• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• Journal of Mechanical Science and Technology
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• v.15 no.11
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• pp.1472-1481
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• 2001

In this paper, an advanced shift controller that supervises the shift transients with adaptive compensation is presented. Modern shift control systems for vehicle automatic transmission are designe d to provide smooth transients for passengers' comfort and better component durability. In the conventional methods, lots of testing and calibration works have been done to tune gains of the controller, but it does not assure optimum shift quality at all times owing to system variations often caused by uncertainties in shifting hydraulic systems and external disturbances. In the proposed control scheme, an adaptive compensation controller with intelligent supervisor is implemented to achieve improved shift quality over the system variations. The control input pattern which generates clutch pressure commands in hydraulic actuating systems, is updated through a learning process to adjust for each subsequent shift based on continuous monitoring of shifting performance and environmental changes. The proposed algorithm is implemented and evaluated on the experimental test setup. Results from the experimental studies for several operation modes show both improved performance and adaptability of the proposed shift controller to uncertain changes of the shifting environment in vehicle power transmission systems.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.3
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• pp.7-16
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• 2011

This study proposes the compensation method for the mechanical deflection error of a SCARA robot. While most studies on the related subject have dealt with the development of a control algorithm for improvement of robot accuracy, this study presents the control method reflecting the mechanical deflection error which is predicted in advance. The deflection at the end of the gripper of SCARA robot is caused by the self-weights and payloads of Arm 1, Arm 2 and quill. If the deflection is constant even though robot's posture and payload vary, there may not be a big problem on robot accuracy because repetitive accuracy, that is relative accuracy, is more important than absolute accuracy in robot. The deflection in the end of the gripper varies as robot's posture and payload change. That's why the moments $M_x$, $M_y$ and $M_z$ working on every joint of a robot vary with robot's posture and payload size. This study suggests the compensation method which predicts the deflection in advance with the variations in robot's posture and payload using neural network. To do this, I chose the posture of robot and the payloads at random, found the deflections by the FEM analysis, and then on the basis of this data, made compensation possible by predicting deflections in advance successively with the variations in robot's posture and payload through neural network learning.

• Journal of Environmental Impact Assessment
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• v.14 no.4
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• pp.157-164
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• 2005

Existing models that predict of Daily water supply include statistical models and neural network model. The neural network model was more effective than the statistical models. Only neural network model, which predict of Daily water supply, is focused on estimation of the operational control. Neural network model takes long learning time and gets into local minimum. This study proposes Neuro Genetic hybrid model which a combination of genetic algorithm and neural network. Hybrid model makes up for neural network's shortcomings. In this study, the amount of supply, the mean temperature and the population of the area supplied with water are use for neural network's learning patterns for prediction. RMSE(Root Mean Square Error) is used for a MOE(Measure Of Effectiveness). The comparison of the two models showed that the predicting capability of Hybrid model is more effective than that of neural network model. The proposed hybrid model is able to predict of Daily water, thus it can apply real time estimation of operational control of water works and water drain pipes. Proposed models include accidental cases such as a suspension of water supply. The maximum error rate between the estimation of the model and the actual measurement was 11.81% and the average error was lower than 1.76%. The model is expected to be a real-time estimation of the operational control of water works and water/drain pipes.

• Smart Structures and Systems
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• v.33 no.4
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• pp.291-300
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• 2024

Uncertainty of the model, system delay and drive dynamics can be considered as normal uncertainties, and the main source of uncertainty in the seismic control system is related to the nature of the simulated seismic error. In this case, optimizing the management strategy for one particular seismic record will not yield the best results for another. In this article, we propose a framework for online management of active structural management systems with seismic uncertainty. For this purpose, the concept of reinforcement learning is used for online optimization of active crowd management software. The controller consists of a differential controller, an unplanned gain ratio, the gain of which is enhanced using an online reinforcement learning algorithm. In addition, the proposed controller includes a dynamic status forecaster to solve the delay problem. To evaluate the performance of the proposed controllers, thousands of ground motion data sets were processed and grouped according to their spectrum using fuzzy clustering techniques with spatial hazard estimation. Finally, the controller is implemented in a laboratory scale configuration and its operation is simulated on a vibration table using cluster location and some actual seismic data. The test results show that the proposed controller effectively withstands strong seismic interference with delay. The goals of this paper are towards access to adequate, safe and affordable housing and basic services, promotion of inclusive and sustainable urbanization and participation, implementation of sustainable and disaster-resilient buildings, sustainable human settlement planning and manage. Simulation results is believed to achieved in the near future by the ongoing development of AI and control theory.

