• Proceedings of the IEEK Conference
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• 2002.06e
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• pp.157-160
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• 2002

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.6
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• pp.89-99
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• 2008

In this paper proposes a novel tacking algorithm regarding the power loss when operating a tracking system for a rapidly changing insolation to improve the power of PV hacking system. The tracking system of sensor method used in a conventional PV power station is unable to exactly track a sun position when lacking in the intensity of radiation and has the problem is malfunction of tracking system by a rapidly changing climatic. The tracking system of program method spends too much energy on the unnecessary operation of tracking system because that is unable to adapt itself to a outside factor of climatic environment. In case of tracking an azimuth and altitude of the sun in realtime, therefore, the actual PV power is less increasing than the power of tracking system fixed a specific position. To reduce the power loss, this pap proposes a novel control algorithm of the tracking system. Also, this paper is analyzed efficiency of traditional solar tracking method and proposed method, prove validity of proposed algorithm through demonstrable study.

• Journal of Biomedical Engineering Research
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• v.28 no.3
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• pp.363-368
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• 2007

Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.3
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• pp.260-265
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• 2003

The energy of PV system is different as the elevation and aximuth of the sun. This paper deals with the economical position tracking system development for the stand alone PV system. We have made more economical solar position tracking system which is used a tracking program than other similar systems. It is applied to the solar lighting lamp. We have made a comparative study of the energy amount between the fixed type and the tracking type during some period. The improved efficiency of the system is about 86 %.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.893-898
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• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• Journal of the Korean Society for Railway
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• v.8 no.3
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• pp.244-252
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• 2005

Accurate and reliable tracking of train is essential for a train control system. The fixed block system which utilizes the track circuit has been used widely for detecting train position. As an alternative, the moving block system has the advantage over the fixed block system since it enables shorter headway and easier maintenance. This paper presents a new technique for the train tracking system which uses radio signal for the train position detection. The proposed algorithm uses the phase difference of arrival of radio signal for the detection of train position. Experimental verification of the algorithm is presented in the paper.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.738-746
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• 1998

This paper presents a neural network-based adaptive controller for a single flexible-link. The control for feedback-error loaming of neural network is designed by using the re-definition approach. The neural network controllers are implemented on an single flexible-link experimental test-bed. The tip response is significantly improved and the vibrations of the flexible modes are damped very fast. Experimental and simulation results are presented of the proposed tip position tracking controllers over the conventional PD-type, passive controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.290-296
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• 2005

This paper presents the implementation of a crack tracking mobile robot. The crack tracking robot is built for tracking cracks on the pavement. To track cracks, crack must be detected by laser and camera sensors. Laser sensor projects laser on the pavement to detect the discontinuity on the surface and the camera captures the image to find the crack position. Then the robot is commanded to follow the crack. To detect crack position correctly, neural network is used to minimize the positional errors of the captured crack position obtained by transformation from 2 dimensional images to 3 dimensional images.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.6
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• pp.51-61
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• 2002

A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

• Journal of the Korean Society of Safety
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• v.15 no.3
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• pp.115-123
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• 2000

Pneumatic actuators are widely used in a variety of hazardous working environments. Any process that involves pneumatic actuation is also recognized as "eco-friendly". In most cases, applications of pneumatic actuators require only point-to-point control. In recent years, research efforts have been directed toward achieving precise position tracking control. In this study, a tracking position control method is proposed and experimentally evaluated for a linear positioning system. The positioning system is composed of a pneumatic actuator and a 3-port proportional valve. The proposed controller has an inner pressure control loop and an outer position control loop. A PID controller with feedback linearization is used in the pressure control loop to nullify the nonlinearity arising from the compressibility of the air. The position controller is also a PID controller augmented with the friction compensation by a neural network. Experimental results indicate that the proposed controller significantly improves the tracking performance.rformance.