• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.350-356
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• 1997

It is desirable for autonomous robot systems to possess the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Although Q-learning requires a lot of memory and time to optimize a series of actions in a continuous state space, it may not be easy to apply the method to such a real environment. In this paper, for continuous state space applications, to solve problem and a triangular type Q-value model\ulcorner This sounds very ackward. What is it you want to solve about the Q-value model. Our learning method can estimate a current Q-value by its relationship with the neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to move smoothly in a real environment. To show the validity of our method, navigation comparison with Q-learning are given and visual tracking simulation results involving an 2-DOF SCARA robot are also presented.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.2
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• pp.196-203
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• 2005

In this paper, a digital controller for satisfying time response requirements for UPS inverters is designed in a fixed sampling time. The CRA (Characteristic Ratio Assignment) is used as the continuous time design method to deal with the problems of overshoot and settling time. The main design approaches are the inward and outward approaches based on a double-loop feedback structure. The continuous-time controller is discretized by the emulation method. The performances of the proposed controller are evaluated through several simulations carried out with Simpower System Toolbox 3.0 from Simulink$^{(R)}.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.4
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• pp.559-567
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• 1987

In this paper, the real time simulation of continuous dynamic system was performed by general integration algorithms using multiprocessor. For the stable simulation, the relation between stability of integration method and integration step-size was investigated from the stability graph. As a typical illustration, the real-time digital simulation and the real-time hard-ware-in-the-loop simulation of flight control system were performed and reviewed. Moreover through the real-time simulation, the design verification and performace test of flight control system could be evaluated. The computer used for simulation is AD10, which is a very high-speed special-purpose computer designed specifically for a time-critical simulation of large and complex models of dynamic systems. The simulation validity is demonstrated by comparing hardware simulation results with software simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.77-88
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• 1997

Fieldbus is the lowest level communication network in factory automation and process control systems. Performance of factory automation and process control systems is directly affected by the data delay induced by network traffic. Data generated from several distributed field devices can be largely divided into three categories: sporadic real-time, periodic real-time and non real-time data. Since these data share one fieldbus network medium, the limited bandwidth of a fieldbus network must be appropriately allocated to the sporadic real-time, periodic real-time and non real-time traffic. This paper introduces a new fieldbus design scheme which allocates the limited bandwidth of fieldbus network to several different kinds of traffic. The design scheme introduced in this study not only satisfies the performance requirements of application systems interconnected into the fieldbus but also fully utilizes the network resources. The design scheme introduced in this study can be applicable to cyclic service protocols operated under single-service discipline. The bandwidth allocation scheme introduced in this study is verified using a discrete-event/continuous-time simulation experiment.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• Journal of Biosystems Engineering
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• v.4 no.2
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• pp.65-83
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• 1979

