• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.779-787
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• 2016

A nonlinear control law for the quad-rotor of a low-complexity, global approximation-free from system uncertainties and external disturbances are described in this paper. The control law guarantees convergence to a small bounded error using a prescribed performance function. The stability of the proposed nonlinear control system is also proven by the Lyapunov stability theorem. The advantage of this technique is that it has a simpler form than any other nonlinear compensators and is applicable to any nonlinear systems without precise knowledge of the systems. In this paper, the proposed approach is applied to attitude/altitude control of a quad-rotor. Numerical simulations are performed to investigate the proposed nonlinear attitude control law by applying it to an uncertain quadcopter system with external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.272-275
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• 1989

In this paper feedback linearization of valve-controlled nonlinear hydraulic velocity control system is studied. The $C^{\infty}$ nonlinear transformation T is obtained, and it is shown that this transformation is global one. Linear equivalence of nonlinear hydraulic velocity control system is obtained by this global nonlinear transformation, and linear state feedback control law is applied to this linear model. It is shown that this transformation method is to the linear approximation by simulation study..

• Nutrition Research and Practice
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• 제9권4호
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• pp.358-363
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• 2015

BACKGROUND/OBJECTIVES: Previous studies have indicated that when compared to young mice, old mice have lower global DNA methylation and higher p16 promoter methylation in colonic mucosa, which is a common finding in colon cancer. It is also known that a Western-style diet (WSD) high in fat and calories, and low in calcium, vitamin D, fiber, methionine and choline (based on the AIN 76A diet) is tumorigenic in colons of mice. Because DNA methylation is modifiable by diet, we investigate whether a WSD disrupts DNA methylation patterns, creating a tumorigenic environment. SUBJECTVIES/METHODS: We investigated the effects of a WSD and aging on global and p16 promoter DNA methylation in the colon. Two month old male C57BL/6 mice were fed either a WSD or a control diet (AIN76A) for 6, 12 or 17 months. Global DNA methylation, p16 promoter methylation and p16 expression were determined by LC/MS, methyl-specific PCR and real time RT-PCR, respectively. RESULTS: The WSD group demonstrated significantly decreased global DNA methylation compared with the control at 17 months (4.05 vs 4.31%, P = 0.019). While both diets did not change global DNA methylation over time, mice fed the WSD had lower global methylation relative to controls when comparing all animals (4.13 vs 4.30%, P = 0.0005). There was an increase in p16 promoter methylation from 6 to 17 months in both diet groups (P < 0.05) but no differences were observed between diet groups. Expression of p16 increased with age in both control and WSD groups. CONCLUSIONS: In this model a WSD reduces global DNA methylation, whereas aging itself has no affect. Although the epigenetic effect of aging was not strong enough to alter global DNA methylation, changes in promoter-specific methylation and gene expression occurred with aging regardless of diet, demonstrating the complexity of epigenetic patterns.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2009년도 춘계학술대회 논문집
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• pp.247-249
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• 2009

This paper investigates active noise control(ANC) of a rectangular cavity using single channel filtered-x least mean square(FXLMS) algorithms to reduce interior noise globally. To obtain global reduction of the interior noise, multichannel active control should be incorporated in general. We, however, examined firstly the optimal location of the secondary speaker that produces a global reduction of the interior noise field. We then investigated the frequency characteristics of the reduction to yield the effective frequency band of the active control system. It follows that the secondary speaker should be located as close to the primary source as possible in order to obtain global reduction.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1912-1921
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• 2003

This paper presents a global mode modeling of space structures and a control scheme from the practical point of view. Since the size of the satellite has become bigger and the accuracy of attitude control more strictly required, it is necessary to consider the structural flexibility of the spacecraft. Although it is well known that the finite element (FE) model can accurately model the flexibility of the satellite, there are associated problems : FE model has the system matrix with high order and does not provide any physical insights, and is available only after all structural features have been decided. Therefore, it is almost impossible to design attitude and orbit controller using FE model unless the structural features are in place. In order to deal with this problem, the control design scheme with the global mode (GM) model is suggested. This paper describes a flexible structure modeling and three-axis controller design process and demonstrates the adequate performance of the design with respect to the maneuverability by applying it to a large flexible spacecraft model.

• Journal of Power Electronics
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• 제17권4호
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• pp.991-1003
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• 2017

The conventional sliding mode control (CSMC) has a number of problems. It may cause dc output voltage ripple and it cannot guarantee the robustness of the whole system for a matrix rectifier (MR). Furthermore, the existence of a filter can decrease the input power factor (IPF). Therefore, a novel global sliding mode control (GSMC) based on a hyperbolic tangent function with IPF compensation for MRs is proposed in this paper. Firstly, due to the reachability and existence of the sliding mode, the condition of the matrix rectifier's robustness and chattering elimination is derived. Secondly, a global switching function is designed and the determination of the transient operation status is given. Then a SMC compensation strategy based on a DQ transformation model is applied to compensate the decreasing IPF. Finally, simulations and experiments are carried out to verify the correctness and effectiveness of the control algorithm. The obtained results show that compared with CSMC, applying the proposed GSMC based on a hyperbolic tangent function for matrix rectifiers can achieve a ripple-free output voltage with a unity IPF. In addition, the rectifier has an excellent robust performance at all times.

• 보건교육건강증진학회지
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• 제33권4호
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• pp.11-19
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• 2016

Objectives: FCTC is the first international convention in public health field. Global progress report is about the implementations of the FCTC that are conducted with comparison and analysis for recent trend of tobacco control policies and convention performances on the global level. Methods: By conducting literature review related to tobacco control, expecially through reviewing Implementation of the WHO FCTC GPR(2014), this report compared and analyzed Korea's status of tobacco control based on tobacco control policy in every member state. Results: As a result of the comparison of FCTC to Korea's tobacco control policy, for the first, the most outstanding article that has been peformed continuously is Article 8, 12, 14. Secondly, the policy that has been partially renovated and reinforced is Article 6, 9, 10, 11, and for the last, the policy that has no progress and needs improvement is Article 13. Conclusions: For improvement in Korea's tobacco control policy in the future, first, betterment in policies on categories about advertisements, promotions, sponsorships on tobacco products that passed FCTC commitment period is required along with the modifications of FCTC related laws and reinforcement of the policies, and development of national core competence for an effective implementation of the convention.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.145-151
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• 2003

A global ultrasonic sensor system for self-localization of a mobile robot is proposed in this paper. The global ultrasonic sensor system consists of three or more ultrasonic transmitters fixed at some positions in the world coordinate and receivers in the moving coordinate of a mobile robot. In this global sensor system it is easy to get state vector of the mobile robot in the world coordinate from the distance information between each ultrasonic transmitter and receiver. An extended kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. In case of using several independent ultrasonic transmitters, it is necessary to avoid the cross talk among the ultrasonic waves and to synchronize between each ultrasonic transmitter and receiver. The small sized radio frequency modules are adopted to solve the cross talk and the synchronization problem Computer simulation and experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.624-630
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• 2007

The dynamic window approach(DWA) is a well known technique for reactive collision avoidance. It shows safe and efficient performance in real-world experiments. However, a robot can get stuck in local minima because no information about the connectivity of the free space is used to determine the motion. The global DWA can solve this problem of local minima by adding a navigation function. Even with the global DWA, it is still difficult for a robot to execute an abrupt change in its direction, for example, entering from the corridor to a doorway. This paper proposes a modified global DWA using the included angles of waypoints extracted from an optimal path. This scheme enables the robot to decelerate in advance before turning into the doorway. Therefore the robot can reach the goal position more safely and efficiently at high speeds.