• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.705-709
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• 1995

The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it was used as a commanded feedforward input generator. A PD feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the excavator as well as the PD feedback error. By using the BP network as a feedforward controller, no a priori knowledge on system dynamics is need. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbancen and performance improvement with the on-line learning in the position control of excavator attachment.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.187-193
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• 1998

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1230-1242
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• 2007

This paper describes an IIR/FIR fusion filter for a nonlinear system, and analyzes the stability of the fusion filter. The fusion filter is applied to INS/GPS integrated system, and the performance is verified by simulation and experiment. In the fusion filter, an IIR-type filter (SPKF) and FIR-type filter (MRHKF filter) are processed independently, then the two filters are merged using the mixing probability calculated using the residuals and residual covariance information of the two filters. The merits of the SPKF and the MRHKF filter are embossed and the demerits of the filters are diminished via the filter fusion. Consequently, the proposed fusion filter has robustness against to model uncertainty, temporary disturbing noise, large initial estimation error, etc. The stability of the fusion filter is verified by showing the closeness of the states of the two sub filters in the mixing/redistribution process and the upper bound of the error covariance matrices. This fusion filter is applied into INS/GPS integrated system, and important factors for filter processing are presented. The performance of the INS/GPS integrated system designed using the fusion filter is verified by simulation under various error environments and is confirmed by experiment.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.334-336
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• 1995

An adaptive feedback linearization technique of a PM synchronous motor with specified output dynamic performance is proposed. The adaptive parameter estimation is achieved by a model reference adaptive technique where the stator resistance and flux linkage can be estimated with the current dynamic model and the state observer. Using these estimated parameters, the linearizing control inputs are calculated and a nonlinear coupled model of a PM synchronous motor is input-output linearized. The resultant model has the load torque disturbance. To get ti perfect decoupled model, the load torque is estimated. The adaptation laws are derived by the hyperstability theory and positivity concept. The robustness of the proposed control scheme will be proven through the computer simulations.

• Journal of Power System Engineering
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• v.21 no.4
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• pp.42-50
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• 2017

A velocity controller using a modified model reference adaptive controller (M-MRAC) and a projection operator for a fish sorting belt conveyor system with uncertainty parameters, input saturation and bounded disturbances is proposed in this paper. To improve the tracking performance and robustness of the proposed controller in the presence of bounded disturbances, the followings are done. Firstly, the reference model for the conventional model reference adaptive controller (CMRAC) is replaced by a modified reference model for a M-MRAC to reduce unexpected high frequency oscillation in control input signal when the adaptation rate is increased. Secondly, estimated parameters in an adaptive law are varied smoothly under bounded external disturbances and a projection operator is utilized in an adaptive law for the proposed M-MRAC controller to be robust. Thirdly, an auxiliary error vector is introduced for compensating the error dynamics of the system when the saturation input occurs. Finally, the experimental results are shown to verify the better effectiveness and performance of the proposed controller under the bounded disturbance and saturated input than that of a CMRAC.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.486-489
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• 2004

The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the systems. Thus, in the controller design of such AMB systems, robustness to base disturbances becomes an essential requirement. In this study, effective control schemes are proposed for the homo-polar AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to base motion, and its control performance is experimentally evaluated. The base motion of AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on rate table. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.

• Proceedings of the KIEE Conference
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• summer
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• pp.292-294
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• 2004

In this paper, we design the GA-fuzzy precompensator of a Power System Stabilizer for Thyristor Controlled Series Capacitor(TCSC-PSS) for enhancement of power system stability. Here a fuzzy precompensator is designed as a fuzzy logic-based precompensation approach for TCSC-PSS. This scheme is easily implemented simply by adding a fuzzy precompensator to an existing TCSC-PSS. And we optimize the fuzzy precompensator with a genetic algorithm for complements the demerit such as the difficulty of the component selection of fuzzy controller, namely, scaling factor, membership Auction and control rules. Simulation results show that the proposed control technique is superior to a conventional PSS in dynamic responses over the wide range of operating conditions and is convinced robustness and reliableness in view of structure.

• Journal of Labour Economics
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• v.43 no.4
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• pp.35-86
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• 2020

We estimate the effects of marriage on women's labor market outcomes and subject well-being. To resolve the endogeneity problem of marital status and timing of marriage, we use the difference-in-differences event study method which compares the trends of the outcome before and after the event between treatment and control groups. For robustness, we use four different control groups. The results show that the probability of working drops significantly by about 10%p in the first year of marriage and the effect becomes as large as 46%p by the 5th year of marriage. Also monthly earnings decrease substantially. We find that marriage increases subjective well-being, while the effect is not persistent.

• Earthquakes and Structures
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• v.16 no.2
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• pp.149-163
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• 2019

By integrating an active tuned mass damper (ATMD) and an inerter, the ATMDI has been proposed to attenuate undesirable oscillations of structures under the ground acceleration. Employing the mode generalized system, the dynamic magnification factors (DMF) of the structure-ATMDI system are formulated. The criterion can then be defined as the minimization of maximum values of the DMF of the controlled structure for optimum searching. By resorting to the defined criterion and the particle swarm optimization (PSO), the effects of varying the crucial parameters on the performance of ATMDI have been scrutinized in order to probe into its superiority. Furthermore, the results of both ATMD and tuned mass dampers inerter (TMDI) are included into consideration for comparing. Results corroborate that the ATMDI outperforms both ATMD and TMDI in terms of the effectiveness and robustness. Especially, the ATMDI may greatly reduce the demand on both the mass ratio and inerter mass ratio, thus being capable of further miniaturizing both the ATMD and TMDI. Likewise the miniaturized ATMDI still keeps nearly the same stroke as the TMDI with a larger mass ratio. Hence, the ATMDI is deemed to be a high performance control device with the miniaturization and suitable for super-tall buildings.

• Journal of Auto-vehicle Safety Association
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• v.13 no.3
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• pp.32-40
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• 2021

Composite material is very attractive because it has excellent mechanical property and is possible to lightweight due to the low density. However, composite material is less used compared to other systems in the chassis system because it is very hard to solve NVH problem when composite material is applied to vehicle. Especially, reducing squeal noise of composite brake system is essential to apply it to vehicle successfully. In this paper, we present a new solution to reduce squeal noise of composite brake system. To achieve this goal, we analyze main causes of noise using RCA (Root Cause Analysis), CA (Contradiction Analysis) and sequentially get IFR (Ideal Final Result) to solve the problem. Next, we define the function of composite brake system and derive control factors and noise factors. A variety of tests for factors like chamfer, slot, damping shim, underlayer of brake pad are done. In addition, we analyze level of contribution for control factors theoretically. Finally, we get the effective solution for reducing squeal noise.