Low-temperature drying systems have been extensively used for drying cereal grain such as shelled corn and wheat. Since the 1973 energy crisis, many researches have been conducted to apply solar energy as supplemental heat to natural air drying systems. However, little research on rough rice drying has been done in this area, especially very little in Korea. In designing a solar drying system, quality loss, airflow requirements, temperature rise of drying air, fan power and energy requirements should be throughly studied. The factors affecting solar drying systems are airflow rate, initial moisture content, the amount of heat added to drying air, fan operation method and the weather conditions. The major objectives of this study were to analyze the effects of the performance factors and determine design parameters such as airflow requirements, optimum bed depth, optimum temperature rise of drying air, fan operation method and collector size. Three hourly observations based on the 4-year weather data in Chuncheon area were used to simulate rough rice drying. The results can be summarized as follows: 1. The results of the statistical analysis indicated that the experimental and predicted values of the temperature rise of the air passing through the collector agreed well. 2. Equilibrium moisture content was affected a little by airflow rate, but affected mainly by the amount of heat added, to drying air. Equilibrium moisture content ranged from 12.2 to 13.2 percent wet basis for the continuous fan operation, from 10.4 to 11.7 percent wet basis for the intermittent fan operation respectively, in range of 1. 6 to 5. 9 degrees Centigrade average temperature rise of drying air. 3. Average moisture content when top layer was dried to 15 percent wet basis ranged from 13.1 to 13.9 percent wet basis for the continuous fan operation, from 11.9 to 13.4 percent wet basis for the intermittent fan operation respectively, in the range of 1.6 to 5.9 degrees Centigrade average temperature rise of drying air and 18 to 24 percent wet basis initial moisture content. The results indicated that grain was overdried with the intermittent fan operation in any range of temperature rise of drying air. Therefore, the continuous fan operation is usually more effective than the intermittent fan operation considering the overdrying. 4. For the continuous fan operation, the average temperature rise of drying air may be limited to 2.2 to 3. 3 degrees Centigrade considering safe storage moisture level of 13.5 to 14 perceut wet basis. 5. Required drying time decrease ranged from 40 to 50 percent each time the airflow rate was doubled and from 3.9 to 4.3 percent approximately for each one degrees Centigrade in average temperature rise of drying air regardless of the fan operation methods. Therefore, the average temperature rise of drying air had a little effect on required drying time. 6. Required drying time increase ranged from 18 to 30 percent approximately for each 2 percent increase in initial moisture content regardless of the fan operation methods, in the range of 18 to 24 percent moisture. 7. The intermittent fan operation showed about 36 to 42 percent decrease in required drying time as compared with the continuous fan operation. 8. Drymatter loss decrease ranged from 34 to 46 percent each time the airflow rate was doubled and from 2 to 3 percent approximately for each one degrees Centigrade in average temperature rise of drying air, regardless of the fan operation methods. Therefore, the average temperature rise of drying air had a little effect on drymatter loss. 9. Drymatter loss increase ranged from 50 to 78 percent approximately for each 2 percent increase in initial moisture content, in the range of 18 to 24 percent moisture. 10. The intermittent fan operation: showed about 40 to 50 percent increase in drymatter loss as compared with the continuous fan operation and the increasing rate was higher at high level of initial moisture and average temperature rise. 11. Year-to-year weather conditions had a little effect on required drying time and drymatter loss. 12. The equations for estimating time required to dry top layer to 16 and 1536 wet basis and drymatter loss were derived as functions of the performance factors. by the least square method. 13. Minimum airflow rates based on 0.5 percent drymatter loss were estimated. Minimum airflow rates for the intermittent fan operation were approximately 1.5 to 1.8 times as much as compared with the continuous fan operation, but a few differences among year-to-year. 14. Required fan horsepower and energy for the intermittent fan operation were 3. 7 and 1. 5 times respectively as much as compared with the continuous fan operation. 15. The continuous fan operation may be more effective than the intermittent fan operation considering overdrying, fan horsepower requirements, and energy use. 16. A method for estimating the required collection area of flat-plate solar collector using average temperature rise and airflow rate was presented.

• Journal of Biosystems Engineering
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• v.4 no.2
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• pp.64-64
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• 1979

