• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.128-133
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• 2001

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.218-226
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• 1998

Recent trends and the effect of mechanical vibrations in optical disk drives are reviewed in this paper. The Nation from CD drives to high density DVD drives and the development of writable optical disk drives require tighter mechanical tolerance. The demand for faster access time and higher data transfer rate also leads to critical mechanical problems to limit the tracking and focusing servo performance. The current mechanical issues to limit the performance of the drives and various technologies to overcome the mechanical problems are introduced. Vibrations of disk-spindle system, actuator and suspension designs of the optical pick-up, and general mechanical designs for the fast and stable access mechanism are considered.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.8
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• pp.42-49
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• 2012

Grid-connected photovoltaic generator system requires high performance PCS(Power Conditioning System) according to the standard of 'Distributed Generation Grid-Connected Technology Standards'. This paper presents the MPPT control method which improves output efficiency through fast tracking to the maximum power point of PV and a reduced self-excited vibration. Secondly, in this paper DVR function was applied to PCS to compensate the voltage sag frequently happening for a power system. The proposed PCS control is analyzed and compared to conventional PCS operating characteristic, the various insolation and loads, and voltage sag condition through PSIM tool. It proves the utility.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.23 no.2
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• pp.63-68
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• 2015

This paper presents the algorithm for envelope protection of helicopters. The algorithm consists of two feedback control loops: inner loop and outer loop. As an inner loop control, model following control is designed to meet the ADS-33 handling qualities specification by minimizing the tracking errors between the responses of the actual model and those of the command filter. In order to implement envelope protection, saturation limiter is imposed to command channels in command filter, whose limits are computed corresponding to the envelope limit. Fast model predictive control is designed as an outer loop control to deal with saturation constraints generated by the inner loop envelope protection and also imposed by outer loop envelope protection variables. Simulation results show that the proposed algorithm yields good envelope protection performance.

• Journal of Korea Multimedia Society
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• v.9 no.12
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• pp.1681-1688
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• 2006

GIS systems have gradually been utilized in life information as well as special businesses such as traffic, sight-seeing, tracking, and disaster services. Most GIS services focus on showing stored information on maps, not providing a service to register and modify their preferred information. In this paper, we present a new method which reduces DXF map data into Simple Geographic Information File format using format conversion algorithms. We also present the prototype implementation of a GIS search system based on ontologies to support associated information. Our contribution is to propose a new digital map format to provide a fast map loading service and individual customized information on the map service.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.10a
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• pp.378-381
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• 2000

A lot of convenient services have been recently developed under favor of rapid development of information technology and Internet The vehicle control technology which services the real-tine tracking of the location and status of the vehicles has been studied mainly by some pioneers such as research institute and company. Now the vehicle control technology is in a practical stage. The postal business is now going to change the processing architecture so that they are trying to archive two goals : (1) more efficient postal management, (2) more fast and safe delivery for mail. However there are not only many items which should be considered in order to do, but also problems which stem from the innate characteristics of postal business. In this paper, we introduce the current postal business architecture as well as the vehicle control technology. We also suggest not only the effectiveness of the vehicle technology in postal business, but also some important face what one should be taken into account about it.

• Journal of Electrical Engineering and information Science
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• v.3 no.3
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• pp.373-384
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• 1998

This paper presents a maneuvering target model with the maneuver dynamics modeled as a jump process of Poisson-type. The jump process represents the deterministic maneuver(or pilot commands) and is described by a stochastic differential equation driven by a Poisson process taking values a set of discrete states. Employing the new maneuver model along with the noisy observations described by linear difference equations, the author has developed a new linear, recursive, unbiased minimum variance filter, which is structurally simple, computationally efficient, and hence real-time implementable. Futhermore, the proposed filter does not involve a computationally burdensome technique to compute the filter gains and corresponding covariance matrices and still be able to track effectively a fast maneuvering target. The performance of the proposed filter is assessed through the numerical results generated from the Monte-Carlo simulation.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.119-121
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• 2005

The sliding-mode control technique could make a system unstable which external disturbance and uncertainty exists in. This paper suggests a robust sliding-mode control algorithm which can be applied to a linear system with parameter uncertainties. To reduce the chattering effect, the whole system is comprised of using a state variable in which the state's estimated value is added. The condition of estimated state results from state observer. The proposed control algorithm uses the optimal feedback controller following the dynamic system equation which consists of a state variable resulting from its own state variable, controller input, estimated state variable. Through comparison with the time optimal control algorithm using simulation, the suggested algorithm shows the improved stability and robustness while it manifests the fast tracking characteristics.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.65-68
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• 1996

Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. The TMS32OC31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the, network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time, control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.