• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.492-492
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• 2000

This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

• Journal of the Optical Society of Korea
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• 제16권2호
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• pp.107-114
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• 2012

In this paper, we propose a new modulation scheme called multi-coded variable pulse position modulation (MC-VPPM) for visible light communication systems. Two groups of signals (Pulse Width Modulation (PWM) and Pulse Position Modulation (PPM) groups) are multi-coded by orthogonal codes for transmitting data simultaneously. Then, each multi-level value of the multi-coded signal is converted to pulse width and position which results in not only an improved data rate, but also a processing gain in reception. In addition, we introduce average duty ratio and cyclic shift concepts in PWM through which dimming control for light illumination can be supported without any degradation in communication performance. Through simulation, we confirm that the proposed MC-VPPM shows a comparable BER curve and much greater achievable data rate than the conventional VPPM scheme using a visible light optical channel environment.

• 제어로봇시스템학회논문지
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• 제3권6호
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• pp.569-575
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• 1997

모델 불확실성이 있고 n축 자유도(degree of freedom)를 갖고 있는 로봇 동작부(manipulator)에 대해서 위치 정보만을 이용하여 가변 구조 제어기(variable structure controller)를 설계하였다. 모델의 불확실성이 존재하는 경우에도 제어기에 사용되는 속도를 잘예측하기 위해 고이득 관찰기를 사용 하였으며 고이득 관찰기를 사용할때 발생할 수 있는 상태변수의 피킹현상(peak phenomenon)를 적게 하게 하기위하여 제어기의 값을 제한 (globally bounded)하여 제어기를 설계하였다. 부하(payload)의 범위만 알고 있는 2축 자유도를 갖는 로봇 동작부에 대해서 제안된 제어 방법에 따라 제어기를 설계하여 그 성능를 확인 하였다.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.198-202
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• 2009

Urban Search and Rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

• 한국정보통신학회논문지
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• 제3권3호
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• pp.517-531
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• 1999

본 논문에서는 INMARSAT-M형 송신기에 사용되는 L-BAND(1626.5-1646.5 MHz)용 2단 가변이득 전력 증폭기를 연구 개발하였다. 2단 가변이득 전력증폭기는 구동증폭단과 전력증폭단에 의해 고출력 모드일 때 +42 dBm, 저출력 모드일 때는 +36 dBm의 전력으로 증폭되며, 각각에 대해 상한 +1 dBm과 하한 -2 dBm의 오차를 허용한다. 제작의 간편성 때문에 전체 2단 가변이득 전력증폭기를 크게 구동증폭단과 전력증폭단 두 부분으로 나누어 구현하였으며, 전력증폭부를 구동하기 위한 구동단은 HP사의 MGA-64135와 Motorola사의 MRF-6401을 사용하였으며, 전력증폭단은 ERICSSON사의 PTE-10114와 PTF-10021을 사용하여 RF부, 온도보상회로 및 출력 조절회로를 함께 집적화 하였다. 이득조절은 구동증폭단의 MGA-64135의 바이어스 전압을 조절하는 방법을 제시하였으며, 실험 결과와 잘 일치하였다. 제작된 2단 가변이득 전력증폭기는 20 MHz대역폭 내에서 소신호 이득이 42 dB와 36 dB 이상, 입ㆍ출력 정재파비는 1.5:1 이하, 5 dBm의 $P_{1dB}$. $P_{ldB}$출력레벨에서 3 dB Back off 시켰을 때 32.5 dBc의 I $M_3$를 얻었다. 1636.5 MHz 주파수에 대해 출력전력은 43 dBm과 37 dBm으로서 설계시 목표로 했던 최대 출력전력 20 Watt를 얻었다.다.다.

• 대한전자공학회논문지TC
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• 제45권10호
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• pp.59-64
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• 2008

본 논문은 6GHz에서 18GHz까지 동작하는 광대역 RF (송수신) 회로 시스템에 적용하기 위한 가변 선형 이득 등화기를 PIN 다이오드를 이용하여 설계하고 Thin Film 공정을 이용하여 $Al_2O_3$ (알루미나)기판에 제작하였다. 개발된 가변 선형 이득 등화기는 T형으로 동작 대역 내에서 $-7dB{\sim}-13dB$의 가변 기울기를 갖는다.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.839-845
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• 2013

A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• Asian-Australasian Journal of Animal Sciences
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• 제9권2호
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• pp.127-132
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• 1996

Effects on feed intake, liveweight gain and economic benefits of supplementing lambs with urea molasses blocks, were studied. Forty eight crossbred lambs were divided into 6 groups and assigned randomly to grazing on native pasture (CONT) or along with supplements of Commercial ration (COM) and urea molasses blocks (UMBs) containing two levels of cement and calcium oxide as a binding agent. Analysis of variance revealed highly significant (p<0.01) differences in dry matter (DMI, g/day), crude protein (CPI, g/day) and metabolizable energy (MEI, MJ/day) intakes. Differences in liveweight gain (LWG, g/day), feed conversion ratio (FCR) and net economic benefit of supplementation were also highly variable. The intake of DM, CP and ME varied from 974 to 1002, 66-70 and 7.6-8.4 in lambs supplemented with UMBs, significantly (p<0.01) greater than 848, 52.5 and 5.6 in lambs supplemented with COM or FCR and net economic benefits (54.3; 57.8; 17.1 and 1.96; 2.4) in lambs supplemented with COM and UMB-2, were CONT or supplemented with UMB-1, UMB-3 and UMB-4 respectively. Factors responsible for differences in feed intake, liveweight gain and economic benefits, are discussed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.221-225
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• 2005

This paper proposes a gain scheduled control technique using time-delay for the nonlinear system with plant uncertainties and unexpected disturbances. The time delay-based gain scheduled control depends on a direct estimation of a function representing the effect of uncertainties. The information from the estimation is used to cancel the unknown dynamics and the unexpected disturbances simultaneously. The proposed estimation scheme with a finite convergence time is formulated in order to estimate the unborn scheduling variable variation. In other words, the time delay-based gain scheduled control uses the past observation of the system's response and the control input to directly modify the control actions rather than to adjust the controller gains or to identify system parameters. It has a simple structure so as to minimize the computational burden. The benefits of this proposed scheme are demonstrated in the simulation of an electromagnetic suspension system with plant uncertainties and external disturbances, and the proposed controller is compared with the conventional state feedback controller.