• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.8
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• pp.42-50
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• 2013

The reactionary responses to control human standing dynamics were estimated under the assumption that postural complexity mainly occurs in the mid-sagittal plane. During the experiment, the subject was exposed to continuous horizontal perturbation. The ankle and hip joint rotations of the subject mainly contributed to maintaining standing postural control. The designed mobile platform generated anterior/posterior (AP) motion. Non-predictive random translation was used as input for the system. The mean acceleration generated by the platform was measured as $0.44m/s^2$. The measured data were analyzed in the frequency domain by the coherence function and the frequency response function to estimate its dynamic responses. The significant correlation found between the input and output of the postural control system. The frequency response function revealed prominent resonant peaks within its frequency spectrum and magnitude. Subjects behaved as a non-rigid two link inverted pendulum. The analyzed data are consistent with the outcome hypothesized for this study.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.74-81
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• 2003

This paper introduces that the turning center optimizes main and sub spindle's synchronized controller in Open-CNC. In view of optimal design, the mathematical modeling and the frequency domain analysis of spindle's system are simulated. For the minimizing of synchronized error in each spindle's speed, the study of control method and the related control parameter is proposed. By the experiment in prototype machines using the server/client program, the validity of the proposed synchronous error's compensation method is verified.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.356-361
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• 1986

This paper presents robustness properties of LQ regulators for input-delayed systems. Using frequency-domain representations, the Kalman inequality concerning the return-difference matrix is derived. The stability margins of LQ regulators are investigated using the Kalman inequality when the open-loop system is stable. In order to obtain stability margins a upper bound of the solution of LQ Riccati equations is derived. Finally, the LQG/LTR method to improve the robustness of LQG regulators is obtained and illustrated with an example.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.54.2-54
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• 2001

In this paper two control strategies, command shaping control and optimal control, which aim to the reduction of the residual vibrations of the payload in a container crane system are investigated. Both control methods are open loop control. Due to unmodeled dynamics of the plant and disturbances like initial sway and wind, some residual sway always exists at the end of trolley movement. Command inputs are designed to achieve the control objectives including minimal residual vibration and robustness in the presence of unmodeled dynamics. Simulation results of various command inputs are compared in terms of arrival time, residual sway angle, robustness, and maximum sway distance during the traveling. Command shaping method provides a more competent tool than optimal control.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• Journal of IKEEE
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• v.24 no.1
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• pp.170-177
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• 2020

This paper presents an open-fault tolerance control method for active neutral point clamped (ANPC) inverter with high frequency/low frequency (HF/LF) modulation. By applying the ANPC inverter with SiC MOSFETs and Si IGBTs, the system efficiency and performance can be improved compared to a Si-based inverter. HF/LF modulation is used for a megawatt-scale inverter to minimize the commutation loop. The open-switch failure in megawatt-scale inverter causes severe damage to load and huge expenses when the inverter has been shut-down. The proposed tolerance control of open-switch failure provides continuous operation and improved reliability to the ANPC inverter. The effectiveness of the proposed fault tolerance control is verified by simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1571-1574
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• 2003

A shared compliant control scheme based on IMC is proposed for the position-force force reflecting control system. The controller of the slave manipulator is designed by IMC method for the open loop unstable plant. The compliant control is implemented by first order low pass filter. In the proposed scheme, the slave manipulator well tracks the position of the master manipulator in free space and the compliance of the slave manipulator is autonomously controlled in contact condition. The simulation results show that the excellence of the proposed controller.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.764-766
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• 1993

A new static var compensator(SVC) system using three-level inverter is proposed for high voltage and high power applications. A general and simple model for the overall system is obtained using circuit DQ-transform and DC and AC analyses are achieved to characterize the open-loop system. Using the proposed model, a new control method which controls both the phase angle and modulation index of switching pattern simultaneously is suggested to provide fast response of SVC system without using independent voltage source. Finally, predicted results are verified by computer simulation.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.649-663
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• 2004

While a great number of studies on human motor control have provided a wide variety of viewpoints concerning the strategy of the central nervous system (CNS) in controlling limb movement, none were able to reveal the exact methods how the movement command from CNS is mapped onto the neuromuscular activity. As a preliminary study of human-machine interface design, the characteristics of human leg motion and its underlying motor control scheme are studied through experiments and simulations in this paper. The findings in this study suggest a simple open-loop motor control scheme in leg motion. As a possible candidate, an equilibrium point control model appears consistent in recreating the experimental data in numerical simulations. Based on the general leg motion analysis, the braking motion by the driver's leg is modeled.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3089-3091
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• 1999

To control IWR-III Biped Waking Robot, those complex modules are necessary that concurrent control multi-axes servo motors, PID & Feedforward gain tuning, initial value calibration, display current status of system, user interface for emergency safety and three-dimensional rendering graphic visualization. It is developed for various-type gait $data^{[1]}$ and for control modes (i.e open/closed loop and pulse/velocity/torque control) that Integrated Control Enviroment with GUI( Graphic User Interface) consist of time-buffered control part using MMC (Multi-Motion Controller) and 3D simulation part using DirectX graphic library.