• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.889-897
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• 1999

This paper deals with a problem searching a target transfer function to meet the time-domain specifications for feedback system with given plant transfer function. For the Type I system, we first define three forms of transient response to unit step input, which are named by F, M, S-type. These are charaacterized as follows ; F-type has fast initial response and slow approach to the steady sate after reaching at 90% of the steady state value, S-type has slow initial response but fast approach to the steady state, and M-type is denoted by highly smooth response between F-type and S-type. Three prototypes corresponding to each form are proposed, time. For the order $n{\geq}4$, after determining admissible root structures of target characteristic polynomials empirically and expressing such polynomial coefficients by using special parameters ${\gamma}_i$ and $\epsilon$, the optimal prototypes that minimize the integral of the squared of the modified errors(ISME) have been obtained. Since the step responses of these prototypes have almost same wave forms irrespective to the order, the desired settling time or the rise time can be converted into the equibalent time constant $\tau$ and thus it is easy to obtain a target transfer function. It is shown through a design example that the present prototype is very useful for meeting the time-domain specifications and has been compared with different methods with a viewpoint of pertinence.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제11권1호
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• pp.26-35
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• 2005

일반적으로 디지털 시스템에서 시스템의 제어부 설계를 위해 FSM이 많이 사용된다. FSM은 제어흐름(Control Flow)으로부터 생성된 상태 다이어그램에 기반하여 구현된다. 설계자는 상태 다이어그램을 이용하여, HDL로 FSM을 설계하고 검증한다. FSM의 상태의 수가 증가할수록, FSM을 검증하거나 변경하는 작업은 매우 복잡해지고 오류가 많이 발생하며 많은 시간을 필요로 한다. 따라서 본 논문에서는 레지스터 전송 수준에서 제어흐름중심으로 하드웨어를 기술하는 언어인 Cycle-C를 제안한다. Cycle-C는 제어 흐름에 시간 정보를 더하여 FSM을 기술한다. Cycle-C로 표현된 FSM은 합성 가능한 VHDL 코드로 자동으로 변환된다. 실험에서는, 인터페이스 회로들에 대한 FSM을 비교 예제로 삼았다. Cycle-C를 이용한 설계와 설계자가 직접 RTL VHDL로 설계한 것은 비슷한 면적을 보였다. Cycle-C를 이용하면 설계자가 직접 기술한 RTL VHDL 행수의 약 10～50%만으로 동일한 동작에 대한 기술을 할 수 있었다.

• Wind and Structures
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• 제13권3호
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• pp.235-256
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• 2010

The aeroelastic stability of bridge decks equipped with multiple tuned mass dampers is studied. The problem is attacked in the time domain, by representing self-excited loads with the aid of aerodynamic indicial functions approximated by truncated series of exponential filters. This approach allows to reduce the aeroelastic stability analysis in the form of a direct eigenvalue problem, by introducing an additional state variable for each exponential term adopted in the approximation of indicial functions. A general probabilistic framework for the optimal robust design of multiple tuned mass dampers is proposed, in which all possible sources of uncertainties can be accounted for. For the purposes of this study, the method is also simplified in a form which requires a lower computational effort and it is then applied to a general case study in order to analyze the control effectiveness of regular and irregular multiple tuned mass dampers. A special care is devoted to mistuning effects caused by random variations of the target frequency. Regular multiple tuned mass dampers are seen to improve both control effectiveness and robustness with respect to single tuned mass dampers. However, those devices exhibit an asymmetric behavior with respect to frequency mistuning, which may weaken their feasibility for technical applications. In order to overcome this drawback, an irregular multiple tuned mass damper is conceived which is based on unequal mass distribution. The optimal design of this device is finally pursued via a full domain search, which evidences a remarkable robustness against frequency mistuning, in the sense of the simplified design approach.

• 한국통신학회논문지
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• 제14권5호
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• pp.486-502
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• 1989

본 논문에서는 로보트 매니퓰레이터의 정밀한 경로 제어를 위해서, 두가지 형태의 로보트 관절 각도 및 관절 속도의 예측 알고리즘을 제시하고, 이를 이용한 제어 방법을 기술하고자 한다. 구체적으로, 로보트 메니퓰레이터의 동특성을 Computed torque방법으로 선형화 시킨후에, 선형화된 모델을 근거로 한 이산시간 상태변수 예측기를 제안한다. 또한, 현재의 관절 위치 및 관절 속도와 과거 및 개의 위치 및 속도 등을 최소 자승법의 의미로 가장 잘 부합시키는 직선을 찾고, 그 직선으로부터 상태를 예측하는 예측기를 제안한다. 이 후에 이들 두 예측기로부터 정보를 이용하여, 예측된 궤적과 원하는 궤적 사이의오차에 적절한 이득을 곱해서 입력 토오크에 보정되어 사용됨으로써 궤적 오차를 줄일 수 있음을, 2자유도를 갖는 SCARA 로보트를 대상으로 컴퓨터 모의 실험을 통하여 보이고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1593-1598
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• 2004

In this paper, we use the input and output maps and develop simple procedures to obtain realizations for linear continuous-time systems. The procedures developed are numerically efficient and yield explicit formulae for the state space matrices of the realization in terms of the system parameters, notably the system modes. Both cases of the systems with distinct modes and repeated modes are treated. We also present a procedure for converting a realization obtained through the input or output map into the Jordan canonical form. The transformation matrices required to bring the realization into the Jordan canonical form are specified entirely in terms of the system modes.

• 대한전자공학회논문지
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• 제19권2호
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• pp.31-37
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• 1982

이산 시간계에서 실수의 극을 갖는 다입력, 다출력 프로세스에 대하여 유용한 제어방법이 제안 되었다. 이 제어방법은 적응제어와 최적 제어의 장점을 모두 가지며, 프로세스의 변수가 서서히 변한다는 가정하에서, 다이내믹스를 갖는 제어기의 설계에 응용될 수 있다. 프로세스 변수의 감식은 ARMA형태로 이루어지며 궤환 메트릭스의 최적화는 상태 변수 공간에서 이루어진다.

• Bulletin of the Korean Chemical Society
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• 제29권1호
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• pp.197-201
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• 2008

Conformational heterogeneity of directly linked multiporphyrin arrays with larger molecular length retards their utilities in practical applications such as two-photon absorption and molecular photonic wire. In this regard, here we adopted a way to overcome the conformational heterogeneity through hydrogen bonding by selective binding of meso aryl substituents of porphyrins (host) with urea (guest) to form helical structure. Using steady-state and time-resolved spectroscopy, we observed the enhanced fluorescence quantum yield by ~1.8 to 2.4 times, enhanced anisotropy values and the disappearance of fast fluorescence decay component in the host-guest helical forms. In addition, the enhanced nonlinear optical responses of helical arrays infer the extended inter-porphyrin electronic coupling due to a significant change in dihedral angle between the neighboring porphyrin moieties. The current host-guest strategy will provide a guideline to improve the structural homogeneity of the photonic wire.

• Journal of KIEE
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• 제10권1호
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• pp.29-34
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• 2000

In this paper, a design method of a controller is presented for a class of nonlinear systems which have time-varying parametric uncertainly. Some features of this controller are that it can tackle 1) nonlinear parametrization(i.e. uncertain parameters enter the system in the nonlinear form) and 2) nonvanishing peturbation (i.e. uncertainty need not vanish at the origin). The class of systems considered in this paper has the triangular structure for which the well-known backstepping design can be applied. The uncertain parameter is assumed to be contained in the bounded set whose size can be arbitrarily large. Also, the uncertain system are globally uniformly bounded and converge to a compact set whose size is designable. In particular, the first state of the system can be made arbitrarily small, which can be seen by the presented simulation result.

• Computers and Concrete
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• 제21권6호
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• pp.697-703
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• 2018

Compressive strength is one of the most important engineering properties of concrete, and testing of the compressive strength of concrete specimens is often costly and time consuming. In order to provide the time for concrete form removal, re-shoring to slab, project scheduling and quality control, it is necessary to predict the concrete strength based upon the early strength data. However, concrete compressive strength is affected by many factors, such as quality of raw materials, water cement ratio, ratio of fine aggregate to coarse aggregate, age of concrete, compaction of concrete, temperature, relative humidity and curing of concrete. The concrete compressive strength is a quite nonlinear function that changes depend on the materials used in the concrete and the time. This paper presents an adaptive neuro-fuzzy inference system (ANFIS) for the prediction of concrete compressive strength. The training of fuzzy system was performed by a hybrid method of gradient descent method and least squares algorithm, and the subtractive clustering algorithm (SCA) was utilized for optimizing the number of fuzzy rules. Experimental data on concrete compressive strength in the literature were used to validate and evaluate the performance of the proposed ANFIS model. Further, predictions from three models (the back propagation neural network model, the statistics model, and the ANFIS model) were compared with the experimental data. The results show that the proposed ANFIS model is a feasible, efficient, and accurate tool for predicting the concrete compressive strength.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1901-1904
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• 2003

MPC or model predictive control is representative of control methods which are able to handle physical constraints. Closed-loop stability can therefore be ensured only locally in the presence of constraints of this type. However, if the system is neutrally stable, and if the constraints are imposed only on the input, global aymptotic stability can be obtained; until recently, use of infinite horizons was thought to be inevitable in this case. A globally stabilizing finite-horizon MPC has lately been suggested for neutrally stable continuous-time systems using a non-quadratic terminal cost which consists of cubic as well as quadratic functions of the state. The idea originates from the so-called small gain control, where the global stability is proven using a non-quadratic Lyapunov function. The newly developed finite-horizon MPC employs the same form of Lyapunov function as the terminal cost, thereby leading to global asymptotic stability. A discrete-time version of this finite-horizon MPC is presented here. The proposed MPC algorithm is also coded using an SQP (Sequential Quadratic Programming) algorithm, and simulation results are given to show the effectiveness of the method.