• Journal of Power Electronics
• /
• v.15 no.2
• /
• pp.338-345
• /
• 2015

The time-optimal control for boost converters can achieve the minimum recovery time. However, their output voltage deviation is quite large. Since the minimum output voltage deviation and minimum recovery time cannot be obtained at the same time, a novel energy control is proposed to achieve a superior tradeoff between them in this paper. The peak value of the inductor current can be decreased as well. Its control parameter is easy to choose. When compared with the conventional control methods, the proposed control shows a better dynamic performance. Experimental results, which are in agreement with the theoretical analysis, are provided to verify the proposed control method.

• International Journal of Highway Engineering
• /
• v.9 no.3
• /
• pp.83-89
• /
• 2007

When allocating traffic signal at the signalized intersection, minimum green time and clearance time for bicyclists should be significantly considered in order to enhance safety aspects to bicyclists when crossing intersections, especially where intersections with exclusive bicycle paths that are physically separated from pedestrians. In this study, field measurements related to bicycle crossing time, including minimum peen time and clearance time, were collected and analyzed according to bicycles crossing types at the signalized intersections where high rate of bicyclists exists. Three types of bicycle crossing are defined as follows 1) stopping: completely stop before crossing (at least one foot on found) 2) riding: crossing with riding bicycle 3) pulling: crossing without riding bicycles. Minimum green time based on pedestrian speeds should be used as crossing time in this case. For bicyclists, speed of bicycle that is applicable to estimate the minimum green time is in the 1.36m/sec($15^{th}$ percentile) to 1.60m/sec($25^{th}$ percentile) range in case of its stopping. Also it is in the 0.75($15^{th}$ percentile) to 0.87($25^{th}$ percentile) range for pulling at crosswalk. In addition, speed of bicycle to consider for calculating the clearance time is in the 2.51m/sec($15^{th}$ percentile) to 2.79m/sec($25^{th}$ percentile). These values also resulted from $15^{th}$ percentile or $25^{th}$ percentile speeds of riding. The results of this study are expected to be supported in traffic signal allocation process, reflecting bicyclists' characteristics.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.5
• /
• pp.461-468
• /
• 1997

A real-time collision-free trajectory control method for dual arm robot system is proposed. The proposed method is composed of two stages; one is to calculate the minimum distance between two robot arms and the other is to control the trajectories of the robots to ensure collision-free motions. The calculation of minimum distance between two robots is, also, composed of two steps. To reduce the calculation time, we, first, apply a simple modeling technique to the robots arms and determine the interested part of the robot arms. Next, we apply more precise modeling techniques for the part to calculate the minimum distance. Simulation results show that the whole algorithm runs within 0.05 second using Pentium 100MHz PC.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.28 no.1
• /
• pp.39-44
• /
• 1992

Analog PID controllers have been designed to make good use of position control in industries. Recently, the importance of digital position control is emphasized for the requirements of controller which are not only to control the objects but to include various aspects such as easiness of design and implementation, simple exchange of control program and convenient communications of data between various controllers and a host computer. This study proposes a combined control method which is mixed the vaiable structure control (VSC) with the PI control for minimum time position control of DC servo motor by microcomputer. The results of test by this method show offset-free and minimum time optimal position control which is not affected by the disturbance and the system parameter variations. The validity of the proposed method comparing with the conventional PID control is proved by the response experiments.

• Journal of the Korean Society for Precision Engineering
• /
• v.13 no.6
• /
• pp.122-127
• /
• 1996

The achievement of the optimal condition for the task of an industrial articulated robot used in many fields is an important problem to improve productivity. In this paper, a minimum-time trajectory for an articulated robot along the specified path is studied and simulated with a proper example. A general dynamic model of manipulator is represented as a function of path distance. Using this model, the velocity is produced as fast as possible at each point along the path. This minimum-time trajectory planning module together with the existing collision-free path planning modules is utilized to design the optimal path planning of robot in cases where obstacles present.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.30 no.2
• /
• pp.97-108
• /
• 1994

The DC Servo Motor has been used as an actuator in automatic control fields because of the good response and the control easiness nevertheless it has some disadvantage such as spark at the brush. Recently, along with the fast development of semiconductor industries, the digital control scheme is increasing in comparison with analog control because of the strength against noise and the accuracy. In this paper, authors proposed a combined control algorithm, which is mixed Modified Minimum Time Position Control(MMTPC) and PI control algorithm. for minimum time position control of DC Servo Motor by the one-chip microcontroller. The proposed control algorithm showed the fast response and offset-free. The validity of the proposed method comparing with the VSS control is proved by the response experiments.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.826-829
• /
• 1995

In this paper, the problem of minimum-time trajectory planning of a robot manipulator with an arbitrary path is dealt. As for a straight path, the trajectory planning can be done without difficulty since the path is easily parameterized by its length. However, this is not the case for a non-straight path. In this paper, by noting that the others' joint angles and velocities are determined if one joint's angle and velocity are known, we reduce the problem of trajectory planning on a non-straight path to one in the 2-dimensional space of one joint's angle and velocity. Then, by applying the dynamic programming, we achieve the minimum-time trajectory planning. A simulation is done for verifying this.

• IE interfaces
• /
• v.12 no.2
• /
• pp.346-353
• /
• 1999

In this paper, the optimum drilling operation sequence which results into the minimum overall machining time required to produce a (multi-diameter) hole is identified. The operation sequence is defined as the set of ordered operations used for producing a (multi-diameter) hole. The overall machining time is derived by summing the minimum machining times of each operation assigned to a sequence. The operations represent the drilling actions of certain sizes to produce the related holes. The minimum machining time of each operation is obtained by solving the optimization problem. Finally, this paper will identify the effects of machining constraints on the overall machining times and their relationships to sequence selection.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.30.6-30
• /
• 2001

We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

• Journal of information and communication convergence engineering
• /
• v.20 no.3
• /
• pp.160-165
• /
• 2022

This paper proposes an efficient method of reconstructing interconnections when the terminals of each plane change in real-time situations where randomly divided planes are interconnected. To connect all terminals when the terminals of each plane are changed, we usually reconstruct the interconnections between all terminals. This ensures a minimum connection length, but it takes considerable time to reconstruct the interconnection for the entire terminal. This paper proposes a solution to obtain an optimal tree close to the minimum spanning tree (MST) in a short time. The construction of interconnections has been used in various design-related areas, from networks to architecture. One of these areas is an ad hoc network that only consists of mobile hosts and communicates with each other without a fixed wired network. Each host of an ad hoc network may appear or disappear frequently. Therefore, the heuristic proposed in this paper may expect various cost savings through faster interconnection reconstruction using the given information in situations where the connection target is changing.