• 동력기계공학회지
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• 제21권4호
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• pp.77-83
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• 2017

The aim of this paper is to solve the chattering and delayed response problems caused by gear backlash. In the gear mechanism based systems, for example, in robot systems, the actuators provide the reduction gear with motors to transfer effectively electric power to mechanical power. Therefore, the gear backlash exists and is an unavoidable fact which makes many undesirable problems. In this paper, the authors try to make a solution for this issue and, introduce several control methods which are PID only, PID with Smith predictor and super-twisting algorithm based SMC(sliding mode control). Each control method is applied to the real plant in which strong backlash is included. By comparison results, it is clear that SMC gives the best control performance with little backlash effects. Also, the usefulness and effectiveness of proposed control method is verified by experiment.

• 현장농수산연구지
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• 제13권1호
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• pp.3-17
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• 2011

Pipelines of processor have been growing deeper and issue widths wider over the years. If this trend continues, branch misprediction penalty will become very high. Branch misprediction is the single most significant performance limiter for improving processor performance using deeper pipelining. Therefore, more accurate branch predictor becomes an essential part of modem processors for FAFF(Food, Agriculture, Forestry, Fisheries)Information Processing. In this paper, we propose a branch prediction mechanism, using variable length history, which predicts using a bank having higher prediction accuracy among predictions from five banks. Bank 0 is a bimodal predictor which is indexed with the 12 least significant bits of the branch PC. Banks 1,2,3 and 4 are predictors which are indexed with different global history bits and the branch PC. In simulation results, the proposed mechanism outperforms gshare predictors using fixed history length of 12 and 13, up to 6.34% in prediction accuracy. Furthermore, the proposed mechanism outperforms gshare predictors using best history lengths for benchmarks, up to 2.3% in prediction accuracy.

• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.162-168
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• 1997

Digital variable structure controller(DVSC) is implemented to control the temperature for the hot water heating circulating pump control system. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of steady state error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The DVSC of the suggested algorithm yields improved control performance compared with the one of existing algorithm. The system responses with the suggested DVSC shows good responses without overshoot and steady state error inspite of heating load change. By decreasing sampling time, dead time and rise time are increasing, and system output noise by flow dynamics is amplified.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.1083-1086
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• 2005

Modern superscalar processors exploit Instruction Level Parallelism to achieve high performance by speculative techniques such as branch prediction. The indirect branch target prediction is very difficult compared to the prediction of direct branch target and branch direction, since it has dynamically polymorphic target. We present a accurate and hardware-efficient indirect branch target predictor. It can reduce the tags which has to be stored in the Indirect Branch Target Cache without a sacrifice of the prediction accuracy. We implement the proposed scheme on SimpleScalar and show the efficiency running SPEC95 benchmarks.

• Communications for Statistical Applications and Methods
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• 제26권6호
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• pp.635-644
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• 2019

Class probability is a fundamental target in classification that contains complete classification information. In this article, we propose a class probability estimation method when the predictor is functional. Motivated by Wang et al. (Biometrika, 95, 149-167, 2007), our estimator is obtained by training a sequence of functional weighted support vector machines (FWSVM) with different weights, which can be justified by the Fisher consistency of the hinge loss. The proposed method can be extended to multiclass classification via pairwise coupling proposed by Wu et al. (Journal of Machine Learning Research, 5, 975-1005, 2004). The use of FWSVM makes our method model-free as well as computationally efficient due to the piecewise linearity of the FWSVM solutions as functions of the weight. Numerical investigation to both synthetic and real data show the advantageous performance of the proposed method.

• Journal of Mechanical Science and Technology
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• 제15권6호
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• pp.699-708
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• 2001

This paper presents a new approach to the AFR (Air-to-Fuel Ratio) control problem, which is based on the wide-band oxygen sensor output. The dedicated nonlinear controller is based on the feedback lineaization technique. It is well known that the feedback linearizing control technique requires an exact model of the plant for the cancellation of plant nonlinearities. A sliding mode control scheme is applied which can effectively compensate the modeling uncertainties. The measurement time delay of an oxygen sensor limits the gain of the feedback controller. Hence, time delay compensation procedure is necessary for the improvement of control performance. The Smith predictor is adopted to compensate the effects of time delay. The simulation and experimental results show that the proposed controllers can effectively reduce the transient peaks of AFR in spite of fast tip-in and tip-out maneuvers of the throttle.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.446-449
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• 1995

In this paper, the accurate end position control method of ultraprecision machine tool post using piezoelectric material as an micro positonong devics is presented. This method employs the classical PID feedback and uses an additional notch filter which eliminates the resonance characteristics of controlled plant. And the simple predictor is added to make use of the future value of desired input for better tracking performance. To show the feasibilty of proposed method, the PC-based experimental apparacy can be obtained. Using method, Al specimen of diameter 100mm was cut under practical machining condition to test the practicability of proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.62.3-62
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• 2002

In this paper, we proposed a control technique that can be applied to various processes. The most of the process can bereduced to second order plus time delay (SOPTD) model. And we proposed improved model reduction algorithm using geneticalgorithm. This method considered four points to reduce the error between original model and reduced model in the Nyquistcurve. And, to compensate time delay, the Smith predictor plus PID controller is adopted. And a new PID tuning algorithm wasproposed, which got from numerical analysis and can be obtained the optimal performance. The PID parameters are obtainedfrom the coefficients and time delay of reduced model. The simulation results show the validity.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1821-1826
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• 2003

In this study, we discuss CIP method, which can treat compressible/incompressible problem and multi-phase problem. We can apply this method to the general equations by using CCUP. In this paper, non-staggered grid arrangement and predictor-corrector method are used to enhance later development and the solution accuracy and convergence performance. To validate the numerical algorithm proposed in this paper, the two-dimensional unsteady flow in the driven cavity is simulated. The numerical results of this subject using the present algorithm are compared with other numerical results. As a result, it is prived that the present scheme gives stable and improved solutions, and the results even coarse grid are in good agreement with other result using a fine grid arrangement.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.13-16
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• 2002

In this paper, we newly propose a predictor model which is a method to overcome the time-varying delay in a system and we verify that the predictor model is well suited for the time-delayed system and improves the stability a lot through the experiments. The proposed predict compensator compensates uncertain time delays and minimizes variance of system performance. Therefore it is suitable for the control of uncertain systems and nonlinear systems that are difficult to be modeled. The simulation conditions are set for the cases of various input time delays and simulations are applied for the 2-axis robot arms which are drawing a circle on the plane. Conclusively, the proposed predict compensator represents stable properties regardless of the time delay. As a future research, we suggest to develope a robust control algorithm to compensate the random time delay which occurs in the tole-operated systems.