• Title/Summary/Keyword: a control system simplification

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A Study of the real-time graphic deformation algorithm with virtual environment control (가상환경 제어에서 실시간 그래픽 변형에 관한 연구)

  • Kim, Young-Su;Bae, Chul;Kim, A-Hyun;Park, Kyung-Seok;Kang, Won-Chan;Kim, Young-Dong
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2265-2267
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    • 2003
  • In this paper, the virtual reality system is tried to developed, which controls not only the sense of sight and hearing but also the sense of touch, In order to develope the sense of touch in this study, the stable tactual transaction system, based on summing up the basic algorithm and theory is embodied. Especially, the graphic deformation algorithm is developed in realtime with using the deformed FEM. To apply the FEM, a deformed material model is produced and then the graphic deformation with this model is able to force. Finally, the graphic transaction algorithm is deduced by the realtime calculation and simplification because the purpose of this system is to transact in real time. The result of this study is that the proposed system is possible to deform the graphics and transact the haptic in real time in PC. The simulation program has been made to prove this result.

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TRAJECTORY CONTROL OF ROBOT MANIPULATORS USING VSS THEDORY smoothing modification : SMOOTHING MODIFICATION

  • Hideki Hashimoto;Sim, Kwee-Bo;Jianxin Xu;F. Harashima
    • 제어로봇시스템학회:학술대회논문집
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    • 1987.10a
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    • pp.898-904
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    • 1987
  • A new control algorithm using the VSS theory is developed for accurate trajectory control of robot manipulators. This paper focuses on the implementation of VSS controller with smoothing laws in the design of effective tracking control for robotic arms. The VSS controller for multi-linkage robot arm is realized using balance condition and its simplification which possesses powerful smoothing capability to reduce or even remove undesirable chattering and meanwhile keep the robust characteristic to reject system uncertainties. The design principle of selecting different smoothing methods, which aims at achieving trade-off between smoothing and robust behaviors while considering the actual system constraints, is also given and further confirmed through experimental results.

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Electrostatic Suspension System Using Time Optimal Control (시간최적제어기법을 이용한 정전부상시스템에 관한 연구)

  • Jeon, Jong-Up;Baik, Bong-Woo;Ngo, Hung Manh;Park, Kyu-Yeol
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.3
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    • pp.63-72
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    • 2008
  • A new method for the electrostatic suspension of disk-shaped objects is proposed which is based on a time-optimal control scheme and deploys only high-voltage power supplies that can deliver dc voltages of positive and/or negative polarity. This method possesses the unique feature that no high-voltage amplifiers are needed which leads to a remarkable system simplification and objects can be suspended stably even in vacuum environment. Using this scheme, an aluminium disk used in a 3.5-inch HDD was suspended stably at an airgap of 0.3mm.

Electrostatic Suspension System Using Time Optimal Control (시간최적제어기법을 이용한 정전부상시스템에 관한 연구)

  • Baik B.W.;Jeon J.U.;Park K.Y.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2006.05a
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    • pp.263-264
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    • 2006
  • A new method for the electrostatic suspension of disk-shaped objects is proposed which is based on a time-optimal control scheme and deploys only high-voltage power supplies that can deliver do voltages of positive and/or negative polarity. This method possesses the unique feature that no high-voltage amplifiers are needed which leads to a remarkable system simplification and objects can be suspended stably even in vacuum environment. Using this scheme, an Aluminium disk employed in a 3.5-inch HDD was suspended stably at an airgap of 0.3mm.

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Disign of Unmanned Vehicle Control System with LoRa Network (LoRa망을 활용한 무인이동체 관제 시스템 설계)

  • Lee, Jae-Ung;Jang, Jong-Wook
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2018.10a
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    • pp.44-46
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    • 2018
  • In this paper, we design a system that can control unmanned mobile objects through communication between unmanned mobile object and control server system using LoRa network which is a dedicated IoT network. It is more efficient when the unmanned mobile object performs the special work by installing the LoRa network applied to the unmanned mobile object control system from the small space house or office hospital to the factory. In this paper, we will discuss the design of a system that can improve the social utilization of unmanned mobile objects by making it possible to communicate the events that occur around other mobile objects from the simplification of the navigation path.

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Hybrid Position/Force Control of Direct Drive Robots by Disturbance Observer in Task Coordinate Space. (외란 오브저버에의한 작업좌표공간에서의 다이렉트 드라이브 로보트의 위치와 힘의 하이브리드 제어)

  • Shin, Jeong-Ho;Komada, Satoshi;Ishida, Muneaki;Hori, Takamasa
    • Proceedings of the KIEE Conference
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    • 1992.07a
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    • pp.411-413
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    • 1992
  • This paper proposes a simple and high performance hybrid position/force control of robots based on disturbance compensation by using the disturbance observer in task coordinate space. The disturbance observer linealizes system of robot manipulators in task coordinate space and realizes acceleration control. To realize the strict acceleration control, the disturbance observer whose input is a position signal by simple computation, works as if it were a disturbance detector. The inverse kinematics can be simplified, because the disturbance observer in task coordinate space compensates not only the disturbance but also the error due to the simplification of the inverse kinematics. The new strategy is applied to a three-degrees-of freedom direct drive robot. The robust and simple hybrid position/force control is realized experimentally.

