• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1004-1007
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• 1996

Various auto-tuning methods using relay feedback are presented recently. They are composed of the consecutive procedures identifying Nyquist critical point using relay feedback and designing PID controller by one point of Nyquist plot mapping. This paper suggests a strategy to get the knowledges of Nyquist critical point and the neighborhood point of it using relay feedback. The parameters of PID controller are established by dominant pole approximation based on these knowledges. Designers can make use of the damping ratio as a time domain specification. So design flexibilities are taken in view of stability and performance of the system response considering practical system condition.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.315-322
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• 1998

It is discussed how to route yard-side equipment during the loading operation in port container terminals. The number of containers to be picked up at each yard-bay, as well as the route of a yard-side equipment (for example, transfer crane or straddle carrier) in a yard, are determined. The objective of the problem is to minimize the total container handling time in the yard. An encoding method to represent nodes in the search space is introduced utilizing inherent properties of the optimal solution by which the search space is greatly reduced. A beam search algorithm is suggested. A numerical experiment is carried out to compared the performance of the beam search algorithm with those of other approaches.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.162.1-162
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• 2001

In this paper, the adaptive fuzzy system is used as an adaptive approximator for robot nonlinear dynamic. A theoretical justification for the adaptive approximator is proving that if the representive point(RP or switching function) and its derivative in sliding mode control are used as the inputs of the adaptive fuzzy system, the adaptive fuzzy system can approximate robot nonlinear dynamics in the neighborhood of the switching surface. Thus the fuzzy controller design is greatly simplified and at the same time, the fuzzy control rule can be obtained easily by the reaching condition. Based on this, a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.2
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• pp.225-232
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• 2014

The traditional RAP (Redundancy Allocation Problem) of complex systems has considered only the redundancy of subsystem with homogeneous components. In this paper we extend it as a RAP of complex systems with heterogeneous components which is more flexible than the case of homogeneous components. We model this problem as a nonlinear integer programming problem, find its optimal solution by tabu search, and suggest an example of the efficient reliability design with heterogeneous components. In order to improve the quality of the solution of the tabu search, we suggest a modified tabu search to employ an adaptive procedure (1-opt or 2-opt exchange) to generate the efficient neighborhood solutions. Computational results show that our modified procedure obtains better solutions as the size of problem increases from 30 to 50, even though it requires rather more computing time. With some adjustment of the parameters of the proposed method, it can be applied to the optimal reliability designs of complex systems of ships.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.647-651
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• 1992

This paper presents a model-based control scheme for a robot manipulator to track a desired trajectory as closely as possible in spite of a wide range of manipulator motions and parameter uncertainties of links and payload. The scheme has two components: a nominal control and a variational control. The nominal control, generated from direct calculation of the manipulator dynamics along a desired trajectory, drives the manipulator to a neighborhood of the trajectory. Then a discrete-time PID regulator is designed based on the linearized dynamic model and Linear Quadratic(LQ) method, which generates the variational control that regulates perturbations in the vicinity of the desired trajectory.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.6
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• pp.936-941
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• 1987

This paper prexents an adaptive control scheme which adjusts any deviations of the manipulator from a desired trajectory. The scheme combines a new adaptive control and the conventional nominal control which drives the manipulator to the neighborhood of the trajectory. The proposed adaptive control is developed based on the lineatized perturbation equations in the vicinity of the trajectory and the Lyapunov design method, which makes the perturbations exponentially decay and has less computational requirements than the existing ones.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.252-257
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• 2004

Free vibration of a semi-circular pipe conveying fluid is analyzed when the pipe is clamped at both ends. To consider the geometric non-linearity, this study adopts the Lagrange strain theory and the extensibility of the pipe. By using the extended Hamilton principle, the non-linear partial differential equations are derived, which are coupled to the in-plane and out-of\ulcornerplant: motions. To investigate the vibration characteristics of the system, the discretized equations of motion are derived from the Galerkin method. The natural frequencies are computed from the linearized equations of motion in the neighborhood of the equilibrium position. From the results. the natural frequencies for the in-plane and out-of-plane motions are vary with the flow velocity. However, no instability occurs the semi-circular pipe with both ends clamped, when taking into account the geometric non-linearity explained by the Lagrange strain theory.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1234-1239
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• 2011

The scan matching is widely used in localization and mapping of mobile robots. This paper presents a probabilistic scan matching method. To improve the performance of the scan matching, a direction of data point is incorporated into the scan matching. The direction of data point is calculated using the line fitted by the neighborhood data. Owing to the incorporation, the performance of the matching was improved. The number of iterations in the scan matching decreased, and the tolerance against a high rotation between scans increased. Based on real data of a laser range finder, experiments verified the performance of the proposed direction augmented probabilistic scan matching algorithm.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1747-1750
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• 2003

This paper proposes a multilevel vector error diffusion for fast and accurate color reproduction. Proposed method considered both hue angle and Euclidean distance during the multilevel vector error diffusion procedure to improve time complexity and output image quality In the error diffusion process, it can be determined whether error is diffused or not by comparing the vector norm and lightness value between original vector and error corrected vector of neighborhood pixels. For adaptive selection of output patch, this paper computes chroma value of error corrected vector and compares the hue angle between error corrected input vector and 64 primary color vectors.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1995.10a
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• pp.60-63
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• 1995

The behavior of the work materials in the chip-tool interface in extremely high strain rates and temperatures is more that of viscous liquids than that of normal solid metals. In these circumstances the principles of fluid mechanics can be invoked to describe the metal flow in the neighborhood of the cutting edge. In the present paper an Eulerian finite element model is presented that simulates metal flow in the vicinity of the cutting edge when machining a low carbon steel with carbide cutting tool. The work material is assumed to obey visco-plastic (Bingham solid) constitutive law and Von Mises criterion. Heat generation is included in the model, assuming adiabatic conditions within each element. the mechanical and thermal properties of the work material are accepted to vary with the temperature. The model is based on the virtual work-stream function formulation, emphasis is given on analyzing the formation of the stagnant metal zone ahead of the cutting edge. The model predicts flow field characteristics such as material velocity effective stress and strain-rate distributions as well as built-up layer configuration