• Proceedings of the KIEE Conference
• /
• 1993.11a
• /
• pp.304-306
• /
• 1993

In this paper, the authors show a link between a heuristic controller used in industry and a theoretical generalized controller. First, we clarify the internal structure of the generalized two-degree-of-freedom controller which yields a link between the theoretical researches and the practical applications. Secondly, we indicate how to blend identification and control together without any modification of the controller. This is in fact the problem of closed-loop identification. Thirdly, we propose a design technique of a free parameter taking into account a robust stability based on the information obtained from the identification. Finally, we apply the proposed algorithm to trajectory control of DD robot.

• Journal of Korean Society of Transportation
• /
• v.13 no.1
• /
• pp.95-110
• /
• 1995

n this research neural -based model was developed to forecast link travel times , And it is also compared wiht other time series forecasting models such as Box-Jenkins model, Kalman filter model. These models are validated to evaluate the accuracy of models with real time series data gathered by the license plate method. Neural network's convergency and generalization were investigated by modifying learning rate, momentum term and the number of hidden layer units. Through this experiment, the optimum configuration of the nerual network architecture was determined. Optimumlearining rate, momentum term and the number of hidden layer units hsow 0.3, 0.5, 13 respectively. It may be applied to DRGS(dynamic route guidance system) with a minor modification. The methods are suggested at the condlusion of this paper, And there is no doubt that this neural -based model can be applied to many other itme series forecating problem such as populationforecasting vehicel volume forecasting et .

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.63-64
• /
• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.21 no.8
• /
• pp.136-143
• /
• 2007

A improved current controller with reference modification part that has both fast transient response in transient state and high accuracy in steady state is proposed. In this scheme, a improved reference modification part is used to synchronous frame PI controller for the fast transient state. The transient response of current controller is seriously deteriorated in high back e.m.f.(electromotive force) due to the lack of DC link control voltage. This paper is proposed that the improved reference modification part is compared with voltage limit and reference voltage.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• pp.1058-1064
• /
• 2004

This paper presents a distributed precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a CAN based system, which keeps a fixed priority in data transaction. The mechanism is implemented in the upper sub-layer of the data link layer(DLL), which is fully compatible with the original medium access control layer protocol of CAN. Thus the mechanism can be implemented dynamically while the data transactions are going on without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry, and it was recently applied for a broader class of automated factories. Even though CAN is able to satisfy most of real-time requirements found in automated environments, it is not to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmission. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with the older CAN applications. Through the real experiments, effectiveness of the proposed mechanism is verified.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.761-766
• /
• 2005

This paper presents a dynamic precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a CAN based system which keeps a fixed priority in data transactions. The mechanism is implemented in the upper sub-layer of the data link layer (DLL), which is fully compatible with the original medium access control layer protocol of CAN. Thus the mechanism can be implemented dynamically while the data transactions are going on without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry and it was recently applied for a broader class of automated factories. Even though CAN is able to satisfy most of real-time requirements found in automated environments, it is not to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmissions. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with the older CAN applications. Through the real experiments, effectiveness of the proposed mechanism is verified.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.4
• /
• pp.202-208
• /
• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.2
• /
• pp.351-358
• /
• 1994

A probabilistic model and analysis methods to determine the means and variances of the velocity and acceleration in stochastically-defined planar pin jointed kinematic chains are presented. The presented model considers the effect of tolerances on link length and radial clearance and uncertainty of pin location as a net effect on the link's effective length. The determination of the mean values and variances of the output variables requires the calculation of sensitivities of secondary variables with respect to the random variables. It is shown that this computation is straightforward and can be accomplished by a conventional kinematic analysis package with minor modification. Thus, the concepts of tolerance and clearance have been captured by the model and analysis. The only input data are the nominal linkage model and statistical information. The "effective link length" model is shown to be applicable to both analytical solution and Monte Carlo simulation. The results from both methods are compared. This paper Ksolves the higher-order kinematic problems for the probabilistic design analysis of stochastically-defined mechanisms.echanisms.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.40 no.5
• /
• pp.454-460
• /
• 2012

DTC(Data Terminal Controller) for UAV has been developed using FPGA. It provides the functions of Error Correction and Time-division Mux/Demux for stable data-link. RTOS VxWorks also has been used for real-time control of data-link. FPGA Design of DTC facilitates the modification and extension of various I/O device, and VxWorks ensures real-time availability of data-link control and provides flexibilities of changes of S/W design. The DTC is expected to be deployed easily for various UAV systems.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.18 no.1
• /
• pp.147-169
• /
• 2024

In pace with the development of network technology at lightning speed, social networks have been extensively applied in our lives. However, as social networks retain a large number of users' sensitive information, the openness of this information makes social networks vulnerable to attacks by malicious attackers. To preserve the link privacy of individuals in social networks, an uncertain graph method based on node random response is devised, which satisfies differential privacy while maintaining expected data utility. In this method, to achieve privacy preserving, the random response is applied on nodes to achieve edge modification on an original graph and node differential privacy is introduced to inject uncertainty on the edges. Simultaneously, to keep data utility, a divide and conquer strategy is adopted to decompose the original graph into many sub-graphs and each sub-graph is dealt with separately. In particular, only some larger sub-graphs selected by the exponent mechanism are modified, which further reduces the perturbation to the original graph. The presented method is proven to satisfy differential privacy. The performances of experiments demonstrate that this uncertain graph method can effectively provide a strict privacy guarantee and maintain data utility.