• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1023-1029
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• 2014

In this paper, we propose an SPDR (Smith Predictor for Disturbance Reduction) scheme to improve the temperature control by reduction of the disturbance in ROT process with measurement delay. The proposed controller is a combination of Astrom's modified Smith predictor with a disturbance reduction controller and a grey predictor. The grey prediction is used to calculate the inverse of the measurement delay and to predict future variations and tendencies of system output. The simulation results demonstrate the successful performance of the proposed disturbance reduction controller and enhance the robustness of the proposed control scheme.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.277-284
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• 2016

A new prediction scheme has been proposed for the robust teleoperation in a non-visible environment. The positioning error caused by the time delay in the non-visible environment has been compensated for by the Smith predictor and the sensory data have been estimated by the Grey model. The Smith predictor is effective for the compensation of the positioning error caused by the time delay with a precise system model. Therefore the dynamic model of a mobile robot has been used in this research. To minimize the unstable and erroneous states caused by the time delay, the estimated sensor data have been sent to the operator. Through simulations, the possibility of compensating the errors caused by the time delay has been verified using the Smith predictor. Also the estimation reliability of the measurement data has been demonstrated. Robust teleoperations in a non-visible environment have been performed with a mobile robot to avoid the obstacles effective to go to the target position by the proposed prediction scheme which combines the Smith predictor and the Grey model. Even though the human operator is involved in the teleoperation loop, the compensation effects have been clearly demonstrated.

• Computers and Concrete
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• v.30 no.5
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• pp.357-367
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• 2022

In this paper, we propose an efficient control method that can be transformed into a general building control problem for building structure control using these reliability criteria. To facilitate the calculation of controller H∞, an efficient solution method based on Linear Matrix Inequality (LMI) is introduced, namely H∞-based LMI control. In addition, a self-tuning predictive grey fuzzy controller is proposed to solve the problem caused by wrong parameter selection to eliminates the effect of dynamic coupling between degrees of freedom (DOF) in Self-Tuning Fuzzy Controllers. We prove stability using Lyapunov's stability theorem. To check the applicability of the proposed method, the proposed controller is applied and the control characteristics are determined. The simulation assumes system uncertainty in the controller design and emphasizes the use of acceleration feedback as a practical consideration. Simulation results show that the performance of the proposed controller is impressive, stable, and consistent with the performance of LMI-based methods. Therefore, an effective control method is suitable for seismic reinforcement of civil buildings.

• Membrane and Water Treatment
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• v.15 no.3
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• pp.107-115
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• 2024

This study proposes the recycling of MVS as a value-added product for the removal of phosphate from aqueous solutions. By comparing the phosphate adsorption capacity of each calcined adsorbent at each temperature of MVS, it was determined that the optimal heat treatment temperature of MVS to improve the phosphate adsorption capacity was 800 ℃. MVS-800 suggests an adsorption mechanism through calcium phosphate precipitation. Subsequent kinetic studies with MVS-800 showed that the PFO model was more appropriate than the PSO model. In the equilibrium adsorption experiment, through the analysis of Langmuir and Freundlich models, Langmuir can provide a more appropriate explanation for the phosphate adsorption of MVS-800. This means that the adsorption of phosphate by MVS-800 is uniform over all surfaces and the adsorption consists of a single layer. Thermodynamic analysis of thermally activated MVS-800 shows that phosphate adsorption is an endothermic and involuntary reaction. MVS-800 has the highest phosphate adsorption capacity under low pH conditions. The presence of anions in phosphate adsorption reduces the phosphate adsorption capacity of MVS-800 in the order of CO 3 2-, SO 4 2-, NO 3- and Cl-. Based on experimental data to date, MVS-800 is an environmentally friendly adsorbent for recycling waste resources and is considered to be an adsorbent with high adsorption capacity for removing phosphates from aqueous solutions. This paper combines the advantages of gray predictor and AI fuzzy. The gray predictor can be used to predict whether the bear point exceeds the allowable deviation range, and then perform appropriate control corrections to accelerate the bear point to return to the boundary layer and achieve.

• Safety and Health at Work
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• v.13 no.3
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• pp.315-325
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• 2022

Background: Firefighters are required to carry self-contained breathing apparatus (SCBA), which increases the risk of musculoskeletal disorders. This study assessed the newly recruited firefighters' internal forces and potential musculoskeletal disorders when carrying SCBA. The effects of SCBA strap lengths were also evaluated. Methods: Kinematic parameters of twelve male subjects running in a control condition with no SCBA equipped and three varying-strapped SCBAs were measured using 3D inertial motion capture. Subsequently, motion data and predicted ground reaction force were inputted for subject-specific musculoskeletal modeling to estimate joint and muscle forces. Results: The knee was exposed to the highest internal force when carrying SCBA, followed by the rectus femoris and hip, while the shoulder had the lowest force compared to the no-SCBA condition. Our model also revealed that adjusting SCBA straps length was an efficient strategy to influence the force that occurred at the lumbar spine, hip, and knee regions. Grey relation analysis indicated that the deviation of the center of mass, step length, and knee flexion-extension angle could be used as the predictor of musculoskeletal disorders. Conclusion: The finding suggested that the training of the newly recruits focuses on the coordinated movement of muscle and joints in the lower limb. The strap lengths around 98-105 cm were also recommended. The findings are expected to provide injury interventions to enhance the occupational health and safety of the newly recruited firefighters.