• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.585-588
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• 1997

This paper presents a construction method of logic-based switching control system which operates in widely changing environments. The logic-based switching controller is composed of a family of candidate controllers together with a supervisor. The system does not require any identification schemes of environments. Switching from one candidate controller to another is carried out based on monitoring the output of the system. The basic ideas of adaptation are as follows: (1)each candidate controller is prepared for each environment in advance; (2)the supervisor applies a sequence of speculative controls to a plant with candidate controllers just after the control has started and just after the change of the environment has been detected. It is important that each candidate controller can keep the system stable during a sequence of speculative controls, and the most appropriate candidate controller for the environment to which the system is exposed can be selected before the last speculative control is ended. An application to an antiskid braking system clarifies the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.560-563
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• 1997

The conventional impedance control has been known to have the following problems: it has lack of specifying force directly and unknown environment stiffness has to be known priori in order to specify the reference trajectory. In this paper, new impedance force control that can control a desired force directly under unknown stiffness is proposed. A new nonlinear impedance function is developed based on estimation of unknown stiffness from force and position measurements. The nonlinear characteristics of the proposed impedance function are analyzed based on unknown environment position. Simulation studies with robot manipulator are carried out to test analytical results.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.638-641
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• 1992

In this paper, a hybrid position/force control scheme is proposed. The control scheme modifies the position command for force control against constraint surface of environment and is very simply designed and implemented. The merits of the control scheme are that it can cope with change of constraint conditions and small position inaccuracy of the environment. A constraint surface position observer is also proposed to reduce disturbances on controlled force.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.473-477
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• 1993

Improving the legal system is one of the key points in strengthening the control of environment . The coordination of economic development with environment protection and the legislation in Guangdong since 1980 is described. Some proposals for stimulating the economy by enhancing the environment protection in accordance with the law are offered.

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 2004.03a
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• pp.172-175
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• 2004

• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 1997.11a
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• pp.14-19
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• 1997

식물의 광반응은 광질과 광강도에 따라 상이하며, 광은 열을 동반하게 되므로 광만을 분리하여 생각할 수 없다. 즉, 광은 식물체의 체온과 엽온을 높이고, 잎의 수증기 장력을 증가시켜 증산을 촉진하므로 기화열을 발생하는 원동력이 되기도 한다. 따라서 광은 잎속의 수분이나 기공개도 등에 영향을 주기 때문에 광합성속도에 간접적인 영향을 미치기도 한다. (중략)

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.388-397
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• 2009

There are many tasks which require robotic manipulators interaction with environment. It consists of three control problems, i.e., position control, impact control and force control. The position control means the way of reaching to the environment. The moment of touching to the environment yields the impact control problem and the force control is to maintain the desired force trajectory after the impact with the environment. These three control problems occur in sequence, so each control algorithm can be developed independently. Especially for redundant manipulators, each of these three control problems has been important independent research topic. For example, joint torque minimization and impulse minimization are typical techniques for such control problems. The three control problems are considered as a single task in this paper. The position control strategy is developed to improve the performance of the task, i.e., minimization of the individual joint torques and impulse. Therefore, initial conditions of the impact control problem are optimized at the previous position control algorithm. Such a control strategy yields improved result of the impact control. Similarly, the initial conditions for the force control problem are indirectly optimized by the previous position control and impact control strategies. The force control algorithm uses the individual joint torque minimization concept. It also minimizes the force disturbances. The simulation results show the proposed control strategy works well.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.1190-1195
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• 2005

Biomass burning is a source of greenhouse gases, carbon dioxide, methane, and nitrous oxide. Under the ideal conditions of complete combustion, the burning of biomass produces carbon dioxide and water vapor. Since complete combustion is not achieved under any conditions of biomass burning, other carbon species, including carbon monoxide, methane, non-methane hydrocarbons and particulate carbon are produced. In this study, we analyze the combustion characteristics of rice-husk, such as heat release rate, smoke production rate, the percentage variation of CO and $CO_2$, oxygen consumption rate, and mass loss under different heat fluxes (20, 50 and 70kW). As a result, at 20kW incomplete combustion is occurred so that the percentage of CO is high in initial burning and total smoke release is higher than the others. At 50kW and 70kW, the combustion behaviors is very similar except the variation of CO percentage.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.10
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• pp.707-713
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• 2015

This paper proposes experimental results for control performance deterioration of a piezoelectric actuator under high temperature conditions due to external heat environment. In this work, a heat environment from 30 ℃ to 190 ℃ is established by a heat chamber which is capable of high temperature of heat environment. Inside the heat chamber, an experimental apparatus consisting of the stack type of piezoelectric actuator, laser sensor, gap sensor and temperature sensor is established. After evaluating temperature dependent blocking force, displacement and time response of a piezoelectric actuator inside the heat chamber, tracking control performances are evaluated under various temperature conditions via proportional-integral-derivative(PID) feedback controller. The desired position trajectory has a sinusoidal wave form with a fixed frequency. Control performances are experimentally evaluated at both room temperature and high temperature and presented in time domain.

• Journal of Bio-Environment Control
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• v.15 no.1
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• pp.1-7
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• 2006

This study was conducted to develop a system and an control algorithm for control the environment of a plant factory. The greenhouse control system for environmental control was largely composed of a computer and a PLC. The screen of control program was composed of a greenhouse figure which was included machinery and equipments for greenhouse, the graph of environmental factors of inside greenhouse and the image of greenhouse. In order to reduce temperature change, the operation time of ventilation window was changed by 3 stage according to difference between a target and present temperature. When is heating, a temperature variation was shown to be $16.7{\pm}0.8^{\circ}C$. When is cooling, a temperature variation was shown to be $23.1{\pm}0.6^{\circ}C$. When is humidifing, a humidity variation was shown to be $39.3{\pm}1.6^{\circ}C$ %RH. An environmental control system and a control algorithm were proved that it was shown a good performance in a control accuracy. So a computer control system should be adapted to a control system of a greenhouse and a plant factory.