• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2717-2719
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• 2005

Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid control system to improve the efficiency of position tracking performance of biped locomotion. In our control system, the wavelet neural network (WNN) based on Sliding mode controller is used as a main controller which estimates a biped robot model, and the compensated controller is proposed to compensate the estimation error. A WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

• Journal of Ship and Ocean Technology
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• v.4 no.4
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• pp.1-18
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• 2000

The paper describes a formalisation of a Design for Safety methodology in an integrated envi-ronment, outlines early developments of a software tool, and presents the results of an appli-cation of the methodology to a case study. The approach adopted attempts link safety per-formance prediction through the utilisation of appropriate technical tools, safety assessment deriving from risk-based methodologies and disparate design activities and issues. Black-board systems have been utilised as the platform in the development of the integrated design environment, allowing safety assessment to become an integral part of the design process. Finally, the case study addresses the application of the developed methodology to three dif-ferent arrangements of a conventional passenger Ro-Ro vessel, with the aim to demonstrate the validity of the process and methodology adopted. The findings are presented and dis-cussed, and recommendations given for the way forward.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2319-2324
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• 2005

This paper proposes a intelligent gain and boundary layer based sliding mode control (SMC) method for robotic systems with unknown model uncertainties. For intelligent gain and boundary layer, we employ the self recurrent wavelet neural network (SRWNN) which has the properties such as a simple structure and fast convergence. In our control structure, the SRWNNs are used for estimating the width of boundary layer, uncertainty bound, and nonlinear terms of robotic systems. The adaptation laws for all parameters of SRWNNs and reconstruction error bounds are derived from the Lyapunov stability theorem, which are used for an on-line control of robotic systems with unknown uncertainties. Accordingly, the proposed method can overcome the chattering phenomena in the control effort and has the robustness regardless of unknown uncertainties. Finally, simulation results for the three-link manipulator, one of the robotic systems, are included to illustrate the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.557-559
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• 2002

KEPCO has been operating since March 1998 a HVDC link between Cheju Island and the mainland that it constructed to save high generation cost & ensure the system stability and the supply of electric power of Cheju island (approximately 100km from south of mainland). The purpose of this study is to consider the complete maintenance of the HVDC Submarine Cable after its construction in 1997 while proposing future direction for the stable operation of the HVDC Submarine Cable.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.4-151
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• 2001

Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.262-267
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• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• ETRI Journal
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• v.31 no.1
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• pp.31-41
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• 2009

Optical burst switching is a promising switching paradigm for the next IP-over-optical network backbones. However, its burst loss performance is greatly affected by burst contention. Several methods have been proposed to address this problem, some of them requiring the network to be flooded by frequent state dissemination signaling messages. In this work, we present a traffic engineering approach for path selection with the objective of minimizing contention using only topological information. The main idea is to balance the traffic across the network to reduce congestion without incurring link state dissemination protocol penalties. We propose and evaluate two path selection strategies that clearly outperform shortest path routing. The proposed path selection strategies can be used in combination with other contention resolution methods to achieve higher levels of performance and support the network reaching stability when it is pushed under stringent working conditions. Results show that the network connectivity is an important parameter to consider.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.26-30
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• 1995

In this study, the fuzzy approximator and sliding mode control (SMC) scheme are considered. An adaptive sliding mode control is proposed based on the SMC theory. This proposed control scheme is that a adaptive law is utilized to approximate the unknown function f by fuzzy logic system in designing the sliding mode controller for the nonlinear system. In order to reduce the approximation errors, the differences of nonlinear function and fuzzy approximator, an adaptive law is also intoduced and the stability of proposed control scheme are proven with simple adaptive law and roburst adaptive law. This proposed control scheme is applied to a single link robot arm.

• 한국초전도학회:학술대회논문집
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• v.10
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• pp.27-34
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• 2000

HTS wires processed by PIT method are now available for magnet applications. But, those wires can not be used over 40 K due to weak link. This leads to necessity of development of coated conductor which can retain high $J_c$ at high field in liquid nitrogen. In this paper, various technical issues and the R&D status for both PIT wires and coated conductor were discussed. The difference of coated conductor's processes were also investigated and summarized. Various requirements for a design of HTS magnets were discussed. Anisostropic $J_c$ property with respect to magnetic field was considered to determine the coil's critical current. Low n value is a critical parameter to degrade a field stability with respect to time for a persistent mode HTS magnet. The relation between the margin of operation current and n value was investigated. Prototype HTS magnets with PIT wires are being developed for various applications such as crystal growth, MRI, magnetic separator and etc. HTS magnets will come into wide use in various fields of industries if the HTS wires with a low performance cost is developed.

• Smart Structures and Systems
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• v.19 no.4
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• pp.383-391
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• 2017

In this paper, we investigate the impacts of network topology on the performance of a distributed estimation algorithm, namely combine-then-adaptive (CTA) diffusion LMS, based on the data with or without the assumptions of temporal and spatial independence with noisy links. The study covers different network models, including the regular, small-world, random and scale-free whose the performance is analyzed according to the mean stability, mean-square errors, communication cost (link density) and robustness. Simulation results show that the noisy links do not cause divergence in the networks. Also, among the networks, the scale free network (heterogeneous) has the best performance in the steady state of the mean square deviation (MSD) while the regular is the worst case. The robustness of the networks against the issues like node failure and noisier node conditions is discussed as well as providing some guidelines on the design of a network in real condition such that the qualities of estimations are optimized.