• Journal of Digital Convergence
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• v.18 no.11
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• pp.241-246
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• 2020

In this paper, we propose a neural network model to converge the marine electric propulsion system and deep learning algorithm to predict the DC/DC converter output current in the electric propulsion regeneration system and to predict the battery charge during regeneration. In order to experiment with the proposed neural network, the input voltage and current of the PCM were measured and the data set was secured on the prototype PCM board. In addition, in order to improve the learning results in the insufficient data set, the scale of the data set was increased through data fitting and its learning was executed further. After learning, the difference between the data prediction result of the neural network model and the actual measurement data was compared. The proposed neural network model effectively showed the prediction of battery charge according to changes in input voltage and current. In addition, by predicting the characteristic change of the analog circuit constituting the DC/DC converter through a neural network, it is determined that the characteristics of the analog circuit should be considered when designing the regeneration system.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.602-608
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• 2011

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. The NN for the online feedback-error learning can composed that the input layer consists of six units for the inputs $x_i$, i=1~6, the hidden layer consists of two hidden units for hidden outputs $o_j$, j=1~2, and the output layer consists of two units for the outputs ${\tau}_k$, k=1~2. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels. The initial q value was set to [0, 5, ${\pi}$].

• KIPS Transactions on Software and Data Engineering
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• v.6 no.1
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• pp.37-44
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• 2017

While IoT (Internet of Things) industry has been spreading, it becomes very important for object to recognize user's information by itself without any control. Above all, gender (male, female) is dominant factor to analyze user's information on account of social and biological difference between male and female. However since each gender consists of diverse face feature, face-based gender classification research is still in challengeable research field. Also to apply gender classification system to IoT, size of device should be reduced and device should be operated with low power. Consequently, To port the function that can classify gender in real-world, this paper contributes two things. The first one is new gender classification algorithm based on deep learning and the second one is to implement real-time gender classification system in embedded board operated by low power. In our experiment, we measured frame per second for gender classification processing and power consumption in PC circumstance and mobile GPU circumstance. Therefore we verified that gender classification system based on deep learning works well with low power in mobile GPU circumstance comparing to in PC circumstance.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.5
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• pp.364-371
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• 2016

We developed a prediction model of assistance force for the opening/closing of an automobile door depending on the condition of the parking ground. The candidates of the learning models for the operating assistance force were compared to determine the proper force according to the slope and user's force, etc. The reduced experimental model was developed to obtain learning data for the estimation model. The learning algorithm was composed to predict the assistance force to incorporate real assistance force data. Among these algorithms, an Artificial Neural Network (ANN) and Support Vector Machine(SVM) were applied and the adaptability was compared between these models. The SVM provided more adaptability for the learning process of the door assistance force prediction. This paper proposes a system for determining the assistance force to control a door motor to compensate for the deviation of required door force in the slope condition, as needed in the plane condition.

• Journal of Digital Convergence
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• v.18 no.12
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• pp.127-132
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• 2020

The Smart Music Learning Device(SMLD) presented in this paper constructs the display part by attaching the touch panel to both sides of the transparent panel. The main processing unit uses raspberry pie, and the operating system uses Android. On the transparent panel, music education contents are displayed, and on the touch panels 1 and 2, the inputs of learners and instructors are accepted. The signal input from the touch panels 1 and 2 controls the progress of the music education contents through a process in the main processing unit. This control process design and implement a two - sided panel - based interactive training algorithm. This device aims at musical education based on mutual understanding. Therefore, it conducts face-to-face education using music education contents presented through transparent panel. This allows the instructor to know in real time the response to the learner, thus improving the understanding of the learning and the quality of the education. Also, the learner's concentration can be improved.