• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.5
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• pp.400-408
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• 2007

In this paper, development of the 8kW parallel module converter is presented. For a effective configuration of FB-PWM converter, this paper proposes 4-parallel operation of 2 kw-module. FB converter of 2-kW module is controlled by phase shut PWM and in order to achieve ZVZCS, the simple auxiliary circuit is applied in secondary side. In order to achieve ZCS, control logic for auxiliary circuit operation is designed to reset the primary current during free-wheeling period. For output current sharing of 4-modules, the charge control is employed. The charge control logic is designed with phase shift PWM logic. Voltage controller is implemented by using DSP(TMS320LF2406) with A/D conversion data of the output current and voltage of each module. The developed converter is installed in PCU(Power Conditioning Unit) for HSG(High Speed Generator) in a vehicle and health monitoring system is implemented for vehicle operation test. Finally, performance of the developed converter is proved under practical operation of HSG.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.42 no.11
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• pp.87-92
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• 2005

This paper analyzes the performance for an improved multistage parallel interference cancellation (PIC) technique with a reverse-link synchronous transmission technique (RLSTT) for DS-CDMA system in a frequency-selective Rayleigh fading channel with an imperfect power control scheme. The performance degradation due to power control error (PCE), which is approximated by a log-normally distributed random variable, is estimated as a function of the standard deviation of the PCE. The uncoded bit error performance is evaluated in order to estimate the system capacity. Comparing with the conventional one-stage PIC system, we show achievable gain around $60\%$ by the RLSTT even in the presence of PCE. We conclude that the capacity can be further improved via RLSTT, which alleviates the detrimental effects of the PCE

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.792-793
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• 2005

Circuit testing process is very important in IC Manufacturing there are two ways in research for circuit testing improvement. These are ATPG Tool Design and Test simulation application. We are interested in how to use parallel technique such as one-side communication, parallel IO and dynamic Process with data partition for circuit testing improvement and we use one-side communication technique in this paper. The parallel ATPG Tool can reduce the test pattern sets of the circuit that is designed in laboratory for make sure that the fault is not occur. After that, we use result for parallel circuit test simulation to find fault between designed circuit and tested circuit. From the experiment, We use less execution time than non-parallel Process. And we can set more parameter for less test size. Previous experiment we can't do it because some parameter will affect much waste time. But in the research, if we use the best ATPG Tool can optimize to least test sets and parallel circuit testing application will not work. Because there are too little test set for circuit testing application. In this paper we use a standard sequential circuit of ISCAS89.

• Journal of the Korean Data and Information Science Society
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• v.10 no.2
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• pp.473-483
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• 1999

We introduce a way to construct a supercomputing capable system with some networked PCs, running the Linux operating system and computing power comparable with expensive commercial workstations, and with the Parallel Virtual Machine (PVM) software which enables one to control the total CPUs and memories of the networked PCs. By benchmarking the system using a PVM parallel program, we find that the system's parallel efficiency is close to 90 %.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1256-1263
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• 2004

Output feedback passivation problem is studied when the given system is not minimum-phase or does not have relative degree one. Using a parallel connection with an additional dynamics, the authors provide a dynamic output feedback control law which renders the composite system passive. Sufficient conditions are presented under which the composite system is output feedback passive. As an application of the dynamic passivation scheme, a point-to-point control law for a flexible joint robot is presented when only the position measurements are available. This provides an alternative way of replacing the role of the velocity measurements for the proportional-derivative (PD) feedback law. The performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.494-501
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• 2001

In this paper an ANFIS(Adativo Neuro-Fuzzy Inference System)- based fault detection and diagnosis for a closed loop control system is proposed. The proposed diagnostic system contains two ANFIS. One is run as a parallel model within the model in closed loop control(MCL) and the other is run as a series-parallel model within the process in closed loop(PCL) for the generation of relevant symptoms for fault diagnosis. These symptoms are further processed by another classification logic with simple rules and neural network for process and controller fault diagnosis. Experimental results for a DC shunt motor control system illustrate the effectiveness of the proposed diagnostic scheme.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.8
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• pp.936-941
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• 2011

This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained and used for controller design. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.528-530
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• 1998

This paper addresses analysis and design of a fuzzy model-based-controller for the control of uncertain SISO nonlinear systems. In the design procedure, we represent the nonlinear system by using a Takagi-Sugeno fuzzy model and construct a global fuzzy logic controller via parallel distributed compensation and sliding mode control. Unlike other parallel distributed controllers. this globally stable fuzzy controller is designed without finding a common positive definite matrix for a set of Lyapunov equations, and has good tracking performance. Furthermore, stability analysis is conducted not for the fuzzy model but for the real underlying nonlinear system. A simulation is included for the control of the Duffing forced-oscillation system, to show the effectiveness and feasibility of the proposed fuzzy control method.