• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.264-277
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• 2015

This article investigates various transcription techniques for the Legendre pseudospectral (PS) method to compare the pros and cons of each approach. Eight combinations from four different types of collocation points and two discretization methods for dynamic constraints, which differentiate Legendre PS transcription techniques, are implemented to solve a carefully selected test set of nonlinear optimal control problems (NOCPs). The convergence property and prediction accuracy are compared to provide a useful guideline for selecting the best combination. The tested NOCPs consist of the minimum time, minimum energy, and problems with state and control constraints. Therefore, the results drawn from this comparative study apply to the solution of similar types of NOCPs and can mitigate much debate about the best combinations. Additionally, important findings from this study can be used to improve the numerical efficiency of the Legendre PS methods. Three PS applications to the aerospace engineering problems are demonstrated to prove this point.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.8
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• pp.1487-1493
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• 2016

The susceptible, exposed, infectious, and recovered model (SEIR) is used extensively in the field of epidemiology. On the other hand, dissemination information among users through internet grows exponentially. This information spreading can be modeled as an epidemic. In this paper, we derive the mathematical model of SEIR in viral communication from the view of optimal control theory. Overall the methods based on classical calculus, In order to solve the optimal control problem, proved to be more efficient and accurate. According to Pontryagin's minimum principle (PMP) the Hamiltonian function must be optimized by the control variables at all points along the solution trajectory. We present our method based on the PMP and forward backward algorithm. In this algorithm, one should integrate forward in time for the state equations then integrate backward in time for the adjoint equations resulting from the optimality conditions. The problem is mathematically analyzed and numerically solved as well.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.263-266
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• 1996

A method to determine an optimal temperature trajectory that guarantees polymer products having controlled molecular weight distribution and desired values of molecular weight is presented. The coordinate transformation method and the optimal control theory are applied to a batch PMMA polymerization system to calculate the optimal temperature trajectory. Coordinate transformation method converts the original fixed-end-point, free-end-time problem to a free-end-point, fixed-end-time problem. The idea is that by making the reactor temperature track the optimal temperature trajectory one may be able to produce polymer products having the prespecified physical property in a minimum time. The on-line control experiments with the PID control algorithm have been conducted to establish the validity of the scheme proposed in this study. The experimental results show that prespecified polymer product could be obtained with tracking the calculated optimal temperature trajectory.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.913-917
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• 1994

A collision-free geometric path for industrial articulated robot is searched among polyhedral obstacles considering kinematic charcteristics. Then minimum-time control of the geometric path is studied considering dynamic characteristics. The algorithm is simulated on PC for maximum speed, moving time and so forth.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.425-430
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• 2006

To meet an increasing demand for high performance in gun dynamic plant, both a precise and a fast response positioning are strongly required for the gun servo system. A mode switching control(MSC) scheme, which includes a fine stabilizing controller, fast positioning one and a switching function, is widely used to meet this requirement. Stabilization is performed through PID controller, while a time optimal control method is used for target designation. In this paper, a modified PTOS(Proximate Time Optimal Servomechanism) algorithm is derived so as to accommodate the damping term in the gun plant model. Also, applying a mode switching strategy, the bumpless transfer is made possible when the controller switches from PTOS to PID. To show the effectiveness of the overall control system, simulation results are given including the gun dynamics.

• Journal of Information Processing Systems
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• v.10 no.3
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• pp.412-428
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• 2014

Request oriented sensor networks have stricter requirements than conventional event-driven or periodic report models. Therefore, in this paper we propose a minimum energy data aggregation (MEDA), which meets the requirements for request oriented sensor networks by exploiting a low power real-time scheduler, on-demand time synchronization, variable response frame structure, and adaptive retransmission. In addition we introduce a test bed consisting of a number of MEDA prototypes, which support near real-time bidirectional sensor networks. The experimental results also demonstrate that the MEDA guarantees deterministic aggregation time, enables minimum energy operation, and provides a reliable data aggregation service.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.370-375
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• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• Nuclear Engineering and Technology
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• v.55 no.11
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• pp.4077-4082
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• 2023

Large areas must be rapidly screened to monitor radiation in marine environments. For this purpose, this study developed a mobile real-time gamma-ray measurement system for shipboard use and evaluated its performance. The system was developed to measure engine or generator cooling water by installing a canister inside the ship. The minimum detectable activity of the system is about 0.8 Bq/L for a 60 s measurement period, and real-time data transmission and remote control are possible. The system was tested in the field and is currently being installed and operated on ships in service. Such a ship-based real-time gamma-radiation measurement system is suitable for a wide range of marine radiation surveillance applications and is expected to be rapidly deployed.

• International Journal of Highway Engineering
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• v.14 no.1
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• pp.9-16
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• 2012

The performance of road markings is classified into the visibility at daytime, night time, wet condition and rainy conditions. The objective of this study is to obtain the driving safety of drivers under conditions of unstable weather condition such as the rain. The visibility of road markings is closely related to the preview time and detection distances and the ways to improve road marking materials and increase the dry retroreflectivity and wet retroreflectivity, which are the measures of daytime and nighttime visibility is researched to decrease the traffic accidents. For this purpose, Road marking glass beads with the refraction rate of 1.5 and 2.2 are introduced to raise the retroreflectivity. After investigating the minimum threshold retroreflectivity and Install Minimum retroreflectivity at home and abroad, minimum control values for the roadmarking visibility and improvement of nightime rainy retroreflectivity are suggested by physical properties and retroreflectivity experiments.