• 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.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.258-262
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• 2017

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.7
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• pp.8-16
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• 2013

This paper investigates the electrical characteristics of popular power converters such as a half-bridge rectifier, a full-bridge rectifier, a buck converter, and an inverter when the arc is occurred at the input and the output of each converter. In order to generate an artificial arc, the arc generator has been implemented according to the design guideline suggested in UL1699. After that, the trend of the input and output voltage variation and the switching stress of the devices are analyzed. From the analysis, it has been confirmed that the generated arc causes an uncertain operation to the power converters. To reduce the unexpected disturbance effect of the arc, the capacitor adjustment method has been proposed, and its superiority has been experimentally verified.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.101-103
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• 2007

In this paper. we design a robust optimal controller for ultra-precision positioning system. Generally, it is hard to control the nanometric scale positioning system because of the parameter uncertainties and external disturbances. To solve this problem. we suggest a control algorithm based on the modified sliding-mode control and the LQ control in an augmented system. The augmented system is composed of additional state variables: state estimates and control input in the nominal system. Through comparison with LQ optimal control, it is verified that the proposed control algorithm is more robust to the unexpected parameter variations and external noises.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.260-265
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• 2011

In this paper, integrated missile guidance and control systems using time-delay control (TDC) are developed. The next generation missile requires that an interceptor hits the target, maneuvering with small miss-distances, and has lower weight to reduce costs. This is possible if the synergism existing between the guidance and control subsystems is exploited by the integrated controller. The TDC law is a robust control technique for nonlinear systems, and it has a very simple structure. The feature of TDC is to directly estimate the unknown dynamics and the unexpected disturbance using one-step time-delay. To investigate the performance of the integrated controller, numerical simulations are performed as the maneuver of the target. The results show that the integrated guidance and control system has a good performance.

• The Korean Journal of Financial Management
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• v.24 no.1
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• pp.85-107
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• 2007

In this study, I analyzed determinant factors of mutual fund return. The samples was distributed into three types according to the ratio of included stocks in funds. The proxies of mutual funds were set up three ways(returns of fund). As a result of the analysis, I found that growth positively affect to fund return, abnormal return and adjusted abnormal return in all samples. While, according to three types of sample, expected and unexpected fund cash flows had differently effect on fund return. Inferentially, it seemed that the ratio of included stocks in fund was the cause of that. But price pressure hypothesis are not supported. In conclusion, it was not found the possibility of stock market disturbance in this analysis.

• The Korean Journal of Pesticide Science
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• v.19 no.1
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• pp.1-4
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• 2015

The current official perfluorochemicals (PFCs) analysis method is established with hydrophilic-lipophilic balance (HLB) solid phase extraction (SPE) clean-up method with LC-tandem mass spectrometry ($MS^n$). Herein the HLB clean-up method from the official method by Korean government was modified with Envi-Carb$^{TM}$ to improve the clean-up efficiency for agricultural water and the unexpected UV disturbance in the water was effectively removed by the adsorbent treatment without a significant disturbance of quantitation. And quadrupole time of flight mass spectrometry (qTOFMS) was suggested to the available $MS^n$ instruments for the residue analysis of PFCs based on the ng/L of quantitation limits in water as well.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1404-1409
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• 2003

The sway control problem of the pendulum motion of the container crane hanging on the trolley, which transports containers from the container ship to the truck, is considered in this paper. In the container crane control problem, the main issue is to suppress the residual swing motion of the container at the end of the acceleration, deceleration or the case of that the unexpected disturbance input exists. For this problem, in general, the trolley motion control strategy is introduced and applied to real plants. In this paper, we suggest a new type of swing motion control system for a crane system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mass applies inertial control forces to the spreader of the container crane to reduce the swing motion in the desired manner. In this paper, we consider that the length of the rope varies is we design the anti-sway control system based on LMI(linear matrix inequality) approach. And, it will be shown that the proposed control strategy is useful and it can be easily applicable to the real world. So, in this study, we investigate usefulness of the proposed anti-sway system and evaluate system performance from simulation and experimental studies.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.18 no.6
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• pp.85-95
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• 2015

Recent years, nationwide projects for ecological restoration are implemented with emerging issues on the stream ecosystem. In order to enhance effectiveness of the ecosystem restoration and reduce negative impact, the appraisal of effectiveness through the follow-up monitoring and the adaptive management process are executed in consecutive phase. In this study, planning phase, monitoring and adaptive management in Hakui stream which is part of An Yang stream restoration project is introduced as representative ongoing case of effective adaptive management. The aim of this study is to verify the adaptive management process and suggest direction of effective restoration. Restoration project of Hakui stream resulted in increasing number and diversity of species (vegetation, fish, bird, invertbrates, amphibian and reptilia) according to monitoring from 2004 to 2013, and enhancing natural river landscape by evaluation of river naturalness among 2001(before restoration), 2007 (after), 2015 (recent). However, excessive vegetation expansion or sediment deposition on channel over time caused unexpected results such as terrestrialization or degradation of habitats. Adaptive management action such as removing disturbance species (Humulus japonicus)(2007), coppicing willow (2007), release of march snail (2007), creation of wetland (2014) were implemented based on monitoring results. And then appraisal of management action was discussed.

• Journal of Power System Engineering
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• v.8 no.3
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• pp.58-66
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.