• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.137-140
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• 1996

Finding line segments in an intensity image has been one of the most fundamental issues in computer vision. In complex scenes, it is hard to detect the locations of point features. Line features are more robust in providing greater positional accuracy. In this paper we present a robust "line features extraction" algorithm which extracts line feature in a single pass without using any assumptions and constraints. Our algorithm consists of five steps: (1) edge scanning, (2) edge normalization, (3) line-blob extraction, (4) line-feature computation, and (5) line linking. By using edge scanning, the computational complexity due to too many edge pixels is drastically reduced. Edge normalization improves the local quantization error induced from the gradient space partitioning and minimizes perturbations on edge orientation. We also analyze the effects of edge processing, and the least squares-based method and the principal axis-based method on the computation of line orientation. We show its efficiency with some real images.al images.

• 대한기계학회논문집
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• 제15권1호
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• pp.78-89
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• 1991

본 연구에서는 ARSC를 엔드밀링 공정에 적용하여, 절삭력을 추종제어하는 실 예를 제시하고자 한다.제2장에서는 ARSC를 절삭공정에 일반적으로 적용하기 위한 구체적인 이론전개를 설명하여, 제3장에 실시간 시뮬레이션의 방법과 결과를 예시하 고,마지막으로, 제4장에 엔드밀링 절삭시험을 위한 장치의 구성 및 그 결과를 설명하 였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.925-933
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• 2006

Using the physics-based model for the vibration isolation system, the model uncertainties are described. With the model including parameter perturbations, the robust controller to meet the robust performance and stability is designed through $\mu$-synthesis by DK-iteration. The order of controller is reduced by virtue of Hankel norm approximation technique to allow the efficient implementation in the real-time experimental environment without any performance degradation. The performance of the reduced $\mu$-controller is accessed in comparison with the original one. The experiments validate the superiority of the proposed control scheme against the model uncertainties and its applicability with varying payload.

• 한국정밀공학회지
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• 제12권4호
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• pp.55-66
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• 1995

This paper presents an explicit pole-assignment adaptive servocontrol shceme and its application to cutting force regulation for feedrate maximization. The controller structure of the suggested adaptive control scheme is based on robust control theory. This controller structure is then combined with an on-line model estimation algorithm. The whole scheme is applied to a milling process control. The results of real time cutting experimental studies show that the asymptotic regulation of milling peak cutting forces can be achieved with robust- ness against the time varying perturbations to the process model parameters, which are caused by nonlinear cutting dynamics.

• 한국소음진동공학회논문집
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• 제16권12호
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• pp.1262-1271
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• 2006

Using the physics-based model for the vibration isolation system, the model uncertainties are described. With the model including parameter perturbations, the robust controller to meet the robust performance and stability is designed through $\mu$-synthesis by DK-iteration. The order of controller is reduced by virtue of Hankel norm approximation technique to allow the efficient implementation in the real-time experimental environment without any performance degradation. The performance of the reduced $\mu$-controller is accessed in comparison with the original one. The experiments validate the superiority of the proposed control scheme against the model uncertainties and its applicability with varying payload.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.643-645
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• 1999

In between of linear and nonlinear systems lies a large class of bilinear systems. The major importance of bilinear systems lies in the applications to the real world systems such as many physical processes, many biological process, some economic process. Despite vast application of bilinear systems they have not been studied extensively in the domain of singularly perturbations except for a few minor results. In this paper we will utilize singular peturbations theory to obtain the closed-loop optimal solution for discrete-time bilinear systems.

• Nuclear Engineering and Technology
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• 제34권5호
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• pp.436-444
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• 2002

The robust controller for the nuclear reactor power control system is designed. Since the reactor model is not exact, it is necessary to design the robust controller that can work in the real situations of perturbations. The reactor model is described in the form of transfer function and the bound of each coefficient is determined to set up the linear interval system. By the Kharitonov and the edge theorem, a frequency based design template is made and applied to the determination of the controller. The controller designed by this method is simpler than that obtained by the H$_{\infty}$. Although the controller is designed with the basis of high power, it could be used even at low power.n at low power.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.420-422
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• 1998

In this paper, we propose a position-speed control of servo system with a state estimator. And also we utilized two mass modelling in order to deals with real system accurately. The overall control system consists of two parts: the position-speed controller and state estimator. The Kalman filter applied as state - feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear,unbiased and minimun error variance recursive algorithm to estimate the unknown state optimally. Therefore we consider the error problem about the servo system modelling, the measurement noise at low-speed ranges a stochastic system, and implement a optimal state observer. Performance of the proposed state estimator are demonstrated by computer simulations.

• Journal of Power Electronics
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• 제8권2호
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• pp.131-140
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• 2008

This paper presents a new control approach of DSTATCOM (distribution static compensator) for compensation of reactive power, unbalanced loading and harmonic currents under unbalanced non-sinusoidal ac mains. The control of DSTATCOM is achieved using Adaline based current estimator based on LMS algorithm to maintain source currents real and undistorted. The dc bus voltage of voltage source converter (VSC) working as DSTATCOM is maintained at constant voltage using a proportional-integral (PI) controller. The DSTATCOM system alongwith proposed control scheme is modeled in MATLAB to simulate the behavior of the system. The practical implementation of the DSTATCOM is carried out using dSPACE DS1104 R&D controller having TMS320F240 as a slave DSP. Simulated and implementation results are presented to demonstrate the effectiveness of the DSTATCOM with Adaline based control to meet the severe load perturbations with different types of loads (linear and non-linear) under distorted and unbalanced AC mains.

• 정보처리학회논문지A
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• 제12A권1호
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• pp.53-58
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• 2005

최근 산업 프로세스의 제어 및 모니터링 분야에서 컴퓨터의 사용이 급증하고 있다. 이와 같은 자동차 기어 및 엔진 제어, 항공기 이착륙/운항 제어, 통신 네트워크 등과 같은 응용분야에서 사용되고 있는 컴퓨터는 시간 임계 제어 및 모니터 기능과 시간에 제한적이지 않은 일괄 프로세싱으로 구분된다. 실시간 제어시스템 또는 임베디드 시스템은 컴퓨터 시스템에서 특정한 역학을 수행하는 다양한 하드웨어와 소프트웨어 요소로 구성되어 있다. 실시간 시스템이 시간적 제약조건을 만족하지 못하면 시스템의 오동작이 발생할 수 있으며, 인명 손상과 같은 큰 재앙이 발생할 수 있다. 그렇기 때문에 시스템의 수행은 예측 가능해야 한다. 실시간 임베디드 시스템은 아키텍처 선계 단계에서의 결정이 시스템의 구현과 성능에 매우 큰 영향을 미친다. 유연성이란 실시간 시스템 환경에서 작업 타이밍에 대한 장애를 유연하게 처리할 수 있는 시스템의 처리 능력을 나타낸다. 이 요소는 시스템의 수행비용과 성능을 분석하는 중요한 요소이다. 본 연구에서는 실시간 임베디드 시스템의 구조를 설계 할 때 효율적인 분석을 위하여 유연성 함수를 정의한다. 본 연구를 통하여 실시간 시스템의 하드웨어 및 소프트웨어를 분할할 때 속성과 제약온 분석할 수 있는데, 제약의 측면에서 보면 유연성 문제를 해결 할 수 있고, 속성의 측면에서 보면 시스템 모델 및 유연성과 다른 속성들(비용, 전력소비량 등)과의 상호관계 분석 등을 효율적으로 분석할 수 있다.