PDC)의 개념을 이용하여 제어기를 설계한다. Lyapunov 함수를 이용하여 시간지연과 포화입력을 갖는 $H_2/H_{\infty}$ 퍼지모델에 대한 폐루프 시스템의 안정성 조건과 LQ 성능을 최소화하는 조건을 유도하고, 퍼지 $H_2/H_{\infty}$ 제어기가 존재할 충분조건을 선형행렬부등식(LMI: liner matrix inequality)을 이용하여 구한다. 제어기는 선형행렬부등식의 해를 구하므로써 바로 구할 수 있으며, 설계된 퍼지 $H_2/H_{\infty}$ 제어기는 $H_{\infty}$ 노옴 한계값을 만족하면서 LQ성능의 상한값을 최소화한다. 마지막으로 포화압력으로 포화압력을 가지는 시간지연 비선형 시스템에 대해 퍼지 $H_2/H_{\infty}$ 제어기 설계 사례를 보인다.

• 한국학교수학회논문집
• /
• 제6권1호
• /
• pp.1-17
• /
• 2003

이 논문은 수학적인 재능을 가진 농어촌 수학영재지도를 위하여 농어촌 지역에 위치한 과학영재교육원(지역교육청 주관)에서 수학하는 중학교 2학년 학생을 대상으로 창조적인 수학문제 해결력을 증진시키는 방법을 연구한다. 특히 수학영재교육에서 수학 창의적 문제해결력을 증진시키기 위한 탐색방안을 연구하여 탐구학습에 적용하는 수업모형과 학습지도안을 개발하고 개발된 탐구학습지도안을 탐구학습모형에 적용하여 지적능력(IQ)에 따른 수업 형태의 선호도 반응, 지적능력과 수학창의력 능력과의 관계, 탐구학습과 수학 창의적 문제해결 능력과의 관계를 비교분석하여 수학영재교육에 있어서 수학 창의적 문제해결에 알맞는 교수·학습 모형과 학습내용을 탐색하여 보편화된 교재이외의 다양한 수학학습탐구주제를 가지고 학생들의 참여를 이끌어 내어 토론식 수업을 전개하는 것이 바람직한 수업모델이 될 수 있을 것이라는 결론을 얻었다.

• 문화기술의 융합
• /
• 제6권3호
• /
• pp.317-325
• /
• 2020

본 연구는 장애인기업에 대한 현황과 연구개발활동을 살펴보고 연구개발 지원 방안을 찾는데 그 목적이 있다. 본 연구를 통해 연구개발에 대한 기업의 수요와 연구개발활동이 활발한 기업의 특성을 도출하였으며, 이를 종합하여 연구개발지원 방안을 제안하였다. 중소기업과 장애인기업의 업종별 입지계수(LQ) 비교결과 장애인종사자수는 업종별 큰 특화를 보였다. 연구개발은 제조업을 비롯한 4개 업종의 매출액 20억원 이상 기업에서 활발하였다. 연구결과 장애인기업에 대한 연구개발 지원은 업종 및 기업의 규모에 따라 현장애로기술중심과 혁신기술중심으로 구분하여 지원할 필요가 있다.

• 호남수학학술지
• /
• 제45권3호
• /
• pp.542-554
• /
• 2023

Given a real number α, the Lagrange number of α is the supremum of all real numbers L > 0 for which the inequality |α - p/q| < (Lq²)^-1 holds for infinitely many rational numbers p/q. All Lagrange numbers less than 3 can be arranged as a set {l_p/q : p/q ∈ ℚ ∩ [0, 1]} using the Farey index. The present paper considers a function C(α) devised from Sturmian words. We demonstrate that the function C(α) contains all information on Lagrange numbers less than 3. More precisely, we prove that for any real number α ∈ (0, 1], the value C(α) - C(0) is equal to the sum of all numbers 3 - l_p/q where the Farey index p/q is less than α.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1060-1065
• /
• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 제어로봇시스템학회논문지
• /
• 제6권3호
• /
• pp.263-272
• /
• 2000

In this paper we give some geometric condition for a stochastic nonlinear system and we propose a control method for a stochastic nonlinear system using neural networks. Since a competitive learning neural networks has been developed based on the stochastcic approximation method it is regarded as a stochastic recursive filter algorithm. In addition we provide a filtering and control condition for a stochastic nonlinear system called the perfect filtering condition in a viewpoint of stochastic geometry. The stochastic nonlinear system satisfying the perfect filtering condition is decoupled with a deterministic part and purely semi martingale part. Hence the above system can be controlled by conventional control laws and various intelligent control laws. Computer simulation shows that the stochastic nonlinear system satisfying the perfect filtering condition is controllable and the proposed neural controller is more efficient than the conventional LQG controller and the canonical LQ-Neural controller.

• 제어로봇시스템학회논문지
• /
• 제22권3호
• /
• pp.177-185
• /
• 2016

This paper presents a method to design a controller for active suspension with 1-DOF decoupled models. Three 1-DOF decoupled models describing vertical, roll and pitch motions are used to design a controller in order to generate a vertical force, roll and pitch moments, respectively. These control inputs are converted into active suspension forces with geometric relationship. To design a controller, a sliding mode control is adopted. Frequency domain analysis and simulation on vehicle simulation software, CarSim$^{(R)}$, show that the proposed method is effective for ride comfort.