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Study on the influence of sewer network simplification on urban inundation modelling results (하수관망의 간소화가 도시침수 모의에 미치는 영향 분석에 관한 연구)

  • Lee, Seung-Soo;Pakdimanivong, Mary;Jung, Kwan-Sue;Kim, Yeonsu
    • Journal of Korea Water Resources Association
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    • v.51 no.4
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    • pp.347-354
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    • 2018
  • In urban areas, runoff flow is drained through sewer networks as well as surface areas. Therefore, it is very important to consider sewer networks as a component of hydrological drainage processes when conducting urban inundation modelling. However, most researchers who have implemented urban inundation/flood modelling, instinctively simplified the sewer networks without the appropriate criteria. In this research, a 1D-2D fully coupled urban inundation model is applied to estimate the influence of sewer network simplification on urban inundation modelling based on the dendritic network classification. The one-dimensional (1D) sewerage system analysis model, which was introduced by Lee et al. (2017), is used to simulate inlet and overflow phenomena by interacting with surface flow. Two-dimensional (2D) unstructured meshes are also applied to simulate surface flow and are combined with the 1D sewerage analysis model. Sewer network pipes are simplified based on the dendritic network classification method, namely the second and third order, and all cases of pipes are conducted as a control group. Each classified network case, including a control group, is evaluated through their application to the 27 July 2011 extreme rainfall event, which caused severe inundation damages in the Sadang area in Seoul, South Korea. All cases are compared together regarding inundation area, inflow discharge and overflow discharge. Finally, relevant criterion for the simplification method is recommended.

A Stabilization Method for Rotated and Translated Images (회전 및 병진 흔들림 영상의 안정화 기법)

  • Seok Ho-Dong;Lyou Joon
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.8
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    • pp.810-817
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    • 2006
  • This paper presents a rotational motion estimation and correction technique for digital image stabilization. An equivalent rotation model is derived so as to accommodate a combined rotational and the translational motion. Thanks to this simplification, the suggested estimation algorithm can directly find the rotational center using geometric characteristic of local motion vectors instead of using searching method. And we also present recursive version of frame to reference algorithm(FRA) for the real time implementation. The proposed DIS system does not require time consuming parameter searching process, while showing comparatively good performance compared with the previous ones. To show the effectiveness of the DIS scheme, the algorithm has been implemented on the DSP based hardware system and experimental results are also discussed.

Binary Power Control for Sum Rate Maximization of Full Duplex Transmission in Multicell Networks

  • Vo, Ta-Hoang;Hwang, Won-Joo
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2016.05a
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    • pp.583-585
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    • 2016
  • The recent advances in wireless networks area have led to new techniques, such as small cells or full-duplex (FD) transmission, have also been developed to further increase the network capacity. Particularly, full-duplex communication promises expected throughput gain by doubling the spectrum compared to half-duplex (HD) communication. Because this technique permits one set of frequencies to simultaneously transmit and receive signals. In this paper, we focus on the binary power control for the users and the base stations in full-duplex multiple cellulars wireless networks to obtain optimal sum-rate under the effect interference and noise. We investigate with a scenario in there one carrier is assigned to only one user in each cell and construct a model for this problem. In this work, we apply the binary power control by the its simplification in the implemented algorithm for both uplink and downlink simultaneously to maximize sum data rate of the system. At first, we realize the 2-cells case separately to check the optimal power allocation whether being binary. Then, we carry on with N-cells case in general through properties of binary power control.

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The Real-Time Virtual Environment Control Using Haptic Interface System (촉각시스템을 이용한 실시간 가상환경제어)

  • Kang, Won-Chan;Kim, Young-Dong
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.52 no.3
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    • pp.121-126
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    • 2003
  • In this paper, we propose the haptic system for the real-time virtual environment-control, which controls the sense of sight, hearing and touch. In order to maintain the stable haptic system in this study, we apply the proxy force rendering algorithm and the real-time graphic deformation algorithm based on the FEM. The applied proxy algorithm makes the system possible to be more stable and prompt with a virtual object. Moreover, the haptic rendering algorithm is applied to work out a problem that the tactual transaction-period is different from the graphic transaction- period. The graphic deformation algorithm is developed in the real-time using the deformed FEM. To apply the FEM, a deformed material-model is produced and then the graphic deformation with this model is able to force. Consequently, the graphic rendering algorithm is deduced by the real-time calculation and simplification because the purpose of this system is to transact in the real time. Applying this system to the PC, we prove that it is possible to deform the graphics and transact the haptic. Finally we suggest the variable simulation program to show the efficiency of this system.