• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.979-982
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• 2003

In this study, because of change in electromagnetic force, deformation of the free surface motion of a magnetic fluid is changed. Deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed and carried out theoretically and experimentally on the basis of Rosensweig Ferrohydrodynamic Bernoulli Equation. Objective of this study explicates free surface motion by electromagnetic force and planes to designed controller. To control free surface of magnetic fluid, it embody designed two-dimensional free surface form of magnetic fluid. By using this characteristics, they applied to oscillator for surface control, flow control, boundary layer control. Strength of magnetic field and height of free surface of magnetic fluid measure as a hall-effect sensor. As performing height control of magnetic fluid, the result will be presented possibility of free surface deformation control.

• International Journal of Control, Automation, and Systems
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• v.1 no.4
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• pp.464-473
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• 2003

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

• Journal of Drive and Control
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• v.14 no.2
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.

• Journal of Microbiology and Biotechnology
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• v.25 no.10
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• pp.1621-1628
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• 2015

Chlamydia possesses a conserved 7.5 kb plasmid that is known to play an important role in chlamydial pathogenesis, since some chlamydial organisms lacking the plasmid are attenuated. The chlamydial transformation system developed recently required the use of plasmid-free organisms. Thus, the generation and identification of plasmid-free organisms represent a key step in understanding chlamydial pathogenic mechanisms. A tricolor immunofluorescence assay for simultaneously detecting the plasmid-encoded Pgp3 and whole organisms plus DNA staining was used to screen C. muridarum organisms selected with novobiocin. PCR was used to detect the plasmid genes. Next-generation sequencing was then used to sequence the genomes of plasmid-free C. muridarum candidates and the parental C. muridarum Nigg strain. We generated five independent clones of plasmid-free C. muridarum organisms by using a combination of novobiocin treatment and screening plaque-purified clones with anti-Pgp3 antibody. The clones were confirmed to lack plasmid genes by PCR analysis. No GlgA protein or glycogen accumulation was detected in cells infected with the plasmid-free clones. More importantly, whole-genome sequencing characterization of the plasmid-free C. muridarum organism and the parental C. muridarum Nigg strain revealed no additional mutations other than loss of the plasmid in the plasmid-free C. muridarum organism. Thus, the Pgp3-based immunofluorescence assay has allowed us to identify authentic plasmid-free organisms that are useful for further investigating chlamydial pathogenic mechanisms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.817-826
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• 1987

An offset-free self-tuning control with pole placement (STCPP) and a recursive parameter estimation with multiple and variable forgetting factors (REWF), together with their application to a real plant, are described. There are two different types of offset-free STCPP; their features are analysed and discussed. REMVF employs as many forgetting factors as parameter estimates. It is suitable when parameters to be estimated are changing at different rates. The offset-free STCPP and REMVF have been successfully applied to a real plant, giving excellent results.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1094-1097
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• 1999

This paper presents a new PID control scheme based on the feedback of averaged derivatives to realize a noise-free differential control. The PID(Proportional, Integral and Differential) control is still one of the control methods in most wide use. In the paper, the conventional PID control adopting filtering technique is analyzed with new interpretation of filtering function. In order to overcome the drawbacks of the conventional PID control, this paper introduces the feedback of averaged derivatives in the noisy environment, and suggests a new PID control scheme using delay components to realize a noise-free differential control. The proposed PID control yields good performance much similar to the original system response in case of no noises. The proposed control scheme has been tested for the load frequency control of power systems.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.519-524
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• 1998

This paper presents a robust control scheme of free-joint manipulators to overcome actuator failures and uncertain-ties in Cartesian space where tasks are planned. The control scheme has the adaptation law for the upper bound on the norm of uncertainties through the Lyapunov function approach. To solve the dynamic singularity problem in the controller, the singular and nonsingular regions are investigated based on a computer simulation. Then a singularity-free Cartesian trajectory planning is achieved in order to guarantee the availability of the control scheme. To illustrate the validity of the proposed control scheme, simulation results for a three-link planar robot arm with a free joint are shown.

• Analytical Science and Technology
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• v.8 no.4
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• pp.895-900
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• 1995

Urinary free and acetylated polyamine profiles have been investigated for their potential usefulness as biochemical markers of cancer in a control of group comprised of healthy volunteers (32 cases) and patients with various types of cancers(48 cases). The nine (5 free and 4 acetylated) endogeneous polyamines were simultaneously determined by a sensitive capillary gas chromatography/nitrogen-phosphorus detector (GC/NPD). The newly modified (simple and convenient) method was developed and the compounds were isolated by adsorption onto silica gel and derivatized by heptafluorobutyric anhydride to enhance their specificity on gas chromatograms. The good quality-control data were obtained through the precision and accuracy test and the recovery range of them was 48.6 ~ 101.2 %. The Korean reference values of urinary polyamines were established and significant differences were found in cancer patients compared with normal subjects. Also, to eliminate subject variations, precursors to product concentration ratios were compared between cancer patients and control group. The ratios of both putrescine to spermidine and total (free plus acetylated) putrescine to total spermidine were significantly greater in cancer patients than in normal subjects.

• Journal of Drive and Control
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• v.19 no.1
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• pp.51-61
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• 2022

This paper presents a model-free system based on a framework of a backstepping sliding mode control (BSMC) with a radial basis function neural network (RBFNN) and adaptive mechanism for electro-hydraulic systems (EHSs). First, an EHS mathematical model was dedicatedly derived to understand the system behavior. Based on the system structure, BSMC was employed to satisfy the output performance. Due to the highly nonlinear characteristics and the presence of parametric uncertainties, a model-free approximator based on an RBFNN was developed to compensate for the EHS dynamics, thus addressing the difficulty in the requirement of system information. Adaptive laws based on the actor-critic neural network (ACNN) were implemented to suppress the existing error in the approximation and satisfy system qualification. The stability of the closed-loop system was theoretically proven by the Lyapunov function. To evaluate the effectiveness of the proposed algorithm, proportional-integrated-derivative (PID) and improved PID with ACNN (ACPID), which are considered two complete model-free methods, and adaptive backstepping sliding mode control, considered an ideal model-based method with the same adaptive laws, were used as two benchmark control strategies in a comparative simulation. The simulated results validated the superiority of the proposed algorithm in achieving nearly the same performance as the ideal adaptive BSMC.