• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.477-482
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• 2016

This paper presents a simple approximation-based design approach for consensus tracking of heterogeneous second-order nonlinear systems under a directed network. All nonlinearities of followers are assumed to be unknown and non-identical. In the controller design procedure, graph-independent error surfaces are used and an unimplementable intermediate controller for each follower is designed at the first design step. Then, by adding and subtracting a graph-based term at the second step, the actual controller for each follower is designed by using one neural network employed to estimate a lumped and distributed nonlinearity. Therefore, the proposed local controller for each follower has a simpler structure than existing approximation-based consensus tracking controllers for multi-agent systems with unmatched nonlinearities.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.608-615
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• 1998

In this paper a second-order iterative learning control algorithm with feedback is proposed for the trajectory-tracking control of nonlinear dynamic systems with unidentified parameters. In contrast to other known methods, the proposed teaming control scheme utilize more than one past error history contained in the trajectories generated at prior iterations, and a feedback term is added in the learning control scheme for the enhancement of convergence speed and robustness to disturbances or system parameter variations. The convergence proof of the proposed algorithm is given in detail, and the sufficient condition for the convergence of the algorithm is provided. We also discuss the convergence performance of the algorithm when the initial condition at the beginning of each iteration differs from the previous value of the initial condition. The effectiveness of the proposed algorithm is shown by computer simulation result. It is shown that, by adding a feedback term in teaming control algorithm, convergence speed, robustness to disturbances and robustness to unmatched initial conditions can be improved.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.8
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• pp.1799-1809
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• 1995

The applicability of the field-consistency paradigm, which was originally employed for analysis of locking due to constrained energy having the second power of a strain, is extended to the constrained energy having a quadratic form of strain. For the extension, nearly-incompressible plane strain problem is considered by introducing the concept of reduced minimization. The field-consistent analysis of the plane strain problem leads to a clear and systematic understanding on the relation amongst constraints imposed on element, spurious constraint -free optimal points, and integration order used.

• The Korean Journal of Nuclear Medicine Technology
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• v.13 no.3
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• pp.81-85
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• 2009

Purpose: The examination of nuclear medicine observes the change in accordance with the time elapsed in the same region purposed and there are many examinations to acquire the image during the same term. At this time, the same parameter should be applied. The hepatobiliary scan, lung scan etc, are the acquired examination in the divided time with a regular term. Pre-set time that is applied in continued next image is set in order to acquire the fixed counts. The same scan time should be applied for each image. This study will look for the rational plan and analyze the change of scan time in accordance with the time of the decision of scan time at examination that pre-set time is applied. Methods: The hapatobiliary scan that use the radio pharmaceutical $^{99m}Tc$-mebrofenin is choosed as compensation from Jan. 2009 to Mar. 2009 in the department of nuclear medicine in ASAN MEDICAL CENTER. Scan is started after 5 minutes from when 222 MBq (6 mCi) is injected to patient. We let patient stand up between both detectors, and possibly close to the front of detector. When scan time reach 10%, 25%, 50%, 75% of total scan time, we measured the expected total scan time. After finishing all of scan, we compared the total scan time and the expected total scan time, while image is acquiring. and we observed the change of scan time in accordance with radio activity by using phantom. Results: After starting scan, a difference of when scan time reach 10%, 25%, 50%, 75% of total scan time is that the biggest difference is 5 seconds on 10%. There statistically is difference between 25% (t:2.88, p<0.01) and 50% (t:2.05, p<0.01). Conclusions: When the same the scan time is applied in the examination that acquire the many frame, concluding the same scan time has a important effect on a quantitative analysis. Although method that decide the scan time after finish all of the examinations, there is a few problem to apply practical affairs. This may cause an inaccurate result on the examination that need a quantitative analysis. We think that operator should try to improve it. At least, after reach 50% of total scan time, deciding the total scan time mean that you can minimize error of a quantitative analysis caused by unmatched scan time from a gap of image.