• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5A
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• pp.849-859
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• 2006

This paper presents an extensive robust analysis of a ${\mu}$-controller in the hybrid system for various uncertainties using the benchmark cable-stayed bridge. The overall system robustness may be deteriorated by introducing active devices and the active controller may cause instability due to small margins. Therefore, a ${\mu}$-synthesis method that simultaneously guarantees the performance and stability of the closed-loop system (robust performance) with uncertainties is used for active devices to enhance the robustness in company with the inherent reliability of passive devices. The robustness of the ${\mu}$-synthesis method is investigated with respect to the additional mass on the deck, structural stiffness matrix perturbation, time delay of actuator, and combinations thereof. Numerical simulation results show that the proposed control system has the good robustness without loss of control performances with respect to various uncertainties under earthquakes considered in this study. Furthermore, the control system robustness is more affected by the perturbation of structural stiffness matrix than others considered in this study. Therefore, the hybrid system controlled by a ${\mu}$-synthesis method could be proposed as an improved control strategy for a seismically excited cable-stayed bridge containing many uncertainties.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.8
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• pp.57-66
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• 2009

The conventional fixed gain PI controller is very sensitive to step change of command speed, parameter variation and load disturbances. The precise speed control of interior permanent magnet synchronous motor(IPMSM) drive becomes a complex issue due to nonlinear coupling among its winding currents and the rotor speed as well as the nonlinear electromagnetic developed torque. Therefore, there exists a need to tune the PI controller parameters on-line to ensure optimum drive performance over a wide range of operating conditions. This paper proposes hybrid intelligent-PI(HIPI) controller of IPMSM drive using adaptive learning mechanism(ALM) and fuzzy neural network(FNN). The proposed controller is developed to ensure accurate speed control of IPMSM drive under system disturbances and estimation of speed using artificial neural network(ANN) controller. The PI controller parameters are optimized by ALM-FNN at all possible operating condition in a closed loop vector control scheme, The validity of the proposed controller is verified by results at different dynamic operating conditions.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.3
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• pp.32-41
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• 2008

In this paper, we describe the synthesis of robust and non-fragile $H^{\infty}$ state feedback controllers for linear systems with affine parameter uncertain tracking servo system of blu-ray disc drive, as well as static state feedback controller with polytopic uncertainty Similarity any other control system, the objective of the track-following system design for optical disc drives is to construct the system with better performance and robustness against modeling uncertainties and various disturbances. Also, the obtained condition can be rewritten as parameterized linear matrix inequalities(PLMIs), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a resulted polytopic region.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.4
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• pp.444-453
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• 2015

In the previous study, several problems were observed in a NG conversion vehicle, which were fail of air-fuel ratio closed loop control, aggravated fuel economy, increased harmful emission and declined roadability. It was provisionally supposed that the mismatch of injection system with the engine caused these performance deterioration. In this context, the characteristics of fuel injection system of commercial conversion kit for NG were investigated experimentally varying the engine speed, fuel rail pressure and volume. The results are as follows; The injection quantity decreases as the engine speed increases due to the extremely small rail volume of the presenting system and flow rate of No. 2 injector are always lower than that of the other ones regardless of the speed under the dynamic operation condition. Furthermore the existing system does not meet the required fuel quantity for the normal engine operation over 3000 RPM. On the other hands, the large rail volume systems ease and/or eliminate the difference of injection quantity between the injectors according to the speed variation, however, these systems decrease injection flow rate and still cannot supply sufficient fuel. Finally, suitable combination of the higher rail pressure and the larger rail volume might be a solution about these problems.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.49 no.1
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• pp.15-24
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• 2012

