• Journal of KSNVE
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• v.11 no.1
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• pp.68-75
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• 2001

A method for actively controlling dynamic reaction forces in flexible structures subject to persistent excitations is presented. Since reaction forces are not directly measured in flexible structures, reaction forces are estimated by using the Kalman filter. The estimated reaction force is used as an error signal in the adaptive feedforward disturbance cancellation controller. In order to compensate the static effect of the truncated modes in the reaction forces, the residual flexibility matrix is used with the Kalman filter. The paper presents the formulation of the reaction forces in conjunction with the Kalman filter estimator and the adaptive feedforward controller. The results show that the dynamic reaction forces at its supports in a flexible beam test rir are well suppressed.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.40 no.2
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• pp.73-78
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• 2007

The suitability of a flexible fiber filter for removing suspended solid (SS) in a recirculating aquaculture system was evaluated. This study focused on variation in the performance with a change in filtering time, influent water quality, and filtering mode duration. The particle distribution diagram of the filter effluent showed that the number of particles bigger than $5-8{\mu}m$ decreased dramatically, and the removal efficiency exceeded 80%. Although the removal efficiencies of SS and chemical oxygen demand (COD) were dependent on the quality of the influent, the SS and COD concentrations of the effluent were not affected by the influent concentrations. This was despite the deterioration if water quality after feeding in the rearing tank. The performance of the filter was not affected by the filtering mode duration, feeding conditions, or filtering time. The SS concentration and turbidity of the recirculating-type rearing tank were 30% and 50% lower, respectively, than of the a non-recirculating-type rearing tank under the same operating conditions. The flexible fiber filter was applicable to a recirculating aquaculture system that uses plenty of seawater, based on its low filtering resistance $(2kg_f/cm^2)$, high flux $(330m^3/m^2/hr)$, and high fine particle removal efficiency (80%, $5-8{\mu}m$).

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.6
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• pp.564-572
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• 2008

The performance of the direct adaptive time-delay command shaping filter depends on the select time-delay. In the previously introduced direct adaptive command shaping filter, however, the time-delay value is fixed and only the magnitudes of the impulses are learned. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.8
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• pp.6-13
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• 2014

In this paper, a multiwavelength-switchable first-order fiber flexible filter is newly proposed, which is based on a polarization-diversity loop. The proposed filter consists of a polarization beam splitter, three half-wave plates(HWPs), and two high birefringent fibers(HBFs). The proposed filter has a good flexibility in adjusting relative angular difference between the principal axes of two HBFs by inserting an HWP between two HBFs. The first-order flat-top or narrow band transmission spectra and the zeroth-order transmission spectra, which had a channel spacing of ~0.8nm, could be obtained by controlling the three HWPs, and, in particular, each of them could also be interleaved. In addition, zeroth-order transmission spectra with a channel spacing of ~0.8nm could be flexibly converted into those with a channel spacing of ~0.4nm through the control of three HWPs, and also be interleaved. The transmission characteristics of the proposed filter was theoretically analyzed and experimentally verified.

• Journal of IKEEE
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• v.19 no.1
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• pp.27-32
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• 2015

A flexible and tunable microwave photonic filter based on adjustable optical frequency comb source is demonstrated. We use a combination of a dual parallel Mach Zehnder modulator and an intensity modulator to generate fifteen comb lines with proper weights to implement a desired filter. The optical comb weights, corresponding to the tap coefficients of the filter, are flexibly changed by adjusting the operation parameters of the modulators. The achieved bandwidth and stopband attenuation of the tunable filter are 0.7 GHz and 20 dB, respectively. In addition, we overcome the undesired low frequency suppression appeared in a conventional scheme by applying a dual parallel Mach Zehnder modulator for single sideband suppressed carrier modulation.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.917-922
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• 1992

Resently there have been increasing interests in adaptive identification and control of flexible structures. In this paper, vector channel lattice filters and their applications to parameter identification of flexible structures are studied. Numerical examples are given to show its performace to estimate the natural frequencies of 5-mass system. It is observed that vector channel lattice filter convetges quickly and identifies modal frequencies even when some of them is unobservable for some measurements. Experimental results demonstrated the ability of the lattice filter to identify the natural frequencies and the damping ratios of cantilever beam and pipe.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.886-892
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• 2008

In this paper, a closed-loop observer to extract the center of mass (CoM) of a bipedal robot is suggested. Comparing with the simple conversion method of just using joint angle measurements, it enables to get more reliable estimates by fusing both joint angle measurements and F/T sensor outputs at ankle joints. First, a nonlinear-type observer is constructed to estimate the flexible rotational motion of the biped in the extended Kalman filter framework. It adopts the flexible inverted pendulum model which is appropriate to address the flexible motion of bipeds, specifically in the single support phase. The predicted estimates of CoM in terms of the flexible motion observer are combined with measurements (that is, output of the CoM conversion equation with joint angles). Then, we have final CoM estimates depending on the weighting values which penalize the flexible motion model and the CoM conversion equation. Simulation results show the effectiveness of the proposed algorithm.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2032-2035
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• 2003

This paper focused on the possibility of face recognition using Flexible let Point Setting method in Gabor Filter Based Face Recognition. Gabor Filter is very sensible to the Texture variation. Therefore, any little change in the face expression or rotation of posture make recognition rate down significantly. A suggested solution for this problem is the Flexible Jet Point Setting. A significant effect of this method is that the number of Jet Point has been reduced from over 150 to under 30 even though the change of recognition rate between two methods is neglectable, Furthermore a set of feature values which results from a set of Gabor filtering became insensible to face variation such as expression, rotation, and light effect. Retinex Algorithm which has been developed by NASA are used as pre-processing.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.43-44
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• 2006

The performance of the direct adaptive time-delay filter depends on the select time-delay. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.