Low-temperature drying systems have been extensively used for drying cereal grain such as shelled corn and wheat. Since the 1973 energy crisis, many researches have been conducted to apply solar energy as supplemental heat to natural air drying systems. However, little research on rough rice drying has been done in this area, especially very little in Korea. In designing a solar drying system, quality loss, airflow requirements, temperature rise of drying air, fan power and energy requirements should be throughly studied. The factors affecting solar drying systems are airflow rate, initial moisture content, the amount of heat added to drying air, fan operation method and the weather conditions. The major objectives of this study were to analyze the effects of the performance factors and determine design parameters such as airflow requirements, optimum bed depth, optimum temperature rise of drying air, fan operation method and collector size. Three hourly observations based on the 4-year weather data in Chuncheon area were used to simulate rough rice drying. The results can be summarized as follows: 1. The results of the statistical analysis indicated that the experimental and predicted values of the temperature rise of the air passing through the collector agreed well.2. Equilibrium moisture content was affected a little by airflow rate, but affected mainly by the amount of heat added, to drying air. Equilibrium moisture content ranged from 12.2 to 13.2 percent wet basis for the continuous fan operation, from 10.4 to 11.7 percent wet basis for the intermittent fan operation respectively, in range of 1. 6 to 5. 9 degrees Centigrade average temperature rise of drying air.3. Average moisture content when top layer was dried to 15 percent wet basis ranged from 13.1 to 13.9 percent wet basis for the continuous fan operation, from 11.9 to 13.4 percent wet basis for the intermittent fan operation respectively, in the range of 1.6 to 5.9 degrees Centigrade average temperature rise of drying air and 18 to 24 percent wet basis initial moisture content. The results indicated that grain was overdried with the intermittent fan operation in any range of temperature rise of drying air. Therefore, the continuous fan operation is usually more effective than the intermittent fan operation considering the overdrying.4. For the continuous fan operation, the average temperature rise of drying air may be limited to 2.2 to 3. 3 degrees Centigrade considering safe storage moisture level of 13.5 to 14 perceut wet basis.5. Required drying time decrease ranged from 40 to 50 percent each time the airflow rate was doubled and from 3.9 to 4.3 percent approximately for each one degrees Centigrade in average temperature rise of drying air regardless of the fan operation methods. Therefore, the average temperature rise of drying air had a little effect on required drying time.6. Required drying time increase ranged from 18 to 30 percent approximately for each 2 percent increase in initial moisture content regardless of the fan operation methods, in the range of 18 to 24 percent moisture.7. The intermittent fan operation showed about 36 to 42 percent decrease in required drying time as compared with the continuous fan operation.8. Drymatter loss decrease ranged from 34 to 46 percent each time the airflow rate was doubled and from 2 to 3 percent approximately for each one degrees Centigrade in average temperature rise of drying air, regardless of the fan operation methods. Therefore, the average temperature rise of drying air had a little effect on drymatter loss. 9. Drymatter loss increase ranged from 50 to 78 percent approximately for each 2 percent increase in initial moisture content, in the range of 18 to 24 percent moisture. 10. The intermittent fan operation: showed about 40 to 50 percent increase in drymatter loss as compared with the continuous fan operation and the increasing rate was higher at high level of initial moisture and average temperature rise.11. Year-to-year weather conditions had a little effect on required drying time and drymatter loss.12. The equations for estimating time required to dry top layer to 16 and 1536 wet basis and drymatter loss were derived as functions of the performance factors. by the least square method.13. Minimum airflow rates based on 0.5 percent drymatter loss were estimated.Minimum airflow rates for the intermittent fan operation were approximately 1.5 to 1.8 times as much as compared with the continuous fan operation, but a few differences among year-to-year.14. Required fan horsepower and energy for the intermittent fan operation were3. 7 and 1. 5 times respectively as much as compared with the continuous fan operation.15. The continuous fan operation may be more effective than the intermittent fan operation considering overdrying, fan horsepower requirements, and energy use.16. A method for estimating the required collection area of flat-plate solar collector using average temperature rise and airflow rate was presented.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.171-177
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• 2003

In this paper, we investigate a robust $H_{\infty}$ state feedback control technique for continuous time bilinear systems with an additive disturbance input. The nonlinear robust $H_{\infty}$control for bilinear systems requires a solution to the state dependent algebraic Riccati equation (SDARE). We present a new robust $H_{\infty}$control technique based on the successive approximation method for solving the SDARE by converting bilinear systems into time-varying linear systems. The proposed control method guarantees robust stability for closed loop bilinear systems. The proposed algorithm is verified by numerical examples.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.242-249
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• 2001

In this paper, the open-loop state response of the two-time-scale systems by unified approach using the $\delta$-operator is presented with an example of the aircraft longitudinal dynamics. First, the $\delta$-operator system unifies both the continuous system and the discrete system simultaneously, and the $\delta$-operator approach improves the finite word-length characteristics. This saves more computing time than that of the discrete system. Second, the singular perturbation method by block diagonalization reduces the sizes and orders of the systems. This also reduces the floating-point operations (flops). The advantage of those two approaches is shown by comparing our results with the earlier ones in the illustrative example of the longitudinal motion of F-8 aircraft.

• Journal of Electrical Engineering and information Science
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• v.3 no.2
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• pp.163-169
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• 1998

In this paper, we consider the problem of designing H$\infty$ state feedback controller for the generalized time systems with delayed states and control inputs in continuous and discrete time cases, respectively. The generalized time delay system problems are solved on the basis of LMI(linear matrix inequality) technique considering time delays. The sufficient condition for the existence of controller and H$\infty$ state feedback controller design methods are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be rewritten as a LMI form in terms of transformed variables. The propose controller design method can be extended into the problem of robust H$\infty$ state feedback controller design method easily.