In this paper, we suggest the dynamic-response-free SMPS using a new high-resolution DPWM generator based on switched-capacitor delay technique. In the proposed system, duty ratio of DPWM is controlled by voltage slope of an internal capacitor using switched-capacitor delay technique. In the proposed circuit, it is possible to track output voltage by controlling current of the internal capacitor of the DPWM generator through comparison between the feedback voltage and the reference voltage. Therefore the proposed circuit is not restricted by the dynamic-response characteristic which is a problem in the existing SMPS using the closed-loop control method. In addition, it has great advantage that ringing phenomenon due to overshoot/undershoot does not appear on output voltage. The proposed circuit can operate at switching frequencies of 1MHz~10MHz using internal operating frequency of 100 MHz. The maximum current of the core circuit is 2.7 mA and the total current of the entire circuit including output buffer is 15 mA at the switching frequency of 10 MHz. The proposed circuit has DPWM duty ratio resolution of 0.125 %. It can accommodate load current up to 1 A. The maximum ripple of output voltage is 8 mV. To verify operation of the proposed circuit, we carried out simulation with Dongbu Hitek BCD $0.35{\mu}m$ technology parameter.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.6
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• pp.609-614
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• 2014

Cerebellar ataxia is a steadily progressive neurodegenerative disease associated with loss of motor control, leaving patients unable to walk, talk, or perform activities of daily living. Direct motor instruction in cerebella ataxia patients has limited effectiveness, presumably because an inappropriate closed-loop cerebellar response to the inevitable observed error confounds motor learning mechanisms. Recent studies have validated the age-old technique of employing motor imagery training (mental rehearsal of a movement) to boost motor performance in athletes, much as a champion downhill skier visualizes the course prior to embarking on a run. Could the use of EEG based BCI provide advanced biofeedback to improve motor imagery and provide a "backdoor" to improving motor performance in ataxia patients? In order to determine the feasibility of using EEG-based BCI control in this population, we compare the ability to modulate mu-band power (8-12 Hz) by performing a cued motor imagery task in an ataxia patient and healthy control.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.3
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• pp.9-23
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• 2015

A lane change maneuver which has a high driver cognitive workload and skills sometimes leads to severe traffic accidents. In this study, the Advanced Lane Change Assist System (ALCAS) was developed to assist with the automatic lane changes in merging sections which is mainly based on an automatic control algorithm for detecting an available gap, determining the Optimal Lane Change Start Point (OLCSP) in various traffic conditions, and positioning the merging vehicle at the OLCSP safely by longitudinal automatic controlling. The analysis of lane change behavior and modeling of fundamental lane change feature were performed for determining the default parameters and the boundary conditions of the algorithm. The algorithm was composed of six steps with closed-loop. In order to confirm the algorithm performance, numerical scenario tests were performed in various surrounding vehicles conditions. Moreover, feasibility of the developed system was verified in microscopic traffic simulation(VISSIM 5.3 version). The results showed that merging vehicles using the system had a tendency to find the OLCSP readily and precisely, so improved merging performance was observed when the system was applied. The system is also effective even during increases in vehicle volume of the mainline.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.3
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• pp.183-190
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• 2002

This paper describes the synthesis of robust and non-fragile H$\infty$ state feedback controllers for linear varying systems with affine parameter uncertainties, and static state feedback controller with structured uncertainty. The sufficient condition of controller existence, the design method of robust and non-fragile H$\infty$ static state feedback controller, and the set of controllers which satisfies non-fragility are presented. The obtained condition can be rewritten as parameterized Linear Matrix Inequalities(PLMls), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. However, in contrast to LMIs, PLMIs feasibility problems involve infinitely many LMIs hence are inherently difficult to solve numerically. Therefore PLMls are transformed into standard LMI problems using relaxation techniques relying on separated convexity concepts. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a degree.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.6C
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• pp.560-569
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• 2005

This paper proposes an algorithm for transmit antenna selection in a multi-input multi-output(MIMO) spatial multiplexing system with per antenna rate control(PARC) and an ordered successive interference cancellation (OSIC) receiver. The active antenna subset is determined at the receiver and conveyed to the transmitter using feedback information on transmission rate per antenna. We propose a serial decision procedure consisting of a successive process that tests whether antenna selection gain exists when the antenna with the lowest pre-processing signal to interference and noise ratio(SINR) is discarded at each stage. Furthermore, we show that 'reverse detection ordering', whereby the signal with the lowest SINR is decoded at each stage of successive decoding, widens the disparities among fractions of the whole capacity allocated to each individual antenna and thus maximizes a gain of antenna selection. Numerical results show that the proposed reverse detection ordering based serial antenna selection approaches the closed-loop MIMO capacity and that it induces a negligible capacity loss compared with the heuristic selection strategy even with considerably reduced complexity.