• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.842-846
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• 1997

Micro-hole drilling (holes less than 0.5 mm in diameter with aspect ratios larger than 10) is gaining increased attention in a wide spectrum of precision production industries. Alternative methods such as EDM, laser drilling, etc. can sometimes replace mechanical micro-hole drilling but are not acceptable in PCB manufacture because they yield inferior hole quality and accuracy. The major difficulties in micro-hold drilling are related to wandering motions during the inlet stage, high aspect ratios, high temperature,etc. However, of all the difficulties, the most undesirable one is the increase of drilling force as the drill penetrates deeper into hold. This is caused mainly by chip related effects. Peck-drilling is thus widely used for deep hole drilling despite the fact that it leads to low productivity. Therefore, in this paper, a method of cutting force regulation is proposed to achieve continuous drilling. A proportional plus derivative (PD) and a sliding modecontrol algorithm will be implemented for controlling the spinle rotational frequeency. Experimental results will show that sliding mode control reduces the nominal cutting force and its variation better than the PD control, resulting in a number of advantages such as an increase in drill life, fast stabilization of the wandering motion, and precise positioning of the hole.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.4
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• pp.77-86
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• 1995

The new architecture that fuzzy logic control(FLC) with difficulties for tuning membership function (MF) is parallel with neural networks(NN) to be learned from the output of FLC is proposed. Therefore proposed scheme has the characteristics to utilize the expert knowledge in design process, to be learned during the operation without any learning mode. In this architecture, the function of the FLC is to supply the sliding surface which is constructed on the phase plane by rule base for giving the desired control characteristics and learning criterion of NN and the stabilization of the control performance before NN is learned, The function of the NN is to let the system trajectory be tracked to the sliding surface and reached to the stable point.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.5
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• pp.8-17
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• 2002

This paper considers the problems of robust decentralized control for uncertain discrete-time large-scale systems with delays in interconnections and state feedback gain perturbations. Based on the Lyapunov method, the state feedback control design for robust stability is given in terms of solutions to a linear matrix inequality (LMI), and the measure of non-fragility in controller is presented. The solutions of the LMI can be easily obtained using efficient convex optimization techniques. A numerical example is included to illustrate the design procedures.

• Nuclear Engineering and Technology
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• v.41 no.3
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• pp.307-318
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• 2009

KAERI (Korea Atomic Energy Research Institute) has developed the GAMMA+ code for a thermo-fluid and safety analysis of a VHTR (Very High Temperature Gas-Cooled Reactor). A key safety issue of the VHTR design is to demonstrate its inherent safety features for an automatic reactor power trip and power stabilization during an anticipated transient without scram (ATWS) accident such as a loss of forced cooling by a trip of the helium circulator (LOFC) or a reactivity insertion by a control rod withdrawal (CRW). This paper intends to show the ATWS assessment capability of the GAMMA+ code which can simulate the reactor power response by solving the point-kinetic equations with six-group delayed neutrons, by considering the reactivity changes due to the effects of a core temperature variation, xenon transients, and reactivity insertions. The present benchmark calculations are performed by using the safety demonstration experiments of the 10 MW high temperature gas cooled-test module (HTR-10) in China. The calculation results of the power response transients and the solid core temperature behavior are compared with the experimental data of a LOFC ATWS test and two CRW ATWS tests by using a 1mk-control rod and a 5mk-control rod, respectively. The GAMMA+ code predicts the power response transients very well for the LOFC and CRW ATWS tests in HTR-10.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.5
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• pp.482-489
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• 2002

This paper studies the stand-alone photovoltaic system for the solar lighting lamp. The solar lighting lamp has PV modules, batteries, and charge & discharge system. The charge efficiency is improved for the control of each battery which is divided the charge from the discharge to change the structure of existing solar lighting lamp charge & discharge system. so, the charge and discharge times are reduced of 50% and the depth of discharge control can be controlled in the discharge cut off voltage. It can be effective of the battery use. If a battery is out of order, this system can be executed for a regular period. So we saved the repair cost and developed of system's stabilization. It Is possible to make economical effects to apply for solar lighting lamp used photovoltaic system.

• The Transactions of the Korean Institute of Power Electronics
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• v.22 no.4
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• pp.369-372
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• 2017

This paper presents a control scheme for three-level NPC inverters using small DC-link capacitors. To reduce the inverter system volume, the film capacitor with small capacitance is a promising candidate for the DC-link. When small capacitors are applied in a three level inverter, however, the AC ripple component increases in the DC-link NPV (neutral point voltage). In addition, the three-phase input grid currents are distorted when the DC-link capacitors are fed by diode rectifier. In this paper, the additional circuit is applied to compensate for small capacitor systems defect, and the offset voltage injection method is presented for the stabilization in NPV. These two proposed processes evidently ensure the quality improvement of the input grid currents and output load currents. The feasibility of the proposed method is verified by experimental results.

• Journal of Astronomy and Space Sciences
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• v.14 no.2
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• pp.386-394
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• 1997

In this study, a few of the modeling methods for flexible spacecraft were introduced and adopted to the modeling of a 3-axes stabilization satellite. The generated model was put into pre-built rigid body attitude control loop. A Lumped Parameter Model(Global Mode Model: GMM) was recommended for the absence of the Finite Element Method(FEM) model. Finally, GMM was compared with FEM in terms of designing a control filter. A 1st-order filter was designed to meet requirements of the controller since the new flexible model was applied, and that filter was added to motor controller and axis controller. MATLAB/Simulink was used as a tool for design and simulation of the control loop and filter.

• Journal of the Korean Institute of Telematics and Electronics
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• v.19 no.4
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• pp.15-20
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• 1982

Stabilization by decentralized control is an important problem in large scale systems and there has been an increasing interest in this area. The objective of this paper is to obtain the sufficient condition for an interconnected system to be stabilited by local feedback. Recently there has been many papers about this, and we further broaden the class of interconnections for which we can find a decentralized control to stabilize the overall system. The interconnection matrix may take any arbitrary time invariant values and this implies connective stability in some sense. The assumed model is mire general than most of previous ones, and as a special case, when each subsystem is given by companion form of a single inputs the result is compared with that of Ikeda and Siljak. The obtained result is illustrated by examples.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.