• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.341-349
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• 2004

In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.

• The Transactions of the Korean Institute of Power Electronics
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• v.13 no.1
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• pp.22-32
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• 2008

This paper proposes a linearization technique for the 3-level NPC type inverter, which increases the linear control range of Inverter up to the one-pulse inverter. The overmodulation range is divided into two modes depending on the Modulation Index, MI. In overmodulation region I, the reference angles are derived from the fourier series expansion of the reference voltage corresponding to the MI. In overmodulation region II, the holding angles are also derived in the same way. Therefore, it is possible to obtain the linear control and the maximized utilization of PWM inverter output voltage.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1919-1931
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• 2005

Human joint motion can be kinematically described in three planes, typically the frontal, sagittal, and transverse, and related to experimentally measured data. The selection of reference systems is a prerequisite for accurate kinematic analysis and resulting development of the equations of motion. Moreover, the development of analysis techniques for the minimization of errors, due to skin movement or body deformation, during experiments involving human locomotion is a critically important step, without which accurate results in this type of experiment are an impossibility. The traditional kinematic analysis method is the Angular-based method (ABM), which utilizes the Euler angle or the Bryant angle. However, this analysis method tends to increase cumulative errors due to skin movement. Therefore, the objective of this study was to propose a new kinematic analysis method, Position-based method (PBM), which directly applies position displacement data to represent locomotion. The PBM presented here was designed to minimize cumulative errors via considerations of angle changes and translational motion between markers occurring due to skin movements. In order to verify the efficacy and accuracy of the developed PBM, the mean value of joint dislocation at the knee during one gait cycle and the pattern of three dimensional translation motion of the tibiofemoral joint at the knee, in both flexion and extension, were accessed via ABM and via new method, PBM, with a Local Reference system (LRS) and Segmental Reference system (SRS), and then the data were compared between the two techniques. Our results indicate that the proposed PBM resulted in improved accuracy in terms of motion analysis, as compared to ABM, with the LRS and SRS.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.414-417
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• 2001

SRG (Switched Reluctance Generator) have many advantages such as high efficiency, low cost, high-speed capability and robustness compared with characteristics of other machines. However, the control methods that have been adopted for SRGs are complicated. This paper proposes a simple control method using PID controller that only controls turn-off angles while keeping turn-on angles of SRG constant. The linear characteristics between the generated current and the turn-off angle can be used to control the turn-off angle for load variations. Since the reference current for generation can be produced from an error between the reference and the real voltage, it can be controlled to keep the output voltage constant. The proposed control method enhances the robustness of this system and simplifies the hardware and software by using only the voltage and speed sensors. The proposed method is verified by experimental results.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.2
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• pp.175-185
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• 2017

This paper presents new differential methods for computing the combined and single dynamic stability derivatives of flight vehicle. Based on rigid dynamic mesh technique, the combined dynamic stability derivative can be achieved by imposing the aircraft pitching to the same angle of attack with two different pitching angular velocities and also translating it to the same additional angle of attack with two different rates of angle of attack. As a result, the acceleration derivative is identified. Moreover, the rotating reference frame is adopted to calculate the rotary derivatives when simulating the steady pull-up with different pitching angular velocities. Two configurations, the Hyper Ballistic Shape (HBS) and Finner missile model, are considered as evaluations and results of all the cases agree well with reference or experiment data. Compared to traditional ones, the new differential methods are of high efficiency and accuracy, and potential to be extended to the simulation of combined and single stability derivatives of directional and lateral.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.67.3-67
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• 2001

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used f3r the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and a second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined fuzzy controller ...

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.518-520
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• 1997

In a space vector PWM inverter, the dc input voltage is utilized to the maximum by an overmodulation technique, which is derived from Fourier series expansion of the reference phase voltage. Data angles such reference angle and holding angle are piecewise-linearized for on-line control. Harmonic components and THD of the output voltage are also analyzed. For disturbance of the dc input voltage, a smooth transition is obtained from a linear range to the six-step mode by the control angle change.

• Journal of Electrical Engineering and Technology
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• v.6 no.3
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• pp.402-407
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• 2011

The current paper describes a simpler ground-type, single-plate electrowetting configuration for droplet transport in digital microfluidics without performance degradation. The simplified fabrication process is achieved with two photolithography steps. The first step simultaneously patterns both a control electrode array and a reference electrode on a substrate. The second step patterns a dielectric layer at the top to expose the reference electrode for grounding the liquid droplet. In the experiment, a $5{\mu}m$ thick photo-imageable polyimide, with a 3.3 dielectric constant, is used as the dielectric layer. A 10 nm Teflon-AF is coated to obtain a hydrophobic surface with a high water advancing angle of $116^{\circ}$ and a small contact angle hysteresis of $5^{\circ}$. The droplet movement of 1 mM methylene blue on this simplified device is successfully demonstrated at control voltages above the required 45 V to overcome the contact angle hysteresis.

• Design & Manufacturing
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• v.12 no.2
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• pp.11-15
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• 2018

In this study, we proposed three analysis methods to calculate the flatness of torque-angle sensors (TAS). We introduced two statistical and one geometrical methods in evaluating the precision of the flat plane in the axis direction for TAS. To verified the results, we fabricated TAS and a reference sample using a injection molding machine, mold, polyester as a raw material. We measured ($x_i$, $y_i$) position using 3D contact automated system and applied three analysis methods developed for TAS and a reference sample to see the feasibility. While each analysis method has its own pros and cons, the analysis using the shortest optimal distance was the most precise technique for the flatness evaluation of TAS components.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.149-149
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• 2000

We experimented on AGV driving test with color CCD camera which is setup on it. This paper can be divided into two parts. One is image processing part to measure the condition of the guideline and AGV. The other is part that obtains the reference steering angle through using the image processing parts. First, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, AGV knows the driving conditions of AGV. After then using of those information, AGV calculates the reference steering angle changed by the speed of AGV. In the case of low speed, it focuses on the left/right error values of the guide line. As increasing of the speed of AGV, it focuses on the slop of guide line. Lastly, we are to model the above descriptions as the type of PID controller and regulate the coefficient value of it the speed of AGV.