• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• 한국정보통신학회논문지
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• 제17권8호
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• pp.1968-1973
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• 2013

전계 흡수 변조기가 집적된 이중 전극 분포 궤환형 레이저를 사용하여 광신호의 변조 응답 향상을 실현하였다. 이 중 전극 구조의 분포 궤환형 반도체 레이저는 자려 펄스 발진 현상으로 인해 수 기가 헤르쯔의 모드 간격을 가진 다중 광모드 발진 현상을 보인다. 이 현상을 이용하여 RF 신호에 대한 광원의 변조 특성을 6 GHz 변조 신호에 대하여 약 20 dB 향상 시켰으며, 이러한 변조 성능 향상에 대하여 7 GHz의 주파수 가변 영역을 얻었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.636-641
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• 1993

Recent researches on control theory enable nonlinear state feedback which is more closer to real system without approximation. To apply nonlinear control theories, all state variables should be measured or estimated. In this paper, a technique of designing nonlinear state observer for a particular class of nonlinear system is presented. The result is applied to an aircraft model to prove the convergency of observation error.

• 한국광학회지
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• 제15권4호
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• pp.369-374
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• 2004

본 논문에서는 새로운 구조의 파장가변 레이저 다이오드를 제안하였다. 제안된 레이저 다이오드는 추출격자 분포궤환 레이저 다이오드와 추출격자 분포 브래그 반사기가 집적된 구조로 되어 있다. 제안된 레이저 다이오드는 특정한 구조에서 27 nm정도의 광대역 파장가변이 가능함을 수치해석을 통해 확인하였다. 또한 이득영역에서 생성된 광파를 다른 수동영역을 거치지 않고 직접 광섬유에 결합시킬 수 있는 구조로 광효율이 기존의 레이저 다이오드에 비해 우수함을 확인하였다.

• Smart Structures and Systems
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• 제13권2호
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• pp.203-217
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• 2014

Due to the shift in paradigm from passive control to adaptive control, smart tuned mass dampers (STMDs) have received considerable attention for vibration control in tall buildings and bridges. STMDs are superior to tuned mass dampers (TMDs) in reducing the response of the primary structure. Unlike TMDs, STMDs are capable of accommodating the changes in primary structure properties, due to damage or deterioration, by tuning in real time based on a local feedback. In this paper, a novel adaptive-length pendulum (ALP) damper is developed and experimentally verified. Length of the pendulum is adjusted in real time using a shape memory alloy (SMA) wire actuator. This can be achieved in two ways i) by changing the amount of current in the SMA wire actuator or ii) by changing the effective length of current carrying SMA wire. Using an instantaneous frequency tracking algorithm, the dominant frequency of the structure can be tracked from a local feedback signal, then the length of pendulum is adjusted to match the dominant frequency. Effectiveness of the proposed ALP-STMD mechanism, combined with the STFT frequency tracking control algorithm, is verified experimentally on a prototype two-storey shear frame. It has been observed through experimental studies that the ALP-STMD absorbs most of the input energy associated in the vicinity of tuned frequency of the pendulum damper. The reduction of storey displacements up to 80 % when subjected to forced excitation (harmonic and chirp-signal) and a faster decay rate during free vibration is observed in the experiments.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1528-1532
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• 2000

The conventional optics and near field optics are compared numerically in the view points of the spot size and propagation characteristics. The decaying characteristics of near field light require the optics to access the object within several tens of nanometers. Therefore the gap control is one of the main issues in the near field optics area. In this paper the gap control is done by using the shear force of the NF(Near Field) probe and the characteristics are examined. The probe is modeled as a 2'nd order mass-spring-damper system driven by a harmonic force. The primary cause of the decrease in vibration amplitude is due to the damping force - shear force - between the surface and the probe. Using the model, damping constant and resonance frequency of the probe is calculated as a function of probe-sample distance. Detecting the amplitude and phase shift of the NF probe attached to the high Q-factor piezoelectric tuning fork, we can control the position of the NF probe about 0 to 50nm above the sample. The feedback signal to regulate the probe-sample distance can be used independently for surface topography imaging. 3-D view of the shear force image of a testing sample with the period of $1{\mu}m$ will be shown.

• ETRI Journal
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• 제31권5호
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• pp.576-584
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• 2009

A novel tunable transconductor is presented. Input transistors operate in the triode region to achieve programmable voltage-to-current conversion. These transistors are kept in the triode region by a novel negative feedback loop which features simplicity, low voltage requirements, and high output resistance. A linearity analysis is carried out which demonstrates how the proposed transconductance tuning scheme leads to high linearity in a wide transconductance range. Measurement results for a 0.5 ${\mu}m$ CMOS implementation of the transconductor show a transconductance tuning range of more than a decade (15 ${\mu}A/V$ to 165 ${\mu}A/V$) and a total harmonic distortion of -67 dB at 1 MHz for an input of 1 Vpp and a supply voltage of 1.8 V.

• Journal of electromagnetic engineering and science
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• 제4권4호
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• pp.168-174
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• 2004

A bandwidth-enhanced and phase noise-improved differential LC-tank VCO is proposed in this paper. By connecting the varactors to the bases of the cross-coupled transistors of the proposed LC-tank VCO, its input negative resistance has been widened. Also, the feedback capacitor Cc in the cross-coupling path of the proposed LC-tank VCO attenuates the output common-mode level modulated by the low-frequency noise because the modulated common-mode level jitters the varactor bias point and degrades phase noise. Compared with the fabricated conventional LC-tank VCO, the proposed LC-tank VCO demonstrates $200\;\%$ enhancement in tuning range, and 6 - dB improvement in phase noise at 6 MHz offset frequency from 5.4-GHz carrier. We achieved the phase noise of - 106 dBc/Hz at 6 MHz offset, and $10\;\%$ tuning range from the proposed LC-tank VCO. The proposed LC-tank VCO consumes 12 mA at 2.5 V supply voltage.

• 전자공학회논문지T
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• 제36T권4호
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• pp.60-70
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• 1999

본 논문에서는 FLC의 적응능력에 대한 단점과 제어규칙 도출의 어려움을 극복하기 위하여 모델기준 적응 퍼지제어기(MRAFC)를 제안하였다. MRAFC는 단순퍼지제어기와 플랜트로 구성된 내부 피드백 루프와 단순 퍼지제어기의 제어규칙을 동조시키는 외부 루프로 구성된다. 기준모델은 기준입력에 대해 전체 제어시스템에 요구되는 제어성능을 특성화하고 수량화하는 퍼지제어기 설계기준으로 사용되었다. 그리고 적응 매카니즘은 FLC 제어규칙을 동조하는 역할을 수행한다. 제안한 알고리즘의 성능은 DC 서보 전동기에 대한 실험에 의해 검증되었다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 1999년도 춘계종합학술대회
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• pp.348-354
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• 1999

본 논문에서는 산업 현장에서 일반적으로 많이 사용되고 있는 PID 제어기의 비례, 적분, 미분 파라미터를 다층 신경회로망을 이용하여 자동으로 동조하는 방법을 제안한다. 제안한 방식은 자기 궤환 뉴런을 가진 다층 신경회로망이 플랜트의 입력과 출력을 이용하여 PID 제어기의 파라미터들을 학습에 의하여 자동 동조한다. 다층 신경회로망은 자기 궤환 뉴런을 이용하여 입력층, 은닉층, 출력층의 3층으로 구성하고, 출력은 3개의 값을 갖는다. 이것은 PID 제어기의 비례(P), 적분(I), 미분(D) 파라미터로 사용된다. 이 값들은 특정한 값으로 고정되는 것이 아니라 제어 수행 과정 중에서도 다층 신경회로망의 학습에 의해 계속 변화된다. DC 서보 모터와 단일 관절 매니퓰레이터를 대상으로 시뮬레이션을 통해서 제안한 방식의 유용성을 확인한다.