• Title/Summary/Keyword: Fuzzy control systems

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요버헤드 가이던스 레일 추종 방식에 의한 과수방제기의 무인 주행 (Autonomous-guided orchard sprayer using overhead guidance rail)

  • 신범수;김상헌;박재언
    • Journal of Biosystems Engineering
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    • 제31권6호
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    • pp.489-499
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    • 2006
  • Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

정수장 약품 최적 주입률 결정을 위한 지능형 제어기 개발 (Intelligent Controller for Optimal Coagulant Dosage Rate in Water Treatment Process)

  • 이호현;신강욱;홍성택;전명근
    • 한국지능시스템학회논문지
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    • 제25권4호
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    • pp.369-376
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    • 2015
  • 정수장 유입수에 포함된 다양한 유기물을 제거하기 위하여 약품을 주입하고 있으나 적정 주입률 결정은 4~7시간 후에나 탁도를 통하여 확인 가능함에 따라 실시간 피드백 제어가 불가하다. 또한 실험실에서 실시하는 Jar-Test 및 운영자의 경험에 따른 수동운전은 유기물 특성 및 수질 변화로 인하여 실험 및 휴먼에러가 발생할 수 있다. 특히 야간/주말 등에는 실험을 실시할 수 없어 운영자 판단에 의한 간헐적 변경만이 이루어지고 있다. 따라서 지능제어 알고리즘을 이용한 적정 약품 주입률을 학습하여 실시간 약품 주입과 주입량 감소로 원가절감을 달성코자 하였다.

Associative Motion Generation for Humanoid Robot Reflecting Human Body Movement

  • Wakabayashi, Akinori;Motomura, Satona;Kato, Shohei
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제12권2호
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    • pp.121-130
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    • 2012
  • This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

Real-time hybrid simulation of smart base-isolated raised floor systems for high-tech industry

  • Chen, Pei-Ching;Hsu, Shiau-Ching;Zhong, You-Jin;Wang, Shiang-Jung
    • Smart Structures and Systems
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    • 제23권1호
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    • pp.91-106
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    • 2019
  • Adopting sloped rolling-type isolation devices underneath a raised floor system has been proved as one of the most effective approaches to mitigate seismic responses of the protected equipment installed above. However, pounding against surrounding walls or other obstructions may occur if such a base-isolated raised floor system is subjected to long-period excitation, leading to adverse effects or even more severe damage. In this study, real-time hybrid simulation (RTHS) is adopted to assess the control performance of a smart base-isolated raised floor system as it is an efficient and cost-effective experimental method. It is composed of multiple sloped rolling-type isolation devices, a rigid steel platen, four magnetorheological (MR) dampers, and protected high-tech equipment. One of the MR dampers is physically tested in the laboratory while the remainders are numerically simulated. In order to consider the effect of input excitation characteristics on the isolation performance, the smart base-isolated raised floor system is assumed to be located at the roof of a building and the ground level. Four control algorithms are designed for the MR dampers including passive-on, switching, modified switching, and fuzzy logic control. Six artificial spectrum-compatible input excitations and three slope angles of the isolation devices are considered in the RTHS. Experimental results demonstrate that the incorporation of semi-active control into a base-isolated raised floor system is effective and feasible in practice for high-tech industry.

Memory Organization for a Fuzzy Controller.

  • Jee, K.D.S.;Poluzzi, R.;Russo, B.
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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    • pp.1041-1043
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    • 1993
  • Fuzzy logic based Control Theory has gained much interest in the industrial world, thanks to its ability to formalize and solve in a very natural way many problems that are very difficult to quantify at an analytical level. This paper shows a solution for treating membership function inside hardware circuits. The proposed hardware structure optimizes the memoried size by using particular form of the vectorial representation. The process of memorizing fuzzy sets, i.e. their membership function, has always been one of the more problematic issues for the hardware implementation, due to the quite large memory space that is needed. To simplify such an implementation, it is commonly [1,2,8,9,10,11] used to limit the membership functions either to those having triangular or trapezoidal shape, or pre-definite shape. These kinds of functions are able to cover a large spectrum of applications with a limited usage of memory, since they can be memorized by specifying very few parameters ( ight, base, critical points, etc.). This however results in a loss of computational power due to computation on the medium points. A solution to this problem is obtained by discretizing the universe of discourse U, i.e. by fixing a finite number of points and memorizing the value of the membership functions on such points [3,10,14,15]. Such a solution provides a satisfying computational speed, a very high precision of definitions and gives the users the opportunity to choose membership functions of any shape. However, a significant memory waste can as well be registered. It is indeed possible that for each of the given fuzzy sets many elements of the universe of discourse have a membership value equal to zero. It has also been noticed that almost in all cases common points among fuzzy sets, i.e. points with non null membership values are very few. More specifically, in many applications, for each element u of U, there exists at most three fuzzy sets for which the membership value is ot null [3,5,6,7,12,13]. Our proposal is based on such hypotheses. Moreover, we use a technique that even though it does not restrict the shapes of membership functions, it reduces strongly the computational time for the membership values and optimizes the function memorization. In figure 1 it is represented a term set whose characteristics are common for fuzzy controllers and to which we will refer in the following. The above term set has a universe of discourse with 128 elements (so to have a good resolution), 8 fuzzy sets that describe the term set, 32 levels of discretization for the membership values. Clearly, the number of bits necessary for the given specifications are 5 for 32 truth levels, 3 for 8 membership functions and 7 for 128 levels of resolution. The memory depth is given by the dimension of the universe of the discourse (128 in our case) and it will be represented by the memory rows. The length of a world of memory is defined by: Length = nem (dm(m)+dm(fm) Where: fm is the maximum number of non null values in every element of the universe of the discourse, dm(m) is the dimension of the values of the membership function m, dm(fm) is the dimension of the word to represent the index of the highest membership function. In our case then Length=24. The memory dimension is therefore 128*24 bits. If we had chosen to memorize all values of the membership functions we would have needed to memorize on each memory row the membership value of each element. Fuzzy sets word dimension is 8*5 bits. Therefore, the dimension of the memory would have been 128*40 bits. Coherently with our hypothesis, in fig. 1 each element of universe of the discourse has a non null membership value on at most three fuzzy sets. Focusing on the elements 32,64,96 of the universe of discourse, they will be memorized as follows: The computation of the rule weights is done by comparing those bits that represent the index of the membership function, with the word of the program memor . The output bus of the Program Memory (μCOD), is given as input a comparator (Combinatory Net). If the index is equal to the bus value then one of the non null weight derives from the rule and it is produced as output, otherwise the output is zero (fig. 2). It is clear, that the memory dimension of the antecedent is in this way reduced since only non null values are memorized. Moreover, the time performance of the system is equivalent to the performance of a system using vectorial memorization of all weights. The dimensioning of the word is influenced by some parameters of the input variable. The most important parameter is the maximum number membership functions (nfm) having a non null value in each element of the universe of discourse. From our study in the field of fuzzy system, we see that typically nfm 3 and there are at most 16 membership function. At any rate, such a value can be increased up to the physical dimensional limit of the antecedent memory. A less important role n the optimization process of the word dimension is played by the number of membership functions defined for each linguistic term. The table below shows the request word dimension as a function of such parameters and compares our proposed method with the method of vectorial memorization[10]. Summing up, the characteristics of our method are: Users are not restricted to membership functions with specific shapes. The number of the fuzzy sets and the resolution of the vertical axis have a very small influence in increasing memory space. Weight computations are done by combinatorial network and therefore the time performance of the system is equivalent to the one of the vectorial method. The number of non null membership values on any element of the universe of discourse is limited. Such a constraint is usually non very restrictive since many controllers obtain a good precision with only three non null weights. The method here briefly described has been adopted by our group in the design of an optimized version of the coprocessor described in [10].

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유형-2 퍼지 논리 기반 그린 IT 깊이 성숙도 모델 (A Type-2 Fuzzy Logic Base Maturity Model of Green IT Richness)

  • 문경일;김철
    • 정보교육학회논문지
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    • 제14권2호
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    • pp.273-283
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    • 2010
  • 복잡계 관점에서 트래픽 패턴, 도시 및 다세포 생물학적 유기체 등이 하나의 창발적인 현상인 것처럼, '그린 IT'의 개념 또한 지구 온난화 문제로 인해 인간 세계에서 태동할 수밖에 없는 불가피한 창발적인 현상이다. 복잡계 이론의 관점에서 그린 IT는 무작위한 것으로부터 대단히 복잡한 방식으로 상호작용을 하는 상당히 뒤얽힌 시스템으로 발전할 가능성이 높다. 그렇지만, 그린 IT 시스템 또한 하나의 복잡계라 할 때, 그러한 시스템을 구동시키고 억제시키는 미지의 끌개들이 존재한다. 이러한 맥락에서 본 논문은 그린 IT 시스템의 잠정적인 끌개들을 식별하고, 평가할 수 있는 하나의 새로운 모델을 제안하고, 이를 교육적으로 활용하는데 있다. 구체적으로 그린 IT의 끌개라 할 수 있는 그린 IT 너비-깊이 행렬을 기반으로 그린 IT 진화 및 자기조직화 되어가는 과정을 측정할 수 있는 유형-2 퍼지 시스템을 구축한다.

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전파강수계 시스템의 통신 및 자료처리 전략 개발 (Communication and data processing strategy for the electromagnetic wave precipitation gauge system)

  • 이정덕;김민욱;박연구
    • 한국위성정보통신학회논문지
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    • 제12권4호
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    • pp.62-66
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    • 2017
  • 본 논문에서는 전파강수계의 운영제어 및 자료처리를 위한 통신 및 자료처리 전략을 개발하였다. 전파강수계는 24GHz 대역의 이중편파 관측을 통하여 반경 1km 이내의 강수장을 산출하고 최종적으로 관측지역내의 면적강수를 산출하고자 하는 소형 시스템이다. 소형 시스템의 특성상 시스템 내의 제한된 자원을 활용하되 정확한 강수측정을 위한 방안이 고려되어야 하고 무인운영 및 원격 관리를 목적으로 하기 때문에 네트워크의 사용도 최소화해야 할 필요가 발생한다. 이러한 제한 사항의 극복을 위하여 자료의 품질관리 측면에서는 비기상 에코의 제거를 위해서 퍼지 논리(Fuzzy logic)을 이용한 품질관리 기법을 적용하였고, 강수강도 산출을 위해서 다양한 강수강도 추정식을 활용한 강수장 가중합성 전략을 개발하였다. 또한 가변 통신데이터를 이용하여 전파강수계와 원격지 관리 컴퓨터간의 통신량을 최소화하는 전략을 개발하였다. 이러한 소프트웨어 자료처리 전략개발을 통해 원격지에 설치되어 운영될 전파강수계를 안정적으로 운영할 수 있는 통신 및 자료처리 시스템을 개발할 수 있을 것으로 기대한다.

소프트 컴퓨팅 기법을 이용한 근전도 신호의 패턴 분류와 재활 로봇 팔 제어에의 응용 (EMG Pattern Classification using Soft Computing Techniques and Its Application to the Control of a Rehabilitation Robotic Arm)

  • 한정수;김종성;송원경;방원철;이희영;변증남
    • 전자공학회논문지SC
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    • 제37권6호
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    • pp.50-63
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    • 2000
  • 본 논문에서는 소프트 컴퓨팅 기법을 이용한 새로운 근전도 신호 패턴 분류 방법을 제안한다. 재활 로봇시스템에서 기존에 사용되었던 여러 가지 입력 장치(음성, 레이저 포인터, 키패드, 3차원 입력기 등)에 비해 근전도 신호를 이용한 방식이 가지는 장점을 서술한다. 기존의 근전도 신호 분류 방법의 문제점인 사용자 의존성을 줄이기 위해 제안한 사용자 독립적인 특징 선택 방법에 대해 상술한다. 선택된 특징 집합을 이용하여 퍼지 패턴 분류기 및 퍼지 최대-최소 신경망을 구성하여 학습 전(퍼지 패턴 분류기)과 학습 후(퍼지 최대-최소 신경망)에 각각 83%와 90%의 분류 성공률을 얻어 제안된 방법의 유용성을 확인할 수 있었다.

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Risk Critical Point (RCP): A Quantifying Safety-Based Method Developed to Screen Construction Safety Risks

  • Soltanmohammadi, Mehdi;Saberi, Morteza;Yoon, Jin Hee;Soltanmohammadi, Khatereh;Pazhoheshfar, Peiman
    • Industrial Engineering and Management Systems
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    • 제14권3호
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    • pp.221-235
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    • 2015
  • Risk assessment is an important phase of risk management. It is the stage in which risk is measured thoroughly to achieve effective management. Some factors such as probability and impact of risk have been used in the literature related to construction projects. Because in high-rise projects safety issues are paramount, this study has tried to develop a quantifying technique that takes into account three factors: probability, impact and Safety Performance Index (SPI) where the SPI is defined as the capability of an appropriate response to reduce or limit the effect of an event after its occurrence with regard to safety pertaining to a project. Regarding risk-related literatures which cover an uncertain subject, the proposed method developed in this research is based on a fuzzy logic approach. This approach entails a questionnaire in which the subjectivity and vagueness of responses is dealt with by using triangular fuzzy numbers instead of linguistic terms. This method returns a Risk Critical Point (RCP) on a zoning chart that places risks under categories: critical, critical-probability, critical-impact, and non-critical. The high-rise project in the execution phase has been taken as a case study to confirm the applicability of the proposed method. The monitoring results showed that the RCP method has the inherent ability to be extended to subsequent applications in the phases of risk response and control.

Fault Detection and Diagnosis System for a Three-Phase Inverter Using a DWT-Based Artificial Neural Network

  • Rohan, Ali;Kim, Sung Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • 제16권4호
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    • pp.238-245
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    • 2016
  • Inverters are considered the basic building blocks of industrial electrical drive systems that are widely used for various applications; however, the failure of electronic switches mainly affects the constancy of these inverters. For safe and reliable operation of an electrical drive system, faults in power electronic switches must be detected by an efficient system that is capable of identifying the type of faults. In this paper, an open switch fault identification technique for a three-phase inverter is presented. Single, double, and triple switching faults can be diagnosed using this method. The detection mechanism is based on stator current analysis. Discrete wavelet transform (DWT) using Daubechies is performed on the Clarke transformed (-) stator current and features are extracted from the wavelets. An artificial neural network is then used for the detection and identification of faults. To prove the feasibility of this method, a Simulink model of the DWT-based feature extraction scheme using a neural network for the proposed fault detection system in a three-phase inverter with an induction motor is briefly discussed with simulation results. The simulation results show that the designed system can detect faults quite efficiently, with the ability to differentiate between single and multiple